diff --git a/files/ardupilotmega/fixed_wing/parameter_tooltips/tooltips.txt b/files/ardupilotmega/fixed_wing/parameter_tooltips/tooltips.txt new file mode 100644 index 0000000000000000000000000000000000000000..6b8ca0735d8290d6f51c69a99f63796348572a20 --- /dev/null +++ b/files/ardupilotmega/fixed_wing/parameter_tooltips/tooltips.txt @@ -0,0 +1,216 @@ +== MAVLink Parameters == +|| *EEPROM variable name* || *Min* || *Max* || *Default* || *Multiplier* || *Enabled (0 = no, 1 = yes)* || *Comment* || +||MAH|| || ||1|| || || || +||CURRENT_ENABLE|| || ||1|| || || || +||AOA|| || ||1|| || || || +||MAG_ENABLE|| || ||1|| || || || +||HDNG2RLL_P||0||5||0.7||1||1||NAV_ROLL_P - Navigation control gains. Tuning values for the navigation control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||HDNG2RLL_I||0||1||0.01||1||1||NAV_ROLL_I - Navigation control gains. Tuning values for the navigation control PID loops. The I term is used to control drift.|| +||HDNG2RLL_D||0||1||0.02||1||1||NAV_ROLL_D - Navigation control gains. Tuning values for the navigation control PID loops. The D term is used to control overshoot. Avoid adjusting this term if you are not familiar with tuning PID loops.|| +||HDNG2RLL_IMAX||0||3000||500||100||1||NAV_ROLL_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. native flight AoA). If you find this value is insufficient consider adjusting the AOA parameter.|| +||RLL2SRV_P||0||5||0.4||1||1||SERVO_ROLL_P - Attitude control gains - Tuning values for the attitude control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||RLL2SRV_I||0||1||0||1||1||SERVO_ROLL_I - Attitude control gains - Tuning values for the attitude control PID loops. The I term is used to help control surfaces settle. This value should normally be kept low.|| +||RLL2SRV_D||0||1||0||1||1||SERVO_ROLL_D - Attitude control gains - Tuning values for the attitude control PID loops. The D term is used to control overshoot. Avoid using or adjusting this term if you are not familiar with tuning PID loops. It should normally be zero for most aircraft.|| +||RLL2SRV_IMAX||0||3000||500||100||1||SERVO_ROLL_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking). Default is 5 degrees.|| +||PTCH2SRV_P||0||5||0.6||1||1||SERVO_PITCH_P - Attitude control gains - Tuning values for the attitude control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||PTCH2SRV_I||0||1||0||1||1||SERVO_PITCH_I - Attitude control gains - Tuning values for the attitude control PID loops. The I term is used to help control surfaces settle. This value should normally be kept low.|| +||PTCH2SRV_D||0||1||0||1||1||SERVO_PITCH_D - Attitude control gains - Tuning values for the attitude control PID loops. The D term is used to control overshoot. Avoid using or adjusting this term if you are not familiar with tuning PID loops. It should normally be zero for most aircraft.|| +||PTCH2SRV_IMAX||0||3000||500||100||1||SERVO_PITCH_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking). Default is 5 degrees.|| +||ARSPD2PTCH_P||0||5||0.65||1||1||NAV_PITCH_ASP_P - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_I||0||1||0||1||1||NAV_PITCH_ASP_I - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_D||0||1||0||1||1||NAV_PITCH_ASP_D - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_IMA||0||3000||500||100||1||NAV_PITCH_ASP_INT_MAX_CMSEC - In Degrees - Maximum pitch offset due to the integral. This limits the control output from being overdriven due to a persistent offset (eg. inability to maintain the programmed airspeed).|| +||YW2SRV_P||0||5||0||1||1||SERVO_YAW_P - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_I||0||1||0||1||1||SERVO_YAW_I - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_D||0||1||0||1||1||SERVO_YAW_D - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_IMAX||0||3000||0||100||1||SERVO_YAW_INT_MAX - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking).|| +||ENRGY2THR_P||0||5||0.5||1||1||THROTTLE_TE_P - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_I||0||1||0||1||1||THROTTLE_TE_I - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_D||0||1||0||1||1||THROTTLE_TE_D - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_IMAX||0||100||20||1||1||THROTTLE_TE_INT_MAX - In Percent - Maximum throttle input due to the integral term. This limits the throttle from being overdriven due to a persistent offset (e.g. inability to maintain the programmed altitude).|| +||ALT2PTCH_P||0||5||0.65||1||1||NAV_PITCH_ALT_P - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_I||0||1||0||1||1||NAV_PITCH_ALT_I - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_D||0||1||0||1||1||NAV_PITCH_ALT_D - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_IMAX||0||3000||500||100||1||NAV_PITCH_ALT_INT_MAX_CM - In Meters - Maximum pitch offset due to the integral. This limits the control output from being overdriven due to a persistent offset (eg. inability to maintain the programmed altitude).|| +||KFF_PTCHCOMP||-3||3||0.2||0.01||1||PITCH_COMP - In Percent - Adds pitch input to compensate for the loss of lift due to roll control.|| +||KFF_RDDRMIX||-3||3||0.5||0.01||1||RUDDER_MIX - Roll to yaw mixing. This allows for co-ordinated turns.|| +||KFF_PTCH2THR||-3||3||0||1||1||P_TO_T - Pitch to throttle feed-forward gain.|| +||KFF_THR2PTCH||-3||3||0||1||1||T_TO_P - Throttle to pitch feed-forward gain.|| +||XTRK_GAIN_SC||0||100||100||100||1||XTRACK_GAIN_SCALED - Default value is 1.0 degrees per metre. Values lower than 0.001 will disable crosstrack compensation.|| +||ALT_MIX||0||1||1||0.01||1||ALTITUDE_MIX - In Percent - Configures the blend between GPS and pressure altitude. 0 = GPS altitude, 1 = Press alt, 0.5 = half and half, etc.|| +||ARSPD_RATIO||0||5||1.9936||1||1||AIRSPEED_RATIO - Adjust AIRSPEED_RATIO in small increments to calibrate the airspeed sensor relative to your GPS. The calculation and default value are optimized for speeds around 12 m/s|| +||WP_RADIUS||0||200||30||1||1||WP_RADIUS_DEFAULT - When the user performs a factory reset on the APM, sets the waypoint radius (the radius from a target waypoint within which the APM will consider itself to have arrived at the waypoint) to this value in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||WP_LOITER_RAD||0||200||60||1||1||LOITER_RADIUS_DEFAULT - When the user performs a factory reset on the APM, sets the loiter radius (the distance the APM will attempt to maintain from a waypoint while loitering) to this value in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||ARSPD_FBW_MIN||5||50||6||1||1||AIRSPEED_FBW_MIN - In m/s - Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.|| +||ARSPD_FBW_MAX||5||50||22||1||1||AIRSPEED_FBW_MAX - In m/s - Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode. AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be ""nudged"" to in AUTO mode when ENABLE_STICK_MIXING is set. In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.|| +||THR_MIN||0||100||0||1||1||THROTTLE_MIN - The minimum throttle setting to which the autopilot will reduce the throttle while descending. The default is zero, which is suitable for aircraft with a steady power-off glide. Increase this value if your aircraft needs throttle to maintain a stable descent in level flight.|| +||THR_MAX||0||100||75||1||1||THROTTLE_MAX - The maximum throttle setting the autopilot will apply. The default is 75%. Reduce this value if your aicraft is overpowered or has complex flight characteristics at high throttle settings.|| +||THR_FAILSAFE||0||0||1|| || ||THROTTLE_FAILSAFE - The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel (channel 3). This can be used to achieve a failsafe override on loss of radio control without having to sacrifice one of your FLIGHT_MODE settings as the throttle failsafe overrides the switch-selected mode. Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1.|| +||THR_FS_ACTION||0||2||1||1|| ||THROTTLE_FAILSAFE_ACTION - The FAILSAFE_ACTION setting determines what APM will do when throttle failsafe mode is entered while flying in AUTO mode. This is important in order to avoid accidental failsafe behaviour when flying waypoints that take the aircraft temporarily out of radio range. If FAILSAFE_ACTION is 1 when failsafe is entered in AUTO or LOITER modes the aircraft will head for home in RTL mode. If the throttle channel moves back up it will return to AUTO or LOITER mode. The default behavior is to ignore throttle failsafe in AUTO and LOITER modes.|| +||TRIM_THROTTLE||0||90||45||1||1||THROTTLE_CRUISE - In Percent - The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight. The default is 45% which is reasonable for a modestly powered aircraft.|| +||TRIM_AUTO||0||1||1||1||1||AUTO_TRIM - !ArduPilot Mega can update its trim settings by looking at the radio inputs when switching out of MANUAL mode. This allows you to manually trim your aircraft before switching to an assisted mode but it also means that you should avoid switching out of MANUAL while you have any control stick deflection.|| +||FLTMODE_CH||5||8||8||1||1||FLIGHT_MODE_CHANNEL - Flight modes assigned to the control channel, and the input channel that is read for the control mode. Use a servo tester or the !ArduPilotMega_demo test program to check your switch settings. ATTENTION: Some !ArduPilot Mega boards have radio channels marked 0-7 and others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option uses channel numbers 1-8 (and defaults to 8). If you only have a three-position switch or just want three modes set your switch to produce 1165, 1425, and 1815 microseconds and configure FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default. If you have FLIGHT_MODE_CHANNEL set to 8 (the default) and your control channel connected to input channel 8, the hardware failsafe mode will activate for any control input over 1750ms.|| +||FLIGHT_MODE_1||0||14||11||1|| ||FLIGHT_MODE_1 - The following standard flight modes are available: MANUAL = Full manual control via the hardware multiplexer. STABILIZE = Tries to maintain level flight but can be overridden with radio control inputs. FLY_BY_WIRE_A = Autopilot style control via user input with manual throttle. FLY_BY_WIRE_B = Autopilot style control via user input, aispeed controlled with throttle. RTL = Returns to the Home location and then LOITERs at a safe altitude. AUTO = Autonomous flight based on programmed waypoints.|| +||FLIGHT_MODE_2||0||14||11||1|| ||FLIGHT_MODE_2|| +||FLIGHT_MODE_3||0||14||5||1|| ||FLIGHT_MODE_3|| +||FLIGHT_MODE_4||0||14||5||1|| ||FLIGHT_MODE_4|| +||FLIGHT_MODE_5||0||14||0||1|| ||FLIGHT_MODE_5|| +||FLIGHT_MODE_6||0||14||0||1|| ||FLIGHT_MODE_6|| +||RC1_MIN||900||2100||1500||1||1||PWM_RC1_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC1_MAX||900||2100||1500||1||1||PWM_RC1_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC1_TRIM||900||2100||1200||1||1||PWM_RC1_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_MIN||900||2100||1500||1||1||PWM_RC2_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_MAX||900||2100||1500||1||1||PWM_RC2_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_TRIM||900||2100||1200||1||1||PWM_RC2_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC3_MIN||900||2100||1500||1||1||PWM_RC3_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC3_MAX||900||2100||1500||1||1||PWM_RC3_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC3_TRIM||900||2100||1500||1||1||PWM_RC3_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_MIN||900||2100||1500||1||1||PWM_RC4_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_MAX||900||2100||1500||1||1||PWM_RC4_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_TRIM||900||2100||1200||1||1||PWM_RC4_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MIN||900||2100||1500||1||1||PWM_CH5_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MAX||900||2100||1500||1||1||PWM_CH5_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MAX||900||2100||1500||1||1||PWM_CH5_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_TRIM||900||2100||1500||1||1||PWM_CH5_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_MIN||900||2100||1500||1||1||PWM_CH6_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_MAX||900||2100||1500||1||1||PWM_CH6_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_TRIM||900||2100||1500||1||1||PWM_CH6_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_MIN||900||2100||1500||1||1||PWM_CH7_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_MAX||900||2100||1500||1||1||PWM_CH7_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_TRIM||900||2100||1500||1||1||PWM_CH7_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_MIN||900||2100||1500||1||1||PWM_CH8_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_MAX||900||2100||1500||1||1||PWM_CH8_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_TRIM||900||2100||1500||1||1||PWM_CH8_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||IMU_OFFSET_0||0||0||0|| || ||IMU_OFFSET_0 - IMU Calibration|| +||IMU_OFFSET_1||0||0||0|| || ||IMU_OFFSET_1 - IMU Calibration|| +||IMU_OFFSET_2||0||0||0|| || ||IMU_OFFSET_2 - IMU Calibration|| +||IMU_OFFSET_3||0||0||0|| || ||IMU_OFFSET_3 - IMU Calibration|| +||IMU_OFFSET_4||0||0||0|| || ||IMU_OFFSET_4 - IMU Calibration|| +||IMU_OFFSET_5||0||0||0|| || ||IMU_OFFSET_5 - IMU Calibration|| +||YAW_MODE|| || ||0|| || ||YAW_MODE|| +||WP_MODE|| || ||0|| || ||WP_MODE|| +||WP_TOTAL||0||255|| ||0|| ||WP_TOTAL|| +||WP_INDEX||0||255|| ||0|| ||WP_INDEX|| +||CONFIG|| || ||1|| || ||CONFIG_OPTIONS|| +||SWITCH_ENABLE||0||1||1||1||1||REVERS_SWITCH_ENABLE - 0 = Off, 1 = On, Enables/Disables physical reverse switches on APM board|| +||FIRMWARE_VER|| || ||0|| || ||FIRMWARE_VER|| +||LOG_BITMASK||0||65535||334||1||1||LOG_BITMASK|| +||TRIM_ELEVON||900||2100||1500||1||1||TRIM_ELEVON|| +||THR_FS_VALUE||850||1000||950||1||1||THROTTLE_FS_VALUE - If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value below which the failsafe engages. The default is 975ms, which is a very low throttle setting. Most transmitters will let you trim the manual throttle position up so that you cannot engage the failsafe with a regular stick movement. Configure your receiver's failsafe setting for the throttle channel to the absolute minimum, and use the !ArduPilotMega_demo program to check that you cannot reach that value with the throttle control. Leave a margin of at least 50 microseconds between the lowest throttle setting and THROTTLE_FS_VALUE.|| +||TRIM_ARSPD_CM||500||5000||1200||100||1||AIRSPEED_CRUISE_CM - The speed in metres per second to maintain during cruise. The default is 10m/s, which is a conservative value suitable for relatively small, light aircraft.|| +||GND_TEMP||-10||50||28||1||1||GND_TEMP - Ground Temperature|| +||AP_OFFSET|| || ||0|| || ||AP_OFFSET|| +||TRIM_PITCH_CD|| || ||0|| || ||TRIM_PITCH_CD|| +||ALT_HOLD_RTL||0||20000||10000||100||1||ALT_HOLD_HOME_CM - When the user performs a factory reset on the APM. Sets the flag for weather the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch. Also sets the value of USE_CURRENT_ALT in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||XTRK_ANGLE_CD||0||6000||3000||100||1||XTRACK_ENTRY_ANGLE_CENTIDEGREE - Maximum angle used to correct for track following.|| +||ROLL_SRV_MAX||0||100||4500||100||0||ROLL_SERVO_MAX_CENTIDEGREE|| +||PITCH_SRV_MAX||0||100||4500||100||0||PITCH_SERVO_MAX_CENTIDEGREE|| +||RUDER_SRV_MAX||0||100||4500||100||0||RUDDER_SERVO_MAX_CENTIDEGREE|| +||LIM_ROLL_CD||0||6000||4500||100||1||HEAD_MAX_CENTIDEGREE - The maximum commanded bank angle in either direction. The default is 45 degrees. Decrease this value if your aircraft is not stable or has difficulty maintaining altitude in a steep bank.|| +||LIM_PITCH_MAX||0||6000||1500||100||1||PITCH_MAX_CENTIDEGREE - The maximum commanded pitch up angle. The default is 15 degrees. Care should be taken not to set this value too large, as the aircraft may stall|| +||LIM_PITCH_MIN||-6000||0||-2500||100||1||PITCH_MIN_CENTIDEGREE - The maximum commanded pitch down angle. Note that this value must be negative. The default is -25 degrees. Care should be taken not to set this value too large as it may result in overspeeding the aircraft.|| +||GND_ALT_CM||0||500000||0||100||1||GND_ALT_CM|| +||GND_ABS_PRESS|| || ||0|| || ||GND_ABS_PRESS|| +||COMPASS_DEC||-1.57075||1.57075||0||1|| ||COMPASS_DEC - Compass Declination|| +||SR0_EXT_STAT||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS|| +||SR0_EXTRA1||0||50||10||1||1||TELEMETRY_ENABLE Port 0 - Enable MSG_ATTITUDE|| +||SR0_EXTRA2||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable MSG_VFR_HUD|| +||SR0_EXTRA3||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Not currently used|| +||SR0_POSITION||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages|| +||SR0_RAW_CTRL||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT|| +||SR0_RAW_SENS||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable IMU_RAW, GPS_RAW, GPS_STATUS packets|| +||SR0_RC_CHAN||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW|| +||SR3_EXT_STAT||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS|| +||SR3_EXTRA1||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable MSG_ATTITUDE|| +||SR3_EXTRA2||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable MSG_VFR_HUD|| +||SR3_EXTRA3||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Not currently used|| +||SR3_POSITION||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages|| +||SR3_RAW_CTRL||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT|| +||SR3_RAW_SENS||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable IMU_RAW, GPS_RAW, GPS_STATUS packets|| +||SR3_RC_CHAN||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW|| +||MAG_ENABLE||0||1||0||1||1||MAG_ENABLE - 0 = Off, 1 = On, Magnetometer Enable|| +||ARSPD_ENABLE||0||1||0||1||1||AIRSPEED_ENABLE - 0 = Off, 1 = On, Airspeed Sensor Enable|| +||BATT_CAPACITY||0||10000||1760||1||1||BATTERY_MAH - Battery capacity in mAh|| +||BATT_MONITOR||0||4||0||1||1||BATTERY_MONITOR - The value should be set to 0 to disable battery monitoring, 1 to measure cell voltages for a 3 cell lipo, 2 to measure cell voltages for a 4 cell lipo, 3 to measure the total battery voltage (only) on input 1, or 4 to measure total battery voltage on input 1 and current on input 2. || +||FS_GCS_ENABL||0||1||0||1||1||FS_GCS_ENABLE - 0 = Off, 1 = On, If the GCS heartbeat is lost for 20 seconds, the plane will Return to Launch|| +||FS_LONG_ACTN||0||1||0||1||1||FS_LONG_ACTION - 0 = Off, 1 = On, If heartbeat is lost for 20 srconds, the plane will Return to Launch|| +||FS_SHORT_ACTN||0||1||0||1||1||FS_SHORT_ACTION - 0 = Off, 1 = On, If heartbeat is lost for 1.5 seconds, the plane will circle until heartbeat is found again or 20 seconds has passed|| +||SYSID_MYGCS||0||255||255||1||1||SYSID_MYGCS - The system ID of the GCS|| +||SYSID_THISMAV||0||255||1||1||1||SYSID_THISMAV - The system ID of the MAVlink vehicle|| +||AOA|| || ||0|| || +||ACR_PIT_D|| || ||1|| || ||Description coming soon|| +||ACR_PIT_I|| || ||1|| || ||Description coming soon|| +||ACR_PIT_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_PIT_P|| || ||1|| || ||Description coming soon|| +||ACR_RLL_D|| || ||1|| || ||Description coming soon|| +||ACR_RLL_I|| || ||1|| || ||Description coming soon|| +||ACR_RLL_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_RLL_P|| || ||1|| || ||Description coming soon|| +||ACR_YAW_D|| || ||1|| || ||Description coming soon|| +||ACR_YAW_I|| || ||1|| || ||Description coming soon|| +||ACR_YAW_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_YAW_P|| || ||1|| || ||Description coming soon|| +||ESC|| || ||1|| || ||ESC_CALIBRATE_MODE|| +||FRAME|| || ||1|| || ||FRAME_ORIENTATION || +||LOITER_RADIUS|| || ||1|| || ||Description coming soon|| +||NAV_LAT_D|| || ||1|| || ||Description coming soon|| +||NAV_LAT_I|| || ||1|| || ||Description coming soon|| +||NAV_LAT_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_LAT_P|| || ||1|| || ||Description coming soon|| +||NAV_LON_D|| || ||1|| || ||Description coming soon|| +||NAV_LON_I|| || ||1|| || ||Description coming soon|| +||NAV_LON_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_LON_P|| || ||1|| || ||Description coming soon|| +||NAV_WP_D|| || ||1|| || ||Description coming soon|| +||NAV_WP_I|| || ||1|| || ||Description coming soon|| +||NAV_WP_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_WP_P|| || ||1|| || ||Description coming soon|| +||PITCH_MAX|| || ||1|| || ||Description coming soon|| +||SONAR_ENABLE||0||1||0||1||1||SONAR_ENABLE - 0 = Off, 1 = On, Sonar Enable|| +||STB_PIT_D|| || ||1|| || ||Description coming soon|| +||STB_PIT_I|| || ||1|| || ||Description coming soon|| +||STB_PIT_IMAX|| || ||1|| || ||Description coming soon|| +||STB_PIT_P|| || ||1|| || ||Description coming soon|| +||STB_RLL_D|| || ||1|| || ||Description coming soon|| +||STB_RLL_I|| || ||1|| || ||Description coming soon|| +||STB_RLL_IMAX|| || ||1|| || ||Description coming soon|| +||STB_RLL_P|| || ||1|| || ||Description coming soon|| +||STB_YAW_D|| || ||1|| || ||Description coming soon|| +||STB_YAW_I|| || ||1|| || ||Description coming soon|| +||STB_YAW_IMAX|| || ||1|| || ||Description coming soon|| +||STB_YAW_P|| || ||1|| || ||Description coming soon|| +||THR_BAR_D|| || ||1|| || ||Description coming soon|| +||THR_BAR_I|| || ||1|| || ||Description coming soon|| +||THR_BAR_IMAX|| || ||1|| || ||Description coming soon|| +||THR_BAR_P|| || ||1|| || ||Description coming soo|| +||THR_SON_D|| || ||1|| || ||Description coming soon|| +||THR_SON_I|| || ||1|| || ||Description coming soon|| +||THR_SON_IMAX|| || ||1|| || ||Description coming soon|| +||THR_SON_P|| || ||1|| || ||Description coming soon|| +||WP_MODE|| || ||1|| || ||Description coming soon|| +||WP_MUST_INDEX|| || ||1|| || ||Description coming soon|| +||XTRACK_ANGLE|| || ||1|| || ||Description coming soon|| +||XTRK_GAIN|| || ||1|| || ||Description coming soon|| +||ARSPD_OFFSET|| || ||0|| || ||Description coming soon|| +||ELEVON_CH1_REV||0||1||0||1||1||ELEVON_CHANNEL1_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||ELEVON_CH2_REV||0||1||0||1||1||ELEVON_CHANNEL2_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||ELEVON_MIXING||0||1||0||1||1||ELEVON_MIXING - 0 = Disabled, 1 = Enabled|| +||ELEVON_REVERSE||0||1||0||1||1||ELEVON_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||INVERTEDFLT_CH||0||8||0||1||1||INVERTED_FLIGHT_CHANNEL - Channel to select inverted flight mode, 0 = Disabled|| +||RC1_REV||0||1||1||1||1||RC_CHANNEL1_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC2_REV||0||1||1||1||1||RC_CHANNEL2_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC3_REV||0||1||1||1||1||RC_CHANNEL3_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC4_REV||0||1||1||1||1||RC_CHANNEL4_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC5_REV||0||1||1||1||1||RC_CHANNEL5_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC6_REV||0||1||1||1||1||RC_CHANNEL6_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC7_REV||0||1||1||1||1||RC_CHANNEL7_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC8_REV||0||1||1||1||1||RC_CHANNEL8_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||SYSID_SW_MREV|| || ||0|| || ||Description coming soon|| +||SYSID_SW_TYPE|| || ||0|| || ||Description coming soon|| +||THR_SLEWRATE||0||100||0||1||1||THROTTLE_SLEW_RATE - 0 = Disabled, otherwise it limits throttle movement rate. Units are % per second. This is a test feature and may go away.|| +||FLTMODE1||0||20||1||1|| ||FLIGHT_MODE_1 - Mode switch setting 1 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE2||0||20||1||1|| ||FLIGHT_MODE_2 - Mode switch setting 2 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE3||0||20||1||1|| ||FLIGHT_MODE_3 - Mode switch setting 3 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE4||0||20||1||1|| ||FLIGHT_MODE_4 - Mode switch setting 4 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE5||0||20||1||1|| ||FLIGHT_MODE_5 - Mode switch setting 5 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE6||0||20||1||1|| ||FLIGHT_MODE_6 - Mode switch setting 6 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| \ No newline at end of file diff --git a/files/ardupilotmega/fixed_wing/widgets/ardupilot-heading-pid.qgw b/files/ardupilotmega/fixed_wing/widgets/ardupilot-heading-pid.qgw new file mode 100644 index 0000000000000000000000000000000000000000..20a6d1c1f4d3577486afcd03fafb266baa9b6512 --- /dev/null +++ b/files/ardupilotmega/fixed_wing/widgets/ardupilot-heading-pid.qgw @@ -0,0 +1,26 @@ +[Heading%20PID%20Tuning] +QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading D Gain +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_D +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=200 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1 +QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_P +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=200 +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=5 +QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Gain +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_I +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=200 +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1 +QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Limit +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_IMAX +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=200 +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=3000 +QGC_TOOL_WIDGET_ITEMS\size=4 diff --git a/files/ardupilotmega/quadrotor/parameter_tooltips/tooltips.txt b/files/ardupilotmega/quadrotor/parameter_tooltips/tooltips.txt new file mode 100644 index 0000000000000000000000000000000000000000..6b8ca0735d8290d6f51c69a99f63796348572a20 --- /dev/null +++ b/files/ardupilotmega/quadrotor/parameter_tooltips/tooltips.txt @@ -0,0 +1,216 @@ +== MAVLink Parameters == +|| *EEPROM variable name* || *Min* || *Max* || *Default* || *Multiplier* || *Enabled (0 = no, 1 = yes)* || *Comment* || +||MAH|| || ||1|| || || || +||CURRENT_ENABLE|| || ||1|| || || || +||AOA|| || ||1|| || || || +||MAG_ENABLE|| || ||1|| || || || +||HDNG2RLL_P||0||5||0.7||1||1||NAV_ROLL_P - Navigation control gains. Tuning values for the navigation control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||HDNG2RLL_I||0||1||0.01||1||1||NAV_ROLL_I - Navigation control gains. Tuning values for the navigation control PID loops. The I term is used to control drift.|| +||HDNG2RLL_D||0||1||0.02||1||1||NAV_ROLL_D - Navigation control gains. Tuning values for the navigation control PID loops. The D term is used to control overshoot. Avoid adjusting this term if you are not familiar with tuning PID loops.|| +||HDNG2RLL_IMAX||0||3000||500||100||1||NAV_ROLL_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. native flight AoA). If you find this value is insufficient consider adjusting the AOA parameter.|| +||RLL2SRV_P||0||5||0.4||1||1||SERVO_ROLL_P - Attitude control gains - Tuning values for the attitude control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||RLL2SRV_I||0||1||0||1||1||SERVO_ROLL_I - Attitude control gains - Tuning values for the attitude control PID loops. The I term is used to help control surfaces settle. This value should normally be kept low.|| +||RLL2SRV_D||0||1||0||1||1||SERVO_ROLL_D - Attitude control gains - Tuning values for the attitude control PID loops. The D term is used to control overshoot. Avoid using or adjusting this term if you are not familiar with tuning PID loops. It should normally be zero for most aircraft.|| +||RLL2SRV_IMAX||0||3000||500||100||1||SERVO_ROLL_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking). Default is 5 degrees.|| +||PTCH2SRV_P||0||5||0.6||1||1||SERVO_PITCH_P - Attitude control gains - Tuning values for the attitude control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||PTCH2SRV_I||0||1||0||1||1||SERVO_PITCH_I - Attitude control gains - Tuning values for the attitude control PID loops. The I term is used to help control surfaces settle. This value should normally be kept low.|| +||PTCH2SRV_D||0||1||0||1||1||SERVO_PITCH_D - Attitude control gains - Tuning values for the attitude control PID loops. The D term is used to control overshoot. Avoid using or adjusting this term if you are not familiar with tuning PID loops. It should normally be zero for most aircraft.|| +||PTCH2SRV_IMAX||0||3000||500||100||1||SERVO_PITCH_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking). Default is 5 degrees.|| +||ARSPD2PTCH_P||0||5||0.65||1||1||NAV_PITCH_ASP_P - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_I||0||1||0||1||1||NAV_PITCH_ASP_I - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_D||0||1||0||1||1||NAV_PITCH_ASP_D - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_IMA||0||3000||500||100||1||NAV_PITCH_ASP_INT_MAX_CMSEC - In Degrees - Maximum pitch offset due to the integral. This limits the control output from being overdriven due to a persistent offset (eg. inability to maintain the programmed airspeed).|| +||YW2SRV_P||0||5||0||1||1||SERVO_YAW_P - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_I||0||1||0||1||1||SERVO_YAW_I - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_D||0||1||0||1||1||SERVO_YAW_D - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_IMAX||0||3000||0||100||1||SERVO_YAW_INT_MAX - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking).|| +||ENRGY2THR_P||0||5||0.5||1||1||THROTTLE_TE_P - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_I||0||1||0||1||1||THROTTLE_TE_I - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_D||0||1||0||1||1||THROTTLE_TE_D - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_IMAX||0||100||20||1||1||THROTTLE_TE_INT_MAX - In Percent - Maximum throttle input due to the integral term. This limits the throttle from being overdriven due to a persistent offset (e.g. inability to maintain the programmed altitude).|| +||ALT2PTCH_P||0||5||0.65||1||1||NAV_PITCH_ALT_P - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_I||0||1||0||1||1||NAV_PITCH_ALT_I - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_D||0||1||0||1||1||NAV_PITCH_ALT_D - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_IMAX||0||3000||500||100||1||NAV_PITCH_ALT_INT_MAX_CM - In Meters - Maximum pitch offset due to the integral. This limits the control output from being overdriven due to a persistent offset (eg. inability to maintain the programmed altitude).|| +||KFF_PTCHCOMP||-3||3||0.2||0.01||1||PITCH_COMP - In Percent - Adds pitch input to compensate for the loss of lift due to roll control.|| +||KFF_RDDRMIX||-3||3||0.5||0.01||1||RUDDER_MIX - Roll to yaw mixing. This allows for co-ordinated turns.|| +||KFF_PTCH2THR||-3||3||0||1||1||P_TO_T - Pitch to throttle feed-forward gain.|| +||KFF_THR2PTCH||-3||3||0||1||1||T_TO_P - Throttle to pitch feed-forward gain.|| +||XTRK_GAIN_SC||0||100||100||100||1||XTRACK_GAIN_SCALED - Default value is 1.0 degrees per metre. Values lower than 0.001 will disable crosstrack compensation.|| +||ALT_MIX||0||1||1||0.01||1||ALTITUDE_MIX - In Percent - Configures the blend between GPS and pressure altitude. 0 = GPS altitude, 1 = Press alt, 0.5 = half and half, etc.|| +||ARSPD_RATIO||0||5||1.9936||1||1||AIRSPEED_RATIO - Adjust AIRSPEED_RATIO in small increments to calibrate the airspeed sensor relative to your GPS. The calculation and default value are optimized for speeds around 12 m/s|| +||WP_RADIUS||0||200||30||1||1||WP_RADIUS_DEFAULT - When the user performs a factory reset on the APM, sets the waypoint radius (the radius from a target waypoint within which the APM will consider itself to have arrived at the waypoint) to this value in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||WP_LOITER_RAD||0||200||60||1||1||LOITER_RADIUS_DEFAULT - When the user performs a factory reset on the APM, sets the loiter radius (the distance the APM will attempt to maintain from a waypoint while loitering) to this value in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||ARSPD_FBW_MIN||5||50||6||1||1||AIRSPEED_FBW_MIN - In m/s - Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.|| +||ARSPD_FBW_MAX||5||50||22||1||1||AIRSPEED_FBW_MAX - In m/s - Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode. AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be ""nudged"" to in AUTO mode when ENABLE_STICK_MIXING is set. In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.|| +||THR_MIN||0||100||0||1||1||THROTTLE_MIN - The minimum throttle setting to which the autopilot will reduce the throttle while descending. The default is zero, which is suitable for aircraft with a steady power-off glide. Increase this value if your aircraft needs throttle to maintain a stable descent in level flight.|| +||THR_MAX||0||100||75||1||1||THROTTLE_MAX - The maximum throttle setting the autopilot will apply. The default is 75%. Reduce this value if your aicraft is overpowered or has complex flight characteristics at high throttle settings.|| +||THR_FAILSAFE||0||0||1|| || ||THROTTLE_FAILSAFE - The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel (channel 3). This can be used to achieve a failsafe override on loss of radio control without having to sacrifice one of your FLIGHT_MODE settings as the throttle failsafe overrides the switch-selected mode. Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1.|| +||THR_FS_ACTION||0||2||1||1|| ||THROTTLE_FAILSAFE_ACTION - The FAILSAFE_ACTION setting determines what APM will do when throttle failsafe mode is entered while flying in AUTO mode. This is important in order to avoid accidental failsafe behaviour when flying waypoints that take the aircraft temporarily out of radio range. If FAILSAFE_ACTION is 1 when failsafe is entered in AUTO or LOITER modes the aircraft will head for home in RTL mode. If the throttle channel moves back up it will return to AUTO or LOITER mode. The default behavior is to ignore throttle failsafe in AUTO and LOITER modes.|| +||TRIM_THROTTLE||0||90||45||1||1||THROTTLE_CRUISE - In Percent - The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight. The default is 45% which is reasonable for a modestly powered aircraft.|| +||TRIM_AUTO||0||1||1||1||1||AUTO_TRIM - !ArduPilot Mega can update its trim settings by looking at the radio inputs when switching out of MANUAL mode. This allows you to manually trim your aircraft before switching to an assisted mode but it also means that you should avoid switching out of MANUAL while you have any control stick deflection.|| +||FLTMODE_CH||5||8||8||1||1||FLIGHT_MODE_CHANNEL - Flight modes assigned to the control channel, and the input channel that is read for the control mode. Use a servo tester or the !ArduPilotMega_demo test program to check your switch settings. ATTENTION: Some !ArduPilot Mega boards have radio channels marked 0-7 and others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option uses channel numbers 1-8 (and defaults to 8). If you only have a three-position switch or just want three modes set your switch to produce 1165, 1425, and 1815 microseconds and configure FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default. If you have FLIGHT_MODE_CHANNEL set to 8 (the default) and your control channel connected to input channel 8, the hardware failsafe mode will activate for any control input over 1750ms.|| +||FLIGHT_MODE_1||0||14||11||1|| ||FLIGHT_MODE_1 - The following standard flight modes are available: MANUAL = Full manual control via the hardware multiplexer. STABILIZE = Tries to maintain level flight but can be overridden with radio control inputs. FLY_BY_WIRE_A = Autopilot style control via user input with manual throttle. FLY_BY_WIRE_B = Autopilot style control via user input, aispeed controlled with throttle. RTL = Returns to the Home location and then LOITERs at a safe altitude. AUTO = Autonomous flight based on programmed waypoints.|| +||FLIGHT_MODE_2||0||14||11||1|| ||FLIGHT_MODE_2|| +||FLIGHT_MODE_3||0||14||5||1|| ||FLIGHT_MODE_3|| +||FLIGHT_MODE_4||0||14||5||1|| ||FLIGHT_MODE_4|| +||FLIGHT_MODE_5||0||14||0||1|| ||FLIGHT_MODE_5|| +||FLIGHT_MODE_6||0||14||0||1|| ||FLIGHT_MODE_6|| +||RC1_MIN||900||2100||1500||1||1||PWM_RC1_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC1_MAX||900||2100||1500||1||1||PWM_RC1_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC1_TRIM||900||2100||1200||1||1||PWM_RC1_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_MIN||900||2100||1500||1||1||PWM_RC2_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_MAX||900||2100||1500||1||1||PWM_RC2_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_TRIM||900||2100||1200||1||1||PWM_RC2_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC3_MIN||900||2100||1500||1||1||PWM_RC3_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC3_MAX||900||2100||1500||1||1||PWM_RC3_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC3_TRIM||900||2100||1500||1||1||PWM_RC3_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_MIN||900||2100||1500||1||1||PWM_RC4_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_MAX||900||2100||1500||1||1||PWM_RC4_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_TRIM||900||2100||1200||1||1||PWM_RC4_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MIN||900||2100||1500||1||1||PWM_CH5_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MAX||900||2100||1500||1||1||PWM_CH5_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MAX||900||2100||1500||1||1||PWM_CH5_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_TRIM||900||2100||1500||1||1||PWM_CH5_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_MIN||900||2100||1500||1||1||PWM_CH6_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_MAX||900||2100||1500||1||1||PWM_CH6_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_TRIM||900||2100||1500||1||1||PWM_CH6_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_MIN||900||2100||1500||1||1||PWM_CH7_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_MAX||900||2100||1500||1||1||PWM_CH7_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_TRIM||900||2100||1500||1||1||PWM_CH7_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_MIN||900||2100||1500||1||1||PWM_CH8_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_MAX||900||2100||1500||1||1||PWM_CH8_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_TRIM||900||2100||1500||1||1||PWM_CH8_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||IMU_OFFSET_0||0||0||0|| || ||IMU_OFFSET_0 - IMU Calibration|| +||IMU_OFFSET_1||0||0||0|| || ||IMU_OFFSET_1 - IMU Calibration|| +||IMU_OFFSET_2||0||0||0|| || ||IMU_OFFSET_2 - IMU Calibration|| +||IMU_OFFSET_3||0||0||0|| || ||IMU_OFFSET_3 - IMU Calibration|| +||IMU_OFFSET_4||0||0||0|| || ||IMU_OFFSET_4 - IMU Calibration|| +||IMU_OFFSET_5||0||0||0|| || ||IMU_OFFSET_5 - IMU Calibration|| +||YAW_MODE|| || ||0|| || ||YAW_MODE|| +||WP_MODE|| || ||0|| || ||WP_MODE|| +||WP_TOTAL||0||255|| ||0|| ||WP_TOTAL|| +||WP_INDEX||0||255|| ||0|| ||WP_INDEX|| +||CONFIG|| || ||1|| || ||CONFIG_OPTIONS|| +||SWITCH_ENABLE||0||1||1||1||1||REVERS_SWITCH_ENABLE - 0 = Off, 1 = On, Enables/Disables physical reverse switches on APM board|| +||FIRMWARE_VER|| || ||0|| || ||FIRMWARE_VER|| +||LOG_BITMASK||0||65535||334||1||1||LOG_BITMASK|| +||TRIM_ELEVON||900||2100||1500||1||1||TRIM_ELEVON|| +||THR_FS_VALUE||850||1000||950||1||1||THROTTLE_FS_VALUE - If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value below which the failsafe engages. The default is 975ms, which is a very low throttle setting. Most transmitters will let you trim the manual throttle position up so that you cannot engage the failsafe with a regular stick movement. Configure your receiver's failsafe setting for the throttle channel to the absolute minimum, and use the !ArduPilotMega_demo program to check that you cannot reach that value with the throttle control. Leave a margin of at least 50 microseconds between the lowest throttle setting and THROTTLE_FS_VALUE.|| +||TRIM_ARSPD_CM||500||5000||1200||100||1||AIRSPEED_CRUISE_CM - The speed in metres per second to maintain during cruise. The default is 10m/s, which is a conservative value suitable for relatively small, light aircraft.|| +||GND_TEMP||-10||50||28||1||1||GND_TEMP - Ground Temperature|| +||AP_OFFSET|| || ||0|| || ||AP_OFFSET|| +||TRIM_PITCH_CD|| || ||0|| || ||TRIM_PITCH_CD|| +||ALT_HOLD_RTL||0||20000||10000||100||1||ALT_HOLD_HOME_CM - When the user performs a factory reset on the APM. Sets the flag for weather the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch. Also sets the value of USE_CURRENT_ALT in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||XTRK_ANGLE_CD||0||6000||3000||100||1||XTRACK_ENTRY_ANGLE_CENTIDEGREE - Maximum angle used to correct for track following.|| +||ROLL_SRV_MAX||0||100||4500||100||0||ROLL_SERVO_MAX_CENTIDEGREE|| +||PITCH_SRV_MAX||0||100||4500||100||0||PITCH_SERVO_MAX_CENTIDEGREE|| +||RUDER_SRV_MAX||0||100||4500||100||0||RUDDER_SERVO_MAX_CENTIDEGREE|| +||LIM_ROLL_CD||0||6000||4500||100||1||HEAD_MAX_CENTIDEGREE - The maximum commanded bank angle in either direction. The default is 45 degrees. Decrease this value if your aircraft is not stable or has difficulty maintaining altitude in a steep bank.|| +||LIM_PITCH_MAX||0||6000||1500||100||1||PITCH_MAX_CENTIDEGREE - The maximum commanded pitch up angle. The default is 15 degrees. Care should be taken not to set this value too large, as the aircraft may stall|| +||LIM_PITCH_MIN||-6000||0||-2500||100||1||PITCH_MIN_CENTIDEGREE - The maximum commanded pitch down angle. Note that this value must be negative. The default is -25 degrees. Care should be taken not to set this value too large as it may result in overspeeding the aircraft.|| +||GND_ALT_CM||0||500000||0||100||1||GND_ALT_CM|| +||GND_ABS_PRESS|| || ||0|| || ||GND_ABS_PRESS|| +||COMPASS_DEC||-1.57075||1.57075||0||1|| ||COMPASS_DEC - Compass Declination|| +||SR0_EXT_STAT||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS|| +||SR0_EXTRA1||0||50||10||1||1||TELEMETRY_ENABLE Port 0 - Enable MSG_ATTITUDE|| +||SR0_EXTRA2||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable MSG_VFR_HUD|| +||SR0_EXTRA3||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Not currently used|| +||SR0_POSITION||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages|| +||SR0_RAW_CTRL||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT|| +||SR0_RAW_SENS||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable IMU_RAW, GPS_RAW, GPS_STATUS packets|| +||SR0_RC_CHAN||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW|| +||SR3_EXT_STAT||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS|| +||SR3_EXTRA1||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable MSG_ATTITUDE|| +||SR3_EXTRA2||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable MSG_VFR_HUD|| +||SR3_EXTRA3||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Not currently used|| +||SR3_POSITION||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages|| +||SR3_RAW_CTRL||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT|| +||SR3_RAW_SENS||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable IMU_RAW, GPS_RAW, GPS_STATUS packets|| +||SR3_RC_CHAN||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW|| +||MAG_ENABLE||0||1||0||1||1||MAG_ENABLE - 0 = Off, 1 = On, Magnetometer Enable|| +||ARSPD_ENABLE||0||1||0||1||1||AIRSPEED_ENABLE - 0 = Off, 1 = On, Airspeed Sensor Enable|| +||BATT_CAPACITY||0||10000||1760||1||1||BATTERY_MAH - Battery capacity in mAh|| +||BATT_MONITOR||0||4||0||1||1||BATTERY_MONITOR - The value should be set to 0 to disable battery monitoring, 1 to measure cell voltages for a 3 cell lipo, 2 to measure cell voltages for a 4 cell lipo, 3 to measure the total battery voltage (only) on input 1, or 4 to measure total battery voltage on input 1 and current on input 2. || +||FS_GCS_ENABL||0||1||0||1||1||FS_GCS_ENABLE - 0 = Off, 1 = On, If the GCS heartbeat is lost for 20 seconds, the plane will Return to Launch|| +||FS_LONG_ACTN||0||1||0||1||1||FS_LONG_ACTION - 0 = Off, 1 = On, If heartbeat is lost for 20 srconds, the plane will Return to Launch|| +||FS_SHORT_ACTN||0||1||0||1||1||FS_SHORT_ACTION - 0 = Off, 1 = On, If heartbeat is lost for 1.5 seconds, the plane will circle until heartbeat is found again or 20 seconds has passed|| +||SYSID_MYGCS||0||255||255||1||1||SYSID_MYGCS - The system ID of the GCS|| +||SYSID_THISMAV||0||255||1||1||1||SYSID_THISMAV - The system ID of the MAVlink vehicle|| +||AOA|| || ||0|| || +||ACR_PIT_D|| || ||1|| || ||Description coming soon|| +||ACR_PIT_I|| || ||1|| || ||Description coming soon|| +||ACR_PIT_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_PIT_P|| || ||1|| || ||Description coming soon|| +||ACR_RLL_D|| || ||1|| || ||Description coming soon|| +||ACR_RLL_I|| || ||1|| || ||Description coming soon|| +||ACR_RLL_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_RLL_P|| || ||1|| || ||Description coming soon|| +||ACR_YAW_D|| || ||1|| || ||Description coming soon|| +||ACR_YAW_I|| || ||1|| || ||Description coming soon|| +||ACR_YAW_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_YAW_P|| || ||1|| || ||Description coming soon|| +||ESC|| || ||1|| || ||ESC_CALIBRATE_MODE|| +||FRAME|| || ||1|| || ||FRAME_ORIENTATION || +||LOITER_RADIUS|| || ||1|| || ||Description coming soon|| +||NAV_LAT_D|| || ||1|| || ||Description coming soon|| +||NAV_LAT_I|| || ||1|| || ||Description coming soon|| +||NAV_LAT_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_LAT_P|| || ||1|| || ||Description coming soon|| +||NAV_LON_D|| || ||1|| || ||Description coming soon|| +||NAV_LON_I|| || ||1|| || ||Description coming soon|| +||NAV_LON_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_LON_P|| || ||1|| || ||Description coming soon|| +||NAV_WP_D|| || ||1|| || ||Description coming soon|| +||NAV_WP_I|| || ||1|| || ||Description coming soon|| +||NAV_WP_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_WP_P|| || ||1|| || ||Description coming soon|| +||PITCH_MAX|| || ||1|| || ||Description coming soon|| +||SONAR_ENABLE||0||1||0||1||1||SONAR_ENABLE - 0 = Off, 1 = On, Sonar Enable|| +||STB_PIT_D|| || ||1|| || ||Description coming soon|| +||STB_PIT_I|| || ||1|| || ||Description coming soon|| +||STB_PIT_IMAX|| || ||1|| || ||Description coming soon|| +||STB_PIT_P|| || ||1|| || ||Description coming soon|| +||STB_RLL_D|| || ||1|| || ||Description coming soon|| +||STB_RLL_I|| || ||1|| || ||Description coming soon|| +||STB_RLL_IMAX|| || ||1|| || ||Description coming soon|| +||STB_RLL_P|| || ||1|| || ||Description coming soon|| +||STB_YAW_D|| || ||1|| || ||Description coming soon|| +||STB_YAW_I|| || ||1|| || ||Description coming soon|| +||STB_YAW_IMAX|| || ||1|| || ||Description coming soon|| +||STB_YAW_P|| || ||1|| || ||Description coming soon|| +||THR_BAR_D|| || ||1|| || ||Description coming soon|| +||THR_BAR_I|| || ||1|| || ||Description coming soon|| +||THR_BAR_IMAX|| || ||1|| || ||Description coming soon|| +||THR_BAR_P|| || ||1|| || ||Description coming soo|| +||THR_SON_D|| || ||1|| || ||Description coming soon|| +||THR_SON_I|| || ||1|| || ||Description coming soon|| +||THR_SON_IMAX|| || ||1|| || ||Description coming soon|| +||THR_SON_P|| || ||1|| || ||Description coming soon|| +||WP_MODE|| || ||1|| || ||Description coming soon|| +||WP_MUST_INDEX|| || ||1|| || ||Description coming soon|| +||XTRACK_ANGLE|| || ||1|| || ||Description coming soon|| +||XTRK_GAIN|| || ||1|| || ||Description coming soon|| +||ARSPD_OFFSET|| || ||0|| || ||Description coming soon|| +||ELEVON_CH1_REV||0||1||0||1||1||ELEVON_CHANNEL1_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||ELEVON_CH2_REV||0||1||0||1||1||ELEVON_CHANNEL2_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||ELEVON_MIXING||0||1||0||1||1||ELEVON_MIXING - 0 = Disabled, 1 = Enabled|| +||ELEVON_REVERSE||0||1||0||1||1||ELEVON_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||INVERTEDFLT_CH||0||8||0||1||1||INVERTED_FLIGHT_CHANNEL - Channel to select inverted flight mode, 0 = Disabled|| +||RC1_REV||0||1||1||1||1||RC_CHANNEL1_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC2_REV||0||1||1||1||1||RC_CHANNEL2_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC3_REV||0||1||1||1||1||RC_CHANNEL3_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC4_REV||0||1||1||1||1||RC_CHANNEL4_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC5_REV||0||1||1||1||1||RC_CHANNEL5_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC6_REV||0||1||1||1||1||RC_CHANNEL6_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC7_REV||0||1||1||1||1||RC_CHANNEL7_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC8_REV||0||1||1||1||1||RC_CHANNEL8_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||SYSID_SW_MREV|| || ||0|| || ||Description coming soon|| +||SYSID_SW_TYPE|| || ||0|| || ||Description coming soon|| +||THR_SLEWRATE||0||100||0||1||1||THROTTLE_SLEW_RATE - 0 = Disabled, otherwise it limits throttle movement rate. Units are % per second. This is a test feature and may go away.|| +||FLTMODE1||0||20||1||1|| ||FLIGHT_MODE_1 - Mode switch setting 1 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE2||0||20||1||1|| ||FLIGHT_MODE_2 - Mode switch setting 2 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE3||0||20||1||1|| ||FLIGHT_MODE_3 - Mode switch setting 3 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE4||0||20||1||1|| ||FLIGHT_MODE_4 - Mode switch setting 4 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE5||0||20||1||1|| ||FLIGHT_MODE_5 - Mode switch setting 5 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE6||0||20||1||1|| ||FLIGHT_MODE_6 - Mode switch setting 6 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| \ No newline at end of file diff --git a/files/flightgear/Aircraft/Malolo1/.#Malolo1-set.xml.1.1 b/files/flightgear/Aircraft/Malolo1/.#Malolo1-set.xml.1.1 new file mode 100644 index 0000000000000000000000000000000000000000..c85509bb879e38ce222f55a9aefbfdff00a8de68 --- /dev/null +++ b/files/flightgear/Aircraft/Malolo1/.#Malolo1-set.xml.1.1 @@ -0,0 +1,103 @@ + + + + + + + Malolo1(R/C) + Innis Cunningham, Josh Wilson + 0.0 + + + Aircraft/Malolo1/Malolo1-splash.rgb + + + jsb + Malolo1 + 0.8 + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Malolo1/Models/Malolo1.xml + + + + true + + 0.0 + 0.26 + 0.34 + -8 + + + + -15.0 + + YardStik 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + diff --git a/files/flightgear/Aircraft/Malolo1/COPYING b/files/flightgear/Aircraft/Malolo1/COPYING new file mode 100644 index 0000000000000000000000000000000000000000..d60c31a97a544b53039088d14fe9114583c0efc3 --- /dev/null +++ b/files/flightgear/Aircraft/Malolo1/COPYING @@ -0,0 +1,340 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc. + 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. By contrast, the GNU General Public +License is intended to guarantee your freedom to share and change free +software--to make sure the software is free for all its users. This +General Public License applies to most of the Free Software +Foundation's software and to any other program whose authors commit to +using it. (Some other Free Software Foundation software is covered by +the GNU Library General Public License instead.) You can apply it to +your programs, too. + + When we speak of free software, we are referring to freedom, not +price. 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See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + +Also add information on how to contact you by electronic and paper mail. + +If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: + + Gnomovision version 69, Copyright (C) year name of author + Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + , 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Library General +Public License instead of this License. diff --git a/files/flightgear/Aircraft/Malolo1/Engines/18x8.xml b/files/flightgear/Aircraft/Malolo1/Engines/18x8.xml new file mode 100644 index 0000000000000000000000000000000000000000..6f4aae8cf672c85b47d0f2a469a496641f2b0c5e --- /dev/null +++ b/files/flightgear/Aircraft/Malolo1/Engines/18x8.xml @@ -0,0 +1,51 @@ + + + + + + 0.00085 + 18.0 + 2 + 30 + 30 + + + + 0.0 0.0776 + 0.1 0.0744 + 0.2 0.0712 + 0.3 0.0655 + 0.4 0.0588 + 0.5 0.0518 + 0.6 0.0419 + 0.7 0.0318 + 0.8 0.0172 + 1.0 -0.0058 + 1.4 -0.0549 + +
+ + + + 0.0 0.0902 + 0.1 0.0893 + 0.2 0.0880 + 0.3 0.0860 + 0.4 0.0810 + 0.5 0.0742 + 0.6 0.0681 + 0.7 0.0572 + 0.8 0.0467 + 1.0 0.0167 + 1.4 -0.0803 + +
+ + diff --git a/files/flightgear/Aircraft/Malolo1/Engines/Zenoah_G-26A.xml b/files/flightgear/Aircraft/Malolo1/Engines/Zenoah_G-26A.xml new file mode 100644 index 0000000000000000000000000000000000000000..86d43a827e807510a32e0328dc425a9f219ef9fa --- /dev/null +++ b/files/flightgear/Aircraft/Malolo1/Engines/Zenoah_G-26A.xml @@ -0,0 +1,8 @@ + + + + + + + 2207.27 + diff --git a/files/flightgear/Aircraft/Malolo1/Malolo1-set.xml b/files/flightgear/Aircraft/Malolo1/Malolo1-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..c85509bb879e38ce222f55a9aefbfdff00a8de68 --- /dev/null +++ b/files/flightgear/Aircraft/Malolo1/Malolo1-set.xml @@ -0,0 +1,103 @@ + + + + + + + Malolo1(R/C) + Innis Cunningham, Josh Wilson + 0.0 + + + Aircraft/Malolo1/Malolo1-splash.rgb + + + jsb + Malolo1 + 0.8 + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Malolo1/Models/Malolo1.xml + + + + true + + 0.0 + 0.26 + 0.34 + -8 + + + + -15.0 + + YardStik 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + diff --git a/files/flightgear/Aircraft/Malolo1/Malolo1-splash.rgb b/files/flightgear/Aircraft/Malolo1/Malolo1-splash.rgb new file mode 100644 index 0000000000000000000000000000000000000000..02f47ac2ed3c920a63e3b9bb69851102b4e13bd4 Binary files /dev/null and b/files/flightgear/Aircraft/Malolo1/Malolo1-splash.rgb differ diff --git a/files/flightgear/Aircraft/Malolo1/Malolo1.xml b/files/flightgear/Aircraft/Malolo1/Malolo1.xml new file mode 100644 index 0000000000000000000000000000000000000000..c12a9ae9c3b842d47fac1eb967478313b6188cb0 --- /dev/null +++ b/files/flightgear/Aircraft/Malolo1/Malolo1.xml @@ -0,0 +1,546 @@ + + + + + + Author Name + Creation Date + Version + Models a Malolo + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1 + 1 + 2 + 0 + 0 + 0 + 12 + + 36.4 + 0 + 4 + + + 1 + + 0 + 0 + 0 + + + + + + + + 40.1 + -9.9 + -10.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + LEFT + 0 + + + + 40.1 + 9.9 + -10.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + RIGHT + 0 + + + + 68.9 + 0 + -4.3 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + 10 + 0 + -8.3 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
+ + + + Lift_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2000 + + + + + + + Roll_moment_due_to_beta + + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1000 + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4000 + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.1500 + + + + Roll_moment_due_to_aileron + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + + velocities/mach + + 0.0000 0.1300 + 2.0000 0.0570 + +
+ + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.0100 + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/alpha-rad + -0.5000 + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0000 -0.5000 + 2.0000 -0.2750 + +
+ + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -12.0000 + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -7.0000 + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.1200 + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.1500 + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.0500 + + + + Adverse_yaw + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + -0.0300 + + + + Yaw_moment_due_to_tail_incidence + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + 0.0007 + + + + + diff --git a/files/flightgear/Aircraft/Malolo1/Models/DSC01758.rgb 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b/files/flightgear/Aircraft/Rascal110/Models/Rascal110.xml @@ -0,0 +1,87 @@ + + + + + Rascal110-000-013.ac + + + Aircraft/Rascal/Models/smokeW.xml + + 2.0 + 0.0 + 0.0 + 0 + 0 + 0 + + + + + rotate + L_Aileron + /surface-positions/left-aileron-pos-norm + 20.0 +
+ 0.735 + -0.450 + 0.139 +
+ + 0.037 + 1.0 + -0.029 + + + + + rotate + R_Aileron + /surface-positions/right-aileron-pos-norm + 20.0 +
+ 0.735 + 0.450 + 0.139 +
+ + -0.037 + 1.0 + 0.029 + + + + + rotate + Elevator + /surface-positions/elevator-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.051 +
+ + 0.0 + 1.0 + 0.0 + + + + + rotate + Rudder + /surface-positions/rudder-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.0 +
+ + 0.0 + 0.0 + 1.0 + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.ac b/files/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.ac new file mode 100644 index 0000000000000000000000000000000000000000..4daabfce065f9b6f285485a28fd08776a6e09320 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.ac @@ -0,0 +1,30 @@ +AC3Db +MATERIAL "ac3dmat9" rgb 0 0 1 amb 0 0 1 emis 0 0 1 spec 0 0 1 shi 0 trans 0 +MATERIAL "ac3dmat3" rgb 1 0 0 amb 1 0 0 emis 1 0 0 spec 1 0 0 shi 0 trans 0 +OBJECT world +kids 2 +OBJECT poly +name "line" +loc 0 0.5 0 +numvert 2 +0 0.5 0 +0 -0.5 0 +numsurf 1 +SURF 0x22 +mat 0 +refs 2 +0 0 1 +1 0 0 +kids 0 +OBJECT poly +name "line" +numvert 2 +0 0 -3 +0 0 3 +numsurf 1 +SURF 0x22 +mat 1 +refs 2 +0 0 1 +1 0 0 +kids 0 diff --git a/files/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.xml b/files/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.xml new file mode 100644 index 0000000000000000000000000000000000000000..f0897f2c6f274741524f56d946f3c14459dcd9f8 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.xml @@ -0,0 +1,9 @@ + + + + + + + Trajectory-Marker.ac + + diff --git a/files/flightgear/Aircraft/Rascal110/Models/fix.sh b/files/flightgear/Aircraft/Rascal110/Models/fix.sh new file mode 100755 index 0000000000000000000000000000000000000000..eb14cb636ddff14eb6213dc57c4eaf88e455e739 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Models/fix.sh @@ -0,0 +1,8 @@ +#! /bin/sh + +for f in "$@" ; do + sed -i.before-color-change 's,\(MATERIAL.*\)rgb\(.*\)amb\(.*\)emis\(.*\)spec\(.*\)shi\(.*\)trans\(.*\)$,\1rgb\2amb\2emis\4spec\5shi\6trans\7,1' "$f" + if ! cmp "${f}" "${f}.before-color-change" > /dev/null 2>&1 ; then + echo "$f has changed colors!" + fi +done diff --git a/files/flightgear/Aircraft/Rascal110/Models/smoke.png b/files/flightgear/Aircraft/Rascal110/Models/smoke.png new file mode 100644 index 0000000000000000000000000000000000000000..7bad8c685f636179ff1ce401869188bae2d2225a Binary files /dev/null and b/files/flightgear/Aircraft/Rascal110/Models/smoke.png differ diff --git a/files/flightgear/Aircraft/Rascal110/Models/smokeW.xml b/files/flightgear/Aircraft/Rascal110/Models/smokeW.xml new file mode 100644 index 0000000000000000000000000000000000000000..6d7f06730e22e410a602869d069138a752c42fcf --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Models/smokeW.xml @@ -0,0 +1,102 @@ + + + + + + + + + smoke + + + 0.000 + 0.000 + -0.000 + 0.000 + 0.000 + 0.000 + + + smoke.png + + + sim/multiplay/generic/int[0] + + + false + false + billboard + world + + + point + + + + 10 + 86 + -1.5 + 8 + + 10 + 2.5 + + + 5 + 5 + 5 + 60 + 60 + 60 + + + + + + 100 + 1 + + + + + + + 0.9 + 0.9 + 0.9 + 0.3 + + + 0.3 + + + + + + 0.900 + 0.900 + 0.900 + 0.001 + + + 10.0 + + + + + 60 + + + 0.001 + 1.0 + + + + air + false + true + + + + + diff --git a/files/flightgear/Aircraft/Rascal110/README.Rascal b/files/flightgear/Aircraft/Rascal110/README.Rascal new file mode 100644 index 0000000000000000000000000000000000000000..53559bf73c3fabde9ebf0dd8079b8674bf9d37ac --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/README.Rascal @@ -0,0 +1,236 @@ +This information has not been updated for the Rascal, please ignore, we +are still at pre-pre-pre-alpha with this model! + +PIPER J3 CUB PERFORMANCE DATA +============================= + +[This information is copied from the 1946 J3C-65 owner's handbook.] + + FLYING HINTS + +The Piper Cub Special represents more than 15 years of diligent +aircraft engineering and manufacturing experience. Its simplicity of +design and construction, its low operating and maintenance costs, its +inherent stability, ruggedness, and its outstanding safety and ease of +flying, have made it the most popular airplane in aviation history. +The Piper Cub Special is the time-tested product of millions of hours +of flying under all conceivable conditions both in the military and in +peace time. + +There are hints on starting, flying, stopping, and other related +topics that are important to the owner who wants to conserve his +airplane -- keep it in maximum airworthy condition -- and enjoy a full +measure of flying satisfaction. + + +First, each pilot should become familiar enough with his Piper Cub +Special that he can accomplish a satisfactory pre-flight inspection. +This check is simple and requires only a few minutes. See Section IX +for check list. Daily check of airplane prior to flight should be the +first in a number of safe flying habits the pilot should acquire. + + +A. BEFORE STARTING ENGINE + +(1) Make routine check of gasoline supply. Visible fuel gauge is +integral part of gas tank cap; it will not show number of gallons but +will show proportion of fuel in tank by length of rod which extends +upward from cap. A full tank of 12 U.S. gallons will be indicated by +11 inches of rod extending beyond cap. Keep gas gauge rod clean and +smooth with crocus cloth for accuracy and freedom of movement. + +(2) Check oil level in engine sump by removing oil cap and gauge. Oil +stick should indicate oil level up to index mark of 4 quarts. + +(3) Check freedom of movement of flight and engine controls. + + +B. STARTING ENGINE + +(1) Chock wheels, or have occupant who is familiar with controls set +brakes in cabin. + +(2) Ignition switch OFF. Verify. + +(3) Set throttle approximately 1/10 open. + +(4) Push fuel shut-off ON. + +(5) Turn propeller through several times. + +(6) Turn ignition switch ON. + +(7) Start engine by pulling propeller through with a snap. + +CAUTION -- Always handle propeller as if switch were "ON." Stand as +far in front of propeller as possible. Use both hands and grasp one +blad approximately midway from tip. Do not overgrasp blade. Do not +wear long, loose clothing. Make sure footing is sure to preclude +possibility of feet slipping. + +(8) If engine does not start, turn switch OFF. Turn primer knob to +unlock, pull out, pump three or four times, then reseat primer and +lock by turning in opposite direction. In extremely cold weather a +few strokes of the primer as the engine starts will enable it to keep +running. NOTE -- Avoid excessive priming as it causes raw gasoline to +wash lubricating oil from engine cylinder walls. Do not prime warm +engine. + +(9) Repeat starting procedures 6, 7. + +(10) If engine loads up and refuses to start, turn ignition switch +"OFF,", open throttle wide and turn propeller through backwards +several times to unload excessive gas mixture in cylinders. Then +close throttle and repeat starting procedure. + + +C. ENGINE WARM-UP + +(1) As soon as engine starts, advance throttle slightly to idle at 700 +R.P.M. Check engine instruments. If oil pressure gauge does not +indicate pressure within 30 seconds, stop engine immediately, check +and correct trouble before any further operation. Oil temperature +during operating should not rise above 200° F. and oil pressure should +not fall below 30 pounds. With engine warm, idling speed should be +550-600 R.P.M. + +(2) Rev engine up to 2100 R.P.M. on both magnetos. Switch to LEFT and +RIGHT magnetos. R.P.M. drop should not be over 75 R.P.M. CAUTION +--Do not operate engine on either single magneto for more than 30 +seconds at a time, as this tends to foul the non-operating spark plugs +in the ignition circuit of the magneto that is switched off. + + +D. STOPPING ENGINE + +(1) Never cut switch immediately after landing as this causes engine +to cool too rapidly. + +(2) Idle engine, especially in high temperature operating conditions, +for several minutes. It is advisable to switch to each magneto for 30 +second intervals to allow gradual cooling of engine. This helps to +prevent overheating of spark plug insulators and will lessen tendency +for "after-firing." + +(3) Check for carburetor heat OFF during idling. + + +E. TAXIING + +(1) Open throttle to start airplane in motion; then close throttle to +a setting sufficient to keep airplane rolling. Do not keep throttle +advanced so that it is necessary to control taxi speed of airplane +with brakes. This causes unnecessary wear and tear on brakes and +tires. + +(2) Taxi slowly (speed of a fast walk) controlling direction with +rudder which is connected to a steerable tail wheel. Use brakes only +for positive, precision ground control when necessary. + +(3) Taxi upwind with stick back; downwind with stick foreward. When +ground winds are in excess of 15 M.P.H., turn into wind using ailerons +in direction of turn; apply ailerons away from the turn when turning +downwind. This procedure helps to prevent the wind "picking up" a +wing during windy, gusty conditions. Always make ground turns slowly. + + +F. GENERAL FLYING + +(1) For takeoff use full throttle, heading into wind. Airplane loaded +will become airborne at approximately 39 M.P.H. Best climb speed is +an indicated 55 M.P.H. + +(2) Indicated R.P.M. for cruising speed of 73 M.P.H. is 2150. +Take-off R.P.M. is 2300. Do not fly at full throttle over 3 minutes. + +(3) Use CARBURETOR AIR HEAT when engine runs "rough" and tachometer +shows drop in R.P.M. which may be due to ice forming in carburetor. +Tachometer should recover to within 50 R.P.M. below normal when using +carburetor heat. Push heater to "OFF" position, and if icing +condition has been cleared, R.P.M. should return to normal. Continued +use of carburetor heat will only cause increased fuel consumption and +loss of power. + +(4) Maximum permissible diving speed is 122 M.P.H. + + +G. APPROACH AND LANDING + +(1) Push carburetor heat ON prior to throttling back for glide, or for +any other flight maneuver. + +(2) Glide between 50-60 M.P.H. depending upon loading of airplane and +gust conditions. + +NOTE -- "Clear" engine by opening throttle gently, every 200-250 feet +of descent during a long glide so that engine temperature will be +maintained. + +Throttle action on the part of the pilot should be smooth and gentle +at all times. + + +H. PARKING AND MOORING + +(1) After termination of flight, enter flying time in aircraft and +engine log books. + +(2) Turn ignition and fuel OFF. + +(3) Chcok the wheels of airplane. + +(4) If airplane is not to be flown for some time, it should be +hangared or tied down. Use good quality 1/2" - 5/8" diameter rope. +Secure to lift assist handle at aft end of fuselage; also at upper end +of both front wing lift struts where they attach to wing. Make sure +that rope passes between aileron cable and lift strut. Mooring ropes, +when airplane is tied down, should have no slack. + +(5) Lock aileron and elevator controls by wrapping front seat belt +completely around rear control stick, tighten and buckle. + +(6) Under excessively wind conditions, airplane should be tailed into +wind for mooring. + + + + +[Here is my older information.] + +These are the only numbers I could find. They are for a J3 Cub with +an 85HP engine rather than 65 hp, so some adjustments may be +necessary. The source is + + http://www.evergreenfs.com/planedata.htm + + +Speeds +------ + Best rate of climb (Vy): 65 mph (57 kt) + Best angle of climb (Vx): 55 mph (48 kt) + Cruise: 70 mph (61 kt) + Never-exceed (Vne): 122 mph (106 kt) + Best Glide (Vglide): 60 mph (52 kt) + Stall (Vs): 38 mph (33 kt) + Maneuvering (Va): 70 mph (61 kt) + Approach: 50-60 mph (44-52 kt) + +Power +----- + Take off: full + Climb: 50 rpm below full + Cruise: 2300 rpm + Approach: 1200 rpm + Practice stalls: 1200 rpm + +Distances +--------- + Take-off: 450-800 ft + Landing: 200-800 ft + +Fuel +---- + Total fuel: 12 gal US + Usable fuel: 12 gal US + Grade: 80/87 + GPH: 5 gal US/hr diff --git a/files/flightgear/Aircraft/Rascal110/Rascal-keyboard.xml b/files/flightgear/Aircraft/Rascal110/Rascal-keyboard.xml new file mode 100644 index 0000000000000000000000000000000000000000..504ecca2ce180a41060d2598a7ac0e3e7ed831c0 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Rascal-keyboard.xml @@ -0,0 +1,24 @@ + + + + + + Ctrl-I + Show configuration dialog + + nasal + + + + + + S + Toggle smoke + + property-toggle + sim/multiplay/generic/int[0] + + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Rascal-submodels.xml b/files/flightgear/Aircraft/Rascal110/Rascal-submodels.xml new file mode 100644 index 0000000000000000000000000000000000000000..2ebff47f5354afc2c55bdbe7252a2e9465831ccd --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Rascal-submodels.xml @@ -0,0 +1,25 @@ + + + + + + trajectory marker + Aircraft/Rascal/Models/Trajectory-Marker.xml + /sim/multiplay/generic/int[1] + 0 + true + 0.75 + -1 + -0.5 + 0.0 + -0.08 + 0.0 + 0.0 + 1000000000.00 + 600 + 32 + false + false + + + diff --git a/files/flightgear/Aircraft/Rascal110/Rascal110-JSBSim-set.xml b/files/flightgear/Aircraft/Rascal110/Rascal110-JSBSim-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..e3ebc4c0ae49ea7b7cedb3717e60823979487480 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Rascal110-JSBSim-set.xml @@ -0,0 +1,213 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + jsb + Rascal110-JSBSim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + Huds/NTPS.xml + true + + true + true + 0.85 + 0.85 + + + + 0.38 + 1.0 + 0.22 + + + 1.0 + 0.0 + 0.0 + + + + + + true + + 0.0 + -0.15 + 0.9 + -8 + + + + + 1 + Aircraft/Rascal/Rascal-submodels.xml + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + News Camera + lookat + true + + /position/latitude-deg + /position/longitude-deg + /position/altitude-ft + /orientation/heading-deg + /orientation/pitch-deg + /orientation/roll-deg + 0.0 + -0.35 + -0.4 + + /sim/input/click/latitude-deg + /sim/input/click/longitude-deg + /sim/input/click/elevation-ft + + + + + Camera View + true + lookfrom + false + + true + 0 + 0.5f + 55.0 + + + + + 1 + + 0 + 0 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 kts + Never-exceed (Vne): 85 kts + Best Glide (Vglide): 20 kts + Maneuvering (Va): 50 kts + Approach speed: 20-25 kts + Stall speed (Vs): 15 kts + + + + + + + Aircraft/Rascal/Systems/main.nas + Aircraft/Rascal/Systems/airdata.nas + Aircraft/Rascal/Systems/ugear.nas + + + + + + 2 + + + + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + + + + + + + 700 + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Rascal110-JSBSim.xml b/files/flightgear/Aircraft/Rascal110/Rascal110-JSBSim.xml new file mode 100644 index 0000000000000000000000000000000000000000..e09dd7b15b2105e6c0da1a349592f38a3abc7d2a --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Rascal110-JSBSim.xml @@ -0,0 +1,522 @@ + + + + + + Author Name + Creation Date + Version + Models a rascal + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1.95 + 1.55 + 1.91 + 0 + 0 + 0 + 13 + + 36.4 + 0 + 4 + + + + + + + 33.1 + -9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + LEFT + 0 + + + + 33.1 + 9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + RIGHT + 0 + + + + 68.9 + 0 + -6.6 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
+ + + + Lift_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2000 + + + + + + + Roll_moment_due_to_beta + + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1000 + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4000 + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.1500 + + + + Roll_moment_due_to_aileron + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + + velocities/mach + + 0.0000 0.1300 + 2.0000 0.0570 + +
+ + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.0100 + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/alpha-rad + -0.5000 + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0000 -0.5000 + 2.0000 -0.2750 + +
+ + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -12.0000 + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -7.0000 + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.1200 + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.1500 + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.0500 + + + + Adverse_yaw + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + -0.0300 + + + + Yaw_moment_due_to_tail_incidence + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + 0.0007 + + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Rascal110-YASim-set.xml b/files/flightgear/Aircraft/Rascal110/Rascal110-YASim-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..3b92a5950a5682bce0a5cab7bd54976aa22323f1 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Rascal110-YASim-set.xml @@ -0,0 +1,108 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + yasim + Rascal110-YASim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + true + + 0.0 + -0.3 + 0.9 + -8 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + + 2 + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Rascal110-YASim.xml b/files/flightgear/Aircraft/Rascal110/Rascal110-YASim.xml new file mode 100644 index 0000000000000000000000000000000000000000..50b36d8320c95520bd2e3bebfd8e3962ac34ebf9 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Rascal110-YASim.xml @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Rascal110-splash.rgb b/files/flightgear/Aircraft/Rascal110/Rascal110-splash.rgb new file mode 100644 index 0000000000000000000000000000000000000000..0b0daff89d40685b7c99d7ceb32625a63e5d3de4 Binary files /dev/null and b/files/flightgear/Aircraft/Rascal110/Rascal110-splash.rgb differ diff --git a/files/flightgear/Aircraft/Rascal110/Systems/.#110-autopilot.xml.1.2 b/files/flightgear/Aircraft/Rascal110/Systems/.#110-autopilot.xml.1.2 new file mode 100644 index 0000000000000000000000000000000000000000..6ffff8d76eb5e8c45cb8c1010f5b5a981c7df228 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Systems/.#110-autopilot.xml.1.2 @@ -0,0 +1,711 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + + 0.0 + -8.33 + + 8.33 + + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.0001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml b/files/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml new file mode 100644 index 0000000000000000000000000000000000000000..7ab47ed98f0845b6f37d088aeb24f63d15d3423e --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml @@ -0,0 +1,767 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml-a b/files/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml-a new file mode 100644 index 0000000000000000000000000000000000000000..05f17e152937819d2212f3ff5240c7be1855ddbc --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml-a @@ -0,0 +1,707 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Systems/airdata.nas b/files/flightgear/Aircraft/Rascal110/Systems/airdata.nas new file mode 100644 index 0000000000000000000000000000000000000000..8322cbb1699cc19f77458d80609519ac7932e3bf --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Systems/airdata.nas @@ -0,0 +1,40 @@ +var last_time = 0.0; +var last_speed = 0.0; +var speed_sensed = 0.0; +var sensor_step = 1.0; +var speed_filt = 0.0; +var accel_filt = 0.0; + +var compute_airspeed_accel = func( speed_filt, dt ) { + # print ( "computing forward acceleration ", dt ); + + var delta_speed = speed_filt - last_speed; + last_speed = speed_filt; + + var accel = delta_speed / dt; + + return accel; +} + + +var update_airdata = func( dt ) { + # crude model of a noisy electronic pitot tube + sensed_speed = getprop("/velocities/airspeed-kt"); + var r = rand(); + if ( r < 0.3333 ) { + sensed_speed = sensed_speed - sensor_step; + } elsif ( r > 0.6666 ) { + sensed_speed = sensed_speed + sensor_step; + } + + speed_filt = 0.97 * speed_filt + 0.03 * sensed_speed; + + var sensed_accel = 0.0; + if ( dt > 0 ) { + sensed_accel = compute_airspeed_accel( speed_filt, dt ); + } + + accel_filt = 0.97 * accel_filt + 0.03 * sensed_accel; + + setprop("/accelerations/airspeed-ktps", accel_filt); +} diff --git a/files/flightgear/Aircraft/Rascal110/Systems/electrical.xml b/files/flightgear/Aircraft/Rascal110/Systems/electrical.xml new file mode 100644 index 0000000000000000000000000000000000000000..88bd52e62cc92cd5f38104b7ba4aa7beed8bf424 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Systems/electrical.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + Battery 1 + /systems/electrical/suppliers/battery[0] + battery + 28 + 60 + + + + Alternator 1 + /systems/electrical/suppliers/alternator[0] + alternator + /engines/engine[0]/rpm + 28 + 60 + + + + + + Master Bus + /systems/electrical/outputs/bus[0] + /systems/electrical/outputs/transponder + + + + + + Starter 1 Power + /systems/electrical/outputs/starter[0] + + + + Landing Light Power + /systems/electrical/outputs/landing-light + + + + Beacon Power + /systems/electrical/outputs/beacon + + + + Strobe Lights Power + /systems/electrical/outputs/strobe-lights + + + + Taxi Lights Power + /systems/electrical/outputs/taxi-lights + + + + Pitot Heat Power + /systems/electrical/outputs/pitot-heat + + + + + + + Alternator 1 + Master Bus + + /controls/engines/engine[0]/master-alt + + + + + Battery 1 + Master Bus + + /controls/engines/engine[0]/master-bat + + + + + + + Master Bus + Starter 1 Power + + /controls/engines/engine[0]/starter + off + + + + + + + Master Bus + Landing Light Power + + /controls/switches/landing-light + + + + + Master Bus + Beacon Power + + /controls/switches/flashing-beacon + + + + + Master Bus + Strobe Lights Power + + /controls/switches/strobe-lights + + + + + Master Bus + Taxi Lights Power + + /controls/switches/taxi-lights + + + + + Master Bus + Pitot Heat Power + + /controls/switches/pitot-heat + + + + diff --git a/files/flightgear/Aircraft/Rascal110/Systems/main.nas b/files/flightgear/Aircraft/Rascal110/Systems/main.nas new file mode 100644 index 0000000000000000000000000000000000000000..7aec75186ffeb8a0ff801a8513f74cc3738fef2e --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Systems/main.nas @@ -0,0 +1,22 @@ +var dialog = gui.Dialog.new("/sim/gui/dialogs/rascal/config/dialog", + "Aircraft/Rascal/Dialogs/config.xml"); + +var last_time = 0.0; + + +var main_loop = func { + var time = getprop("/sim/time/elapsed-sec"); + var dt = time - last_time; + last_time = time; + + update_airdata( dt ); + update_ugear( dt ); + + settimer(main_loop, 0); +} + + +setlistener("/sim/signals/fdm-initialized", + func { + main_loop(); + }); diff --git a/files/flightgear/Aircraft/Rascal110/Systems/ugear.nas b/files/flightgear/Aircraft/Rascal110/Systems/ugear.nas new file mode 100644 index 0000000000000000000000000000000000000000..3a33c6cb2258896b960dd856db46175e99aa5335 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/Systems/ugear.nas @@ -0,0 +1,54 @@ +var update_ugear = func( dt ) { + var max_zoom_rate = 10*dt; + var max_pan_rate = 30*dt; + var max_tilt_rate = 45*dt; + + var ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + if ( ap_enable == nil ) { + props.globals.initNode("/ugear/settings/ap-enable", 0, "BOOL", 1); + ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + } + if ( ap_enable.getBoolValue() ) { + setprop( "/controls/flight/aileron", getprop("/ugear/act/aileron") ); + setprop( "/controls/flight/elevator", getprop("/ugear/act/elevator") ); + } + + var turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + if ( turret_enable == nil ) { + props.globals.initNode("/ugear/settings/turret-enable", 0, "BOOL", 1); + turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + } + + if ( (getprop("/sim/current-view/name") == "Camera View") + and turret_enable.getBoolValue() ) + { + var target_zoom = getprop("/ugear/act/channel6"); + var target_pan = -getprop("/ugear/act/channel7"); + if ( target_pan < -180.0 ) { target_pan += 360.0; } + if ( target_pan > 180.0 ) { target_pan -= 360.0; } + var target_tilt = -getprop("/ugear/act/channel8"); + var cur_zoom = getprop("/sim/current-view/field-of-view"); + var cur_pan = getprop("/sim/current-view/heading-offset-deg"); + var cur_tilt = getprop("/sim/current-view/pitch-offset-deg"); + var diff = 0.0; + + diff = target_zoom - cur_zoom; + if ( diff > max_zoom_rate ) { diff = max_zoom_rate; } + if ( diff < -max_zoom_rate ) { diff = -max_zoom_rate; } + setprop("/sim/current-view/field-of-view", cur_zoom + diff); + + diff = target_pan - cur_pan; + if ( diff > 180 ) { diff -= 360; } + if ( diff < -180 ) { diff += 360; } + if ( diff > max_pan_rate ) { diff = max_pan_rate; } + if ( diff < -max_pan_rate ) { diff = -max_pan_rate; } + setprop("/sim/current-view/heading-offset-deg", cur_pan + diff); + + diff = target_tilt - cur_tilt; + if ( diff > 90 ) { diff = 90; } + if ( diff < -90 ) { diff = -90; } + if ( diff > max_tilt_rate ) { diff = max_tilt_rate; } + if ( diff < -max_tilt_rate ) { diff = -max_tilt_rate; } + setprop("/sim/current-view/pitch-offset-deg", cur_tilt + diff); + } +} diff --git a/files/flightgear/Aircraft/Rascal110/initfile.xml b/files/flightgear/Aircraft/Rascal110/initfile.xml new file mode 100644 index 0000000000000000000000000000000000000000..621b522cf1ad13a82178e710a5df2421f0afca18 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal110/initfile.xml @@ -0,0 +1,12 @@ + + + 110.783 + 5.03584 + -0.226825 + -2.16197 + -1.06069 + 2.95853 + 0 + 0 + -0.401227 + diff --git a/files/flightgear/Aircraft/Rascal110/thumbnail.jpg b/files/flightgear/Aircraft/Rascal110/thumbnail.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cdc375c3e59e4b14dc25efd65e1b2922ca1f1d4d Binary files 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+ + diff --git a/files/flightgear/Aircraft/YardStick/Engines/Zenoah_G-26A.xml b/files/flightgear/Aircraft/YardStick/Engines/Zenoah_G-26A.xml new file mode 100644 index 0000000000000000000000000000000000000000..86d43a827e807510a32e0328dc425a9f219ef9fa --- /dev/null +++ b/files/flightgear/Aircraft/YardStick/Engines/Zenoah_G-26A.xml @@ -0,0 +1,8 @@ + + + + + + + 2207.27 + diff --git a/files/flightgear/Aircraft/YardStick/Models/yardstik.ac b/files/flightgear/Aircraft/YardStick/Models/yardstik.ac new file mode 100644 index 0000000000000000000000000000000000000000..ba5bd60c258cad52f52a06929552980d8ebe0d4a --- /dev/null +++ b/files/flightgear/Aircraft/YardStick/Models/yardstik.ac @@ -0,0 +1,11844 @@ +AC3Db +MATERIAL "ac3dmat0" rgb 0 0 0 amb 0.2 0.2 0.2 emis 0 0 0 spec 0.2 0.2 0.2 shi 16 trans 0 +MATERIAL "ac3dmat1" rgb 1 1 1 amb 0.2 0.2 0.2 emis 0 0 0 spec 0.2 0.2 0.2 shi 16 trans 0 +MATERIAL "ac3dmat3" rgb 1 0 0 amb 0.2 0.2 0.2 emis 0 0 0 spec 0.2 0.2 0.2 shi 16 trans 0 +MATERIAL "ac3dmat13" 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b/files/flightgear/Aircraft/arducopter/initfile.xml @@ -0,0 +1,12 @@ + + + nan + nan + nan + nan + -nan + nan + nan + nan + nan + diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml new file mode 100755 index 0000000000000000000000000000000000000000..61940e773fb671ff2f72dde38e5ae967039ed2cc --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml @@ -0,0 +1,14 @@ + + + + + + + Brit. Airborn Jeep + + AI-Liveries/jeep-1d.png + AI-Liveries/softroof-a.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml new file mode 100755 index 0000000000000000000000000000000000000000..5ad0a0e91539b8e8c78d5e065eb2e465a8ba162d --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml @@ -0,0 +1,14 @@ + + + + + + + US Army green + + AI-Liveries/jeep-1.png + AI-Liveries/softroof.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml new file mode 100755 index 0000000000000000000000000000000000000000..b6b3ebe0393d454d7d0cce7f1b5020af922cf472 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml @@ -0,0 +1,14 @@ + + + + + + + Hippie pink + + AI-Liveries/jeep-1c.png + AI-Liveries/softroof.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png new file mode 100755 index 0000000000000000000000000000000000000000..cae0cb42bcd51a0c0db8df4124c71510d1a46b69 Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png new file mode 100755 index 0000000000000000000000000000000000000000..de16e087ed5d2c9050ee93a62f1a45ca1f9d233c Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png new file mode 100755 index 0000000000000000000000000000000000000000..e2d78d6deedb923bb477464a7fd1f72231c5cd7d Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png new file mode 100755 index 0000000000000000000000000000000000000000..434e493de18f18bcfd4f9d00ecb9dc6d3d00fdc1 Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png new file mode 100755 index 0000000000000000000000000000000000000000..6440c1b02bf86b2f3f38a6cdff5fed6af99cdbce Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml new file mode 100755 index 0000000000000000000000000000000000000000..7fc8f6890191afdfc2cb75bbf4fb9a21d0bb4b0b --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml @@ -0,0 +1,14 @@ + + + + + + + US Navy blue + + Liveries/jeep-1a.png + Liveries/softroof-a.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml new file mode 100755 index 0000000000000000000000000000000000000000..023d37559f45a7a7022b7dd882e8585cbf5648e0 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml @@ -0,0 +1,14 @@ + + + + + + + RAF + + Liveries/jeep-1b.png + Liveries/softroof-a.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png new file mode 100755 index 0000000000000000000000000000000000000000..e17e0f7869b93f67375554e85cb0b9fa013e34ac Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png new file mode 100755 index 0000000000000000000000000000000000000000..f860522898ec3973aa5df8e891b7ba8baae618b8 Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/GPA.xml b/files/flightgear/Aircraft/jeep/Models/GPA.xml new file mode 100644 index 0000000000000000000000000000000000000000..120af376109371f8b18fb3020142b230b15f1637 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/GPA.xml @@ -0,0 +1,320 @@ + + gpa.ac + + -0.15 + + + + Aircraft/jeep/Models/fuelgauge.xml + + 1.3 + 0.01 + 1.18 + -22 + + + + Aircraft/jeep/Models/speedometer.xml + + 1.33 + 0.1 + 1.123 + -22 + + + + Aircraft/jeep/Models/current.xml + + 1.3 + 0.19 + 1.18 + -22 + + + + + + translate + fwheel.L + 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+ 0.554 + -0.439 + 0.408 +
+ + 0.0 + 0.0 + 1.0 + + + + rotate + fwheel.R + fwheel2.R + fscrews.R + controls/flight/aileron + -25 +
+ 0.554 + 0.439 + 0.408 +
+ + 0.0 + 0.0 + 1.0 + + + + + spin + fwheel.L + fwheel2.L + fscrews.L + gear/gear[1]/rollspeed-ms + -15 +
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+ + 0.0 + 1.0 + 0.0 + + + + spin + fwheel.R + fwheel2.R + fscrews.R + gear/gear[1]/rollspeed-ms + -15 +
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+ + 0.0 + 1.0 + 0.0 + + + + spin + rwheel.L + rwheel2.L + rscrews.L + gear/gear[2]/rollspeed-ms + -15 +
+ 2.696 + -0.746 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + spin + rwheel.R + rwheel2.R + rscrews.R + gear/gear[3]/rollspeed-ms + -15 +
+ 2.696 + -0.746 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + rotate + steerwheel + controls/flight/aileron + -100 +
+ 1.467 + -0.331 + 1.008 +
+ + 1.185 + -0.331 + 0.713 + 1.750 + -0.331 + 1.303 + + + + + rotate + screen + wiper.L + wiper.R + controls/gear/screen + -100 +
+ 1.014 + 0.0 + 1.175 +
+ + 0.0 + 1.0 + 0.0 + + + + rotate + + shield + controls/gear/shield + -165^ +
+ -0.169 + 0.0 + 1.187 +
+ + 0.0 + 1.0 + 0.0 + + + + + Aircraft/jeep/Models/pilot.xml + pilot + + + 2.1 + -0.32 + 0.9 + 14 + + + + select + pilot + + + sim/current-view/view-number + 0.0 + + + + + + Aircraft/jeep/Models/gpatrans.xml + + 0.0 + 0.0 + 0.0 + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/Jeep.xml b/files/flightgear/Aircraft/jeep/Models/Jeep.xml new file mode 100755 index 0000000000000000000000000000000000000000..836b9d0e61bd5ceba024d4cee66d31f0719f6caa --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/Jeep.xml @@ -0,0 +1,540 @@ + + jeep.ac + + + -0.03 + + + + + var update = aircraft.overlay_update.new(); + update.add("Aircraft/jeep/Models/AI-Liveries", "sim/model/livery/file"); + + + + print ("bye"); + loopid += 1; + + + + + + + Aircraft/jeep/Models/fuelgauge.xml + + 1.442 + 0.01 + 1.08 + + + + Aircraft/jeep/Models/speedometer.xml + + 1.442 + 0.1 + 1.023 + + + + Aircraft/jeep/Models/current.xml + + 1.442 + 0.19 + 1.08 + + + + + + translate + fwheel.L + fwheel2.L + fscrews.L + fwheel.R + fwheel2.R + fscrews.R + frontaxle + gear/gear[0]/compression-norm + + + gear/gear[1]/compression-norm + gear/gear[0]/compression-norm + + + + + 0.0 + -0.05 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + translate + fwheel.L + fwheel2.L + fscrews.L + fwheel.R + fwheel2.R + fscrews.R + frontaxle + gear/gear[1]/compression-norm + + + gear/gear[0]/compression-norm + gear/gear[1]/compression-norm + + + + + 0.0 + -0.05 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + + rotate + fwheel.L + fwheel2.L + fscrews.L + fwheel.R + fwheel2.R + fscrews.R + frontaxle + gear/gear[0]/compression-norm + 11.5 +
+ 0.554 + 0.0 + 0.408 +
+ + -1.0 + 0.0 + 0.0 + + + + + rotate + fwheel.L + fwheel2.L + fscrews.L + fwheel.R + fwheel2.R + fscrews.R + frontaxle + gear/gear[1]/compression-norm + 11.5 +
+ 0.554 + 0.0 + 0.408 +
+ + 1.0 + 0.0 + 0.0 + + + + rotate + fwheel.L + fwheel2.L + fscrews.L + controls/flight/aileron + -25 +
+ 0.554 + -0.439 + 0.408 +
+ + 0.0 + 0.0 + 1.0 + + + + rotate + fwheel.R + fwheel2.R + fscrews.R + controls/flight/aileron + -25 +
+ 0.554 + 0.439 + 0.408 +
+ + 0.0 + 0.0 + 1.0 + + + + spin + fwheel.L + fwheel2.L + fscrews.L + gear/gear[1]/rollspeed-ms + -15 +
+ 0.554 + -0.439 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + spin + fwheel.R + fwheel2.R + fscrews.R + gear/gear[1]/rollspeed-ms + -15 +
+ 0.554 + 0.439 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + + + translate + rwheel.L + rwheel2.L + rscrews.L + rwheel.R + rwheel2.R + rscrews.R + rearaxle + gear/gear[2]/compression-norm + + + gear/gear[3]/compression-norm + gear/gear[2]/compression-norm + + + + + 0.0 + -0.05 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + translate + rwheel.L + rwheel2.L + rscrews.L + rwheel.R + rwheel2.R + rscrews.R + rearaxle + gear/gear[3]/compression-norm + + + gear/gear[2]/compression-norm + gear/gear[3]/compression-norm + + + + + 0.0 + -0.05 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + + rotate + rwheel.L + rwheel2.L + rscrews.L + rwheel.R + rwheel2.R + rscrews.R + rearaxle + gear/gear[2]/compression-norm + 11.5 +
+ 2.696 + 0.0 + 0.408 +
+ + -1.0 + 0.0 + 0.0 + + + + + rotate + rwheel.L + rwheel2.L + rscrews.L + rwheel.R + rwheel2.R + rscrews.R + rearaxle + gear/gear[3]/compression-norm + 11.5 +
+ 2.696 + 0.0 + 0.408 +
+ + 1.0 + 0.0 + 0.0 + + + + + spin + rwheel.L + rwheel2.L + rscrews.L + gear/gear[2]/rollspeed-ms + -15 +
+ 2.696 + -0.746 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + spin + rwheel.R + rwheel2.R + rscrews.R + gear/gear[3]/rollspeed-ms + -15 +
+ 2.696 + -0.746 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + + + + + rotate + steerwheel + controls/flight/aileron + -100 +
+ 1.467 + -0.331 + 1.008 +
+ + 1.185 + -0.331 + 0.713 + 1.750 + -0.331 + 1.303 + + + + + rotate + screen + screenglass + wiper.L + wiper.R + controls/gear/screen + -108 +
+ 1.167 + 0.0 + 0.992 +
+ + 0.0 + 1.0 + 0.0 + + + + + Aircraft/jeep/Models/pilot.xml + pilot + + + 2.1 + -0.32 + 0.9 + 14 + + + + select + pilot + + + sim/current-view/view-number + 0.0 + + + + + select + roof1 + roof2 + + + controls/gear/roof + 0 + + + + + Aircraft/jeep/Models/roof.ac + softroof + + + 0.0 + 0.0 + 0.0 + + + + select + softroof + + + controls/gear/roof + 1 + + + + + + + material + chassis + chassis.001 + Cylinder.001 + canister.RL + fwheel.L + fwheel.R + rwheel.L + rwheel.R + sparewheel + steerwheel + Circle.007 + Circle.008 + frontbumper + screen + sim/model/livery + texture + jeep-1.png + + + material + roof + sim/model/livery + texture-roof + softroof.png + + + + + select + canister.HL + canister.HR + sparewheel.F + canister.M + canister.L + canister.R + + + sim/model/livery/name + Brit. Airborn Jeep + + + + + select + screen + screenglass + wiper.L + wiper.R + canister.RL + sparewheel + sparewheel2 + rscrews.L.001 + + + sim/model/livery/name + Brit. Airborn Jeep + + + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml new file mode 100755 index 0000000000000000000000000000000000000000..ca7edfd6cea4b1b545111ba060a3baea51a4c509 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml @@ -0,0 +1,14 @@ + + + + + + + Brit. Airborn Jeep + + Liveries/jeep-1d.png + Liveries/softroof-a.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml new file mode 100755 index 0000000000000000000000000000000000000000..55f67b6d64d9f2c7006095c5240d125fba086ba3 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml @@ -0,0 +1,14 @@ + + + + + + + US Army green + + jeep-1.png + softroof.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml new file mode 100755 index 0000000000000000000000000000000000000000..cd3e24d879a14d8e4c4704f6a97b135def58e7bd --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml @@ -0,0 +1,14 @@ + + + + + + + Hippie pink + + Liveries/jeep-1c.png + softroof.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png new file mode 100755 index 0000000000000000000000000000000000000000..6c541c76dd8b2905d5d32fb145cd210c91f926f9 Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png new file mode 100755 index 0000000000000000000000000000000000000000..78c6f51a91003719cfb1a117062b83233f41981d Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png new file mode 100755 index 0000000000000000000000000000000000000000..eaa74833349624266c9e4e9d2a3493032d0a8ae2 Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png new file mode 100755 index 0000000000000000000000000000000000000000..bb3b4c77e8f6940bcd4ebe629ab7b175ab3d5c22 Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/navy.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/navy.xml new file mode 100755 index 0000000000000000000000000000000000000000..7fc8f6890191afdfc2cb75bbf4fb9a21d0bb4b0b --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/Liveries/navy.xml @@ -0,0 +1,14 @@ + + + + + + + US Navy blue + + Liveries/jeep-1a.png + Liveries/softroof-a.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/raf.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/raf.xml new file mode 100755 index 0000000000000000000000000000000000000000..023d37559f45a7a7022b7dd882e8585cbf5648e0 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/Liveries/raf.xml @@ -0,0 +1,14 @@ + + + + + + + RAF + + Liveries/jeep-1b.png + Liveries/softroof-a.png + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png b/files/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png new file mode 100755 index 0000000000000000000000000000000000000000..0d85ec39ddb976be9c0b41ea05d7e7615708b9be Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/cabin.png b/files/flightgear/Aircraft/jeep/Models/cabin.png new file mode 100755 index 0000000000000000000000000000000000000000..d3ad949e11577c4bb18dcf64ca5e49bd8172a4e7 Binary files /dev/null and b/files/flightgear/Aircraft/jeep/Models/cabin.png differ diff --git a/files/flightgear/Aircraft/jeep/Models/current.ac b/files/flightgear/Aircraft/jeep/Models/current.ac new file mode 100755 index 0000000000000000000000000000000000000000..8d93f5780d9d24142a6ff590e3a949bfb49c24ff --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/current.ac @@ -0,0 +1,1221 @@ +AC3Db +MATERIAL "DefaultWhite" rgb 1 1 1 amb 1 1 1 emis 0 0 0 spec 0.5 0.5 0.5 shi 64 trans 0 +MATERIAL "Material" rgb 0.15 0.15 0.15 amb 1 1 1 emis 0 0 0 spec 1 1 1 shi 32 trans 0 +MATERIAL "DefaultWhite" rgb 1 1 1 amb 1 1 1 emis 0 0 0 spec 0.5 0.5 0.5 shi 64 trans 0 +OBJECT world +kids 3 +OBJECT poly +name "case" +data 4 +Cube +crease 30.000000 +numvert 144 +1e-06 0.025909 0.025909 +1e-06 0.01832 0.031732 +1e-06 0.009483 0.035392 +1e-06 0 0.036641 +1e-06 -0.009483 0.035392 +1e-06 -0.01832 0.031732 +1e-06 -0.025909 0.025909 +1e-06 -0.031732 0.01832 +1e-06 -0.035392 0.009483 +1e-06 -0.036641 0 +1e-06 -0.035392 -0.009483 +1e-06 -0.031732 -0.01832 +1e-06 -0.025909 -0.025909 +1e-06 -0.01832 -0.031732 +1e-06 -0.009483 -0.035392 +1e-06 0 -0.036641 +1e-06 0.009483 -0.035392 +1e-06 0.01832 -0.031732 +1e-06 0.025909 -0.025909 +1e-06 0.031732 -0.01832 +1e-06 0.035392 -0.009483 +1e-06 0.036641 0 +1e-06 0.035392 0.009483 +1e-06 0.031732 0.01832 +0.001188 0.017718 0.030689 +0.001188 0.025058 0.025058 +0.001188 0.009172 0.034229 +0.001188 0 0.035437 +0.001188 -0.009172 0.034229 +0.001188 -0.017718 0.030689 +0.001188 -0.025058 0.025058 +0.001188 -0.030689 0.017718 +0.001188 -0.034229 0.009172 +0.001188 -0.035437 0 +0.001188 -0.034229 -0.009172 +0.001188 -0.030689 -0.017718 +0.001188 -0.025058 -0.025057 +0.001188 -0.017718 -0.030689 +0.001188 -0.009172 -0.034229 +0.001188 0 -0.035437 +0.001188 0.009172 -0.034229 +0.001188 0.017718 -0.030689 +0.001188 0.025057 -0.025058 +0.001188 0.030689 -0.017718 +0.001188 0.034229 -0.009172 +0.001188 0.035437 0 +0.001188 0.034229 0.009172 +0.001188 0.030689 0.017718 +0.001781 0.016956 0.029368 +0.001781 0.023979 0.023979 +0.001781 0.008777 0.032756 +0.001781 0 0.033912 +0.001781 -0.008777 0.032756 +0.001781 -0.016956 0.029368 +0.001781 -0.023979 0.023979 +0.001781 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b/files/flightgear/Aircraft/jeep/Models/speedometer.xml new file mode 100755 index 0000000000000000000000000000000000000000..a2ff31150b8d64a5a0487870ff8f608bb1ffc9a6 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/speedometer.xml @@ -0,0 +1,29 @@ + + + + + + + + + + speedometer.ac + + rotate + needle + velocities/groundspeed-kt + -4.23 +
+ 0.0 + 0.0 + 0.0 +
+ + 1.0 + 0.0 + 0.0 + + + + + diff --git a/files/flightgear/Aircraft/jeep/Models/transparent.ac b/files/flightgear/Aircraft/jeep/Models/transparent.ac new file mode 100755 index 0000000000000000000000000000000000000000..bd8c24118168fddf1f7092f1671a9ee64006edbe --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/transparent.ac @@ -0,0 +1,35 @@ +AC3Db +MATERIAL "DefaultWhite" rgb 1 1 1 amb 1 1 1 emis 0 0 0 spec 0.5 0.5 0.5 shi 64 trans 0 +MATERIAL "glass" rgb 0.1 0.1 0.1 amb 1 1 1 emis 0 0 0 spec 1 1 1 shi 32 trans 0.601077 +OBJECT world +kids 1 +OBJECT poly +name "noshadow.screenglass" +data 8 +Cube.008 +crease 30.000000 +numvert 8 +1.546748 1.634888 -0.02227 +1.546748 1.634888 0.022271 +1.444319 1.324749 0.022271 +1.444319 1.324749 -0.02227 +1.546748 1.634888 -0.620687 +1.546748 1.634889 0.620687 +1.444319 1.324749 0.620687 +1.444319 1.324749 -0.620687 +numsurf 2 +SURF 0x00 +mat 1 +refs 4 +1 0.0 1.0 +2 0.0 0.0 +6 1.0 0.0 +5 1.0 1.0 +SURF 0x00 +mat 1 +refs 4 +0 0.0 1.0 +4 1.0 1.0 +7 1.0 0.0 +3 0.0 0.0 +kids 0 diff --git a/files/flightgear/Aircraft/jeep/Models/transparent.xml b/files/flightgear/Aircraft/jeep/Models/transparent.xml new file mode 100755 index 0000000000000000000000000000000000000000..565b57c5885a3eb4cc173f826527203a190ed020 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Models/transparent.xml @@ -0,0 +1,29 @@ + + + + + + + + + + transparent.ac + + rotate + noshadow.screenglass + controls/gear//screen + -108 +
+ 1.167 + 0.0 + 0.992 +
+ + 0.0 + 1.0 + 0.0 + + + + + diff --git a/files/flightgear/Aircraft/jeep/Nasal/failure.nas b/files/flightgear/Aircraft/jeep/Nasal/failure.nas new file mode 100755 index 0000000000000000000000000000000000000000..6055e061542353f3d07a45dd02583482390a43f6 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Nasal/failure.nas @@ -0,0 +1,10 @@ +var nofuel = props.globals.getNode("engines/engine[0]/out-of-fuel",1 ); + + +var kill_engine = func { + nofuel.setValue(1); + nofuel.setAttribute("writable", 0); +# interpolate ("/engines/engine[0]/fuel-press", 0, 1); +# interpolate ("/engines/engine[0]/mp-osi", 0, 1.5); + +} diff --git a/files/flightgear/Aircraft/jeep/Nasal/jeep.nas b/files/flightgear/Aircraft/jeep/Nasal/jeep.nas new file mode 100755 index 0000000000000000000000000000000000000000..58d3d53bf0e08ae01c3e340bc99561f1ba010df5 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Nasal/jeep.nas @@ -0,0 +1 @@ +aircraft.livery.init("Aircraft/jeep/Models/Liveries", "sim/model/livery/name"); diff --git a/files/flightgear/Aircraft/jeep/Nasal/walk.nas b/files/flightgear/Aircraft/jeep/Nasal/walk.nas new file mode 100755 index 0000000000000000000000000000000000000000..6c46ab082684105bb6392f99fb8da1f0d0fce86e --- /dev/null +++ b/files/flightgear/Aircraft/jeep/Nasal/walk.nas @@ -0,0 +1,101 @@ +var sin = func(a) { math.sin(a * math.pi / 180.0) } +var cos = func(a) { math.cos(a * math.pi / 180.0) } +var posx= 0; +var posy= 0; +var posz= 0; + + setlistener("sim/walker/walking", func { + walk(); + }); + +var main_loop = func { + if (getprop ("sim/walker/outside") == 0) { + setprop ("sim/walker/latitude-deg" , (getprop ("position/latitude-deg"))); + setprop ("sim/walker/longitude-deg" , (getprop ("position/longitude-deg"))); + setprop ("sim/walker/altitude-ft" , (getprop ("position/altitude-ft"))); + setprop ("sim/walker/roll-deg" , (getprop ("orientation/roll-deg"))); + setprop ("sim/walker/pitch-deg" , (getprop ("orientation/pitch-deg"))); + setprop ("sim/walker/heading-deg" , (getprop ("orientation/heading-deg"))); + } + settimer(main_loop, 0.008) +} +var walk = func { + + + if (getprop ("sim/current-view/view-number") == view.indexof("Walk View")) { + if (getprop ("devices/status/mice/mouse/mode") == 2){ + + + if (getprop ("sim/walker/outside") == 1) { + ext_mov(); + } else { + int_mov(); + } + } + } +} + +var ext_mov = func { + speed = getprop ("sim/walker/speed"); + head = getprop ("sim/current-view/heading-offset-deg"); + posy = getprop ("sim/walker/latitude-deg"); + posx = getprop ("sim/walker/longitude-deg"); + posz1 = getprop ("sim/walker/altitude-ft"); + posx1 = posx - speed*sin(head); + if (posy < 0 ) { + # southern hemisphere + posy1 = posy + (speed+0.000001*sin(posy))*cos(head); +# print ("south"); + } else { + # northern hemisphere +# print ("north"); + posy1 = posy + (speed-0.000001*sin(posy))*cos(head); + } +# print (head," ",speed," ",speed+0.0000001*sin(posy)); +# print (cos(head)," ",sin(head)); +# print (posy," ",speed+0.000001*sin(posy)); + posz2 = geo.elevation (posy1,posx1); + + if ((posz2 * 3.28084) < (posz1+10)) { + interpolate ("sim/walker/latitude-deg", posy1,0.25,0.3); +# print (posy); + interpolate ("sim/walker/longitude-deg", posx1,0.25,0.3); +# print (posx); + +# print (posz1," ", posz2 * 3.28084); + if ((posz1+0.4) > (posz2 * 3.28084) or (posz1-0.4) < posz2 * 3.28084) { + interpolate ("sim/walker/altitude-ft", posz2 * 3.28084 ,0.25,0.3); + } + } +if (getprop ("sim/walker/walking") == 1) { + settimer(ext_mov, 0.25); + } +} +var get_out = func { + if (getprop ("sim/current-view/view-number") == view.indexof("Walk View")) { + posx = getprop ("position/longitude-deg"); + posy = getprop ("sim/walker/latitude-deg"); + head = getprop ("orientation/heading-deg"); + posy1 = posy + (0.000001*sin(posy))*sin(head); + + setprop ("sim/walker/heading-deg", 0); + setprop ("sim/walker/outside", 1); + setprop ("sim/current-view/x-offset-m", 0); + setprop ("sim/current-view/y-offset-m", 1.87); + setprop ("sim/current-view/z-offset-m", 0); + setprop ("sim/current-view/roll-offset-deg", 0); + } +} + +var get_in = func { + if (getprop ("sim/current-view/view-number") == view.indexof("Walk View")) { + setprop ("sim/walker/outside", 0); + setprop ("sim/current-view/x-offset-m", 0.35); + setprop ("sim/current-view/y-offset-m", 1.5); + setprop ("sim/current-view/z-offset-m", 2.295); + setprop ("sim/current-view/roll-offset-deg", 0); + } +} +var int_mov = func { +print ("Not yet implemented"); +} diff --git a/files/flightgear/Aircraft/jeep/README b/files/flightgear/Aircraft/jeep/README new file mode 100755 index 0000000000000000000000000000000000000000..61ea6b1ec1abe6fdbd504a3b2dfbd065c1c75728 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/README @@ -0,0 +1,15 @@ +A Willys Jeep for Flightgear + +by Detlef Faber +don@sol2500.net + +This model is released under the terms of the GPLv2 + +Steer the car with aileron control. "," is Brake and "." is Accelerator. + +If you have rudder pedals with Toebrakes, the left pedal is Brake and +the right is Accelerator. + +The Jeep also had a hand throttle, so you can use normal throttle control too. + +M (Shift-m) engages Reverse, m disengages reverse. \ No newline at end of file diff --git a/files/flightgear/Aircraft/jeep/gpa-set.xml b/files/flightgear/Aircraft/jeep/gpa-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..d2c7a72e297d9633cae7afe7200154630cb00633 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/gpa-set.xml @@ -0,0 +1,239 @@ + + + + + + + + GPA amphibious Jeep + Detlef Faber + alpha + yasim + gpa-yasim + + + true + true + + + Aircraft/Generic/generic-sound.xml + + + + Aircraft/jeep/Models/GPA.xml + + + 1 + + + + + false + false + 0.000006 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + -14.0 + + true + + -0.35 + 1.5 + 2.295 + -15.0 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + Walk View + lookfrom + + sim/walker/latitude-deg + sim/walker/longitude-deg + sim/walker/altitude-ft + sim/walker/heading-deg + sim/walker/roll-deg + sim/walker/pitch-deg + + + 10.0 + 55.0 + + 0.35 + 1.5 + 2.295 + + + + + + + false + + + + + , + Brakes + + + . + Accelerator + + + o + Walker gets outside + + + o + Walker gets back in + + + w + Walk forward while in Walk View + + + + + + + true + + + + property-toggle + /controls/gear/screen + + + + + + property-toggle + /controls/gear/shield + + + + + + + + + + 700 + + + + + + 3 + + + + false + false + + + + + + M + engage Reverse + + property-assign + controls/engines/engine[0]/mixture + 0.0 + + + + m + disengage Reverse + + property-assign + controls/engines/engine[0]/mixture + 1.0 + + + + o + get Walker out + + nasal + + + + + O + get Walker in + + nasal + + + + + w + walk forward + + property-toggle + /sim/walker/walking + + + + property-toggle + /sim/walker/walking + + + + + + + + Aircraft/jeep/Nasal/walk.nas + + + + + + + + diff --git a/files/flightgear/Aircraft/jeep/gpa-yasim.xml b/files/flightgear/Aircraft/jeep/gpa-yasim.xml new file mode 100644 index 0000000000000000000000000000000000000000..922db30eb7ea66eab0a60d878c79735f760d4c60 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/gpa-yasim.xml @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/files/flightgear/Aircraft/jeep/jeep-set.xml b/files/flightgear/Aircraft/jeep/jeep-set.xml new file mode 100755 index 0000000000000000000000000000000000000000..4ab66f15edae4d6654e239a1a36fcca9297b51f1 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/jeep-set.xml @@ -0,0 +1,269 @@ + + + + +true +0 +5 + + + + Willys Jeep + Detlef Faber + alpha + yasim + jeep-yasim + + + true + true + + + Aircraft/Generic/generic-sound.xml + + + + Aircraft/jeep/Models/Jeep.xml + + + 1 + + + + + + + + + + + false + false + 0.000006 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + -14.0 + + true + + -0.35 + 1.5 + 2.295 + -15.0 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + Walk View + lookfrom + + sim/walker/latitude-deg + sim/walker/longitude-deg + sim/walker/altitude-ft + sim/walker/heading-deg + sim/walker/roll-deg + sim/walker/pitch-deg + + + 10.0 + 55.0 + + 0.35 + 1.5 + 2.295 + + + + + + + false + + + + + , + Brakes + + + . + Accelerator + + + o + Walker gets outside + + + o + Walker gets back in + + + w + Walk forward while in Walk View + + + + + + + true + + + + property-toggle + /controls/gear/screen + + + + + + property-toggle + /controls/gear/roof + + + + + + nasal + + + + + + + + + 0 + 0 + 0 + + + + + + + 700 + + + + + + 3 + + + + false + false + + + + + + M + engage Reverse + + property-assign + controls/engines/engine[0]/mixture + 0.0 + + + + + m + disengage Reverse + + property-assign + controls/engines/engine[0]/mixture + 1.0 + + + + o + get Walker out + + nasal + + + + + O + get Walker in + + nasal + + + + + w + walk forward + + property-toggle + /sim/walker/walking + + + + property-toggle + /sim/walker/walking + + + + + + + + Aircraft/jeep/Nasal/jeep.nas + + + Aircraft/jeep/Nasal/walk.nas + + + + Aircraft/jeep/Nasal/failure.nas + + + + + + + diff --git a/files/flightgear/Aircraft/jeep/jeep-yasim.xml b/files/flightgear/Aircraft/jeep/jeep-yasim.xml new file mode 100755 index 0000000000000000000000000000000000000000..2923e6840a7c4314a057bf5c587812762541d461 --- /dev/null +++ b/files/flightgear/Aircraft/jeep/jeep-yasim.xml @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/files/flightgear/Aircraft/jeep/thumbnail.jpg b/files/flightgear/Aircraft/jeep/thumbnail.jpg new file mode 100755 index 0000000000000000000000000000000000000000..819724a16e9e87587a47857988fde99730ea14c1 Binary files /dev/null and b/files/flightgear/Aircraft/jeep/thumbnail.jpg differ diff --git a/files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml b/files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml new file mode 100644 index 0000000000000000000000000000000000000000..94a60ded590e9c6d832220ba3c9639265702c04c --- /dev/null +++ b/files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml @@ -0,0 +1,187 @@ + + + + + + + newline + tab + + + time (sec) + float + %.4f + /sim/time/elapsed-sec + + + + + latitude-deg + double + %.18f + /position/latitude-deg + + + + longitude-deg + double + %.18f + /position/longitude-deg + + + + altitiude (m) + double + %.5f + /position/altitude-ft + 0.3048 + + + + + + roll angle + float + %.5f + /orientation/roll-deg + 0.01745329251994329576 + + + + pitch angle (rad) + float + %.5f + /orientation/pitch-deg + 0.01745329251994329576 + + + + yaw angle + float + %.5f + /orientation/heading-deg + 0.01745329251994329576 + + + + roll rate ("p" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/pi-rad_sec + + + + pitch rate ("q" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/qi-rad_sec + + + + yaw rate ("r" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/ri-rad_sec + + + + X accel (body axis) (mps) + float + %.5f + /accelerations/pilot/x-accel-fps_sec + 0.3048 + + + + Y accel (body axis) (mps) + float + %.5f + /accelerations/pilot/y-accel-fps_sec + 0.3048 + + + + Z accel (body axis) (mps) + float + %.5f + /accelerations/pilot/z-accel-fps_sec + 0.3048 + + + + + + Velocity North ("vn" mps) + float + %.8f + /velocities/speed-north-fps + 0.3048 + + + + Velocity East ("ve" mps) + float + %.8f + /velocities/speed-east-fps + 0.3048 + + + + Velocity Down ("vd" mps) + float + %.8f + /velocities/speed-down-fps + 0.3048 + + + + airspeed-mps + float + %.8f + /velocities/airspeed-kt + 0.514444444444444 + + + + + + newline + tab + + + + aileron + float + /controls/flight/aileron + + + + elevator + float + /controls/flight/elevator + + + + rudder + float + /controls/flight/rudder + + + + running + bool + /engines/engine/running + + + + throttle + float + /controls/engines/engine/throttle + + + + + + + + \ No newline at end of file diff --git a/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml b/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml new file mode 100644 index 0000000000000000000000000000000000000000..7dd55d4c8f3cd134f144528c38cc7417ed2fbc3c --- /dev/null +++ b/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml @@ -0,0 +1,179 @@ + + + + + + + newline + tab + + + time (sec) + float + %.4f + /sim/time/elapsed-sec + + + + + latitude-deg + double + %.18f + /position/latitude-deg + + + + longitude-deg + double + %.18f + /position/longitude-deg + + + + altitiude (m) + double + %.5f + /position/altitude-ft + 0.3048 + + + + + + roll angle + float + %.5f + /orientation/roll-deg + 0.01745329251994329576 + + + + pitch angle (rad) + float + %.5f + /orientation/pitch-deg + 0.01745329251994329576 + + + + yaw angle + float + %.5f + /orientation/heading-deg + 0.01745329251994329576 + + + + roll rate ("p" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/pi-rad_sec + + + + pitch rate ("q" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/qi-rad_sec + + + + yaw rate ("r" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/ri-rad_sec + + + + X accel (body axis) (mps) + float + %.5f + /accelerations/pilot/x-accel-fps_sec + 0.3048 + + + + Y accel (body axis) (mps) + float + %.5f + /accelerations/pilot/y-accel-fps_sec + 0.3048 + + + + Z accel (body axis) (mps) + float + %.5f + /accelerations/pilot/z-accel-fps_sec + 0.3048 + + + + + + Velocity North ("vn" mps) + float + %.8f + /velocities/speed-north-fps + 0.3048 + + + + Velocity East ("ve" mps) + float + %.8f + /velocities/speed-east-fps + 0.3048 + + + + Velocity Down ("vd" mps) + float + %.8f + /velocities/speed-down-fps + 0.3048 + + + + airspeed-mps + float + %.8f + /velocities/airspeed-kt + 0.514444444444444 + + + + + + newline + tab + + + + + throttle0 + double + /controls/engines/engine[0]/throttle + + + throttle1 + double + /controls/engines/engine[1]/throttle + + + throttle2 + double + /controls/engines/engine[2]/throttle + + + throttle3 + double + /controls/engines/engine[3]/throttle + + + + + + + + \ No newline at end of file diff --git a/files/flightgear/Protocol/quadhil.xml b/files/flightgear/Protocol/quadhil.xml new file mode 100755 index 0000000000000000000000000000000000000000..a666b6e1a5d511dd0383f9fce5907114bc99b8a7 --- /dev/null +++ b/files/flightgear/Protocol/quadhil.xml @@ -0,0 +1,120 @@ + + + + + + + + + true + + + + + throttle0 + double + /controls/engines/engine[0]/throttle + + + throttle1 + double + /controls/engines/engine[1]/throttle + + + throttle2 + double + /controls/engines/engine[2]/throttle + + + throttle3 + double + /controls/engines/engine[3]/throttle + + + + + latitude-deg + double + /position/latitude-deg + + + + longitude-deg + double + /position/longitude-deg + + + + altitude-ft + double + /position/altitude-ft + + + + altitude-agl-ft + double + /position/altitude-agl-ft + + + + + roll-deg + double + /orientation/roll-deg + + + + pitch-deg + double + /orientation/pitch-deg + + + + heading-deg + double + /orientation/heading-deg + + + + + + + true + magic,0xc465414e + + + + ground-elev-m + double + /position/ground-elev-m + + + + + latitude-deg + double + /position/latitude-deg + + + + longitude-deg + double + /position/longitude-deg + + + + heading-deg + double + /orientation/heading-deg + + + + + + + diff --git a/files/mavlink_generator/C/include_v0.9/checksum.h b/files/mavlink_generator/C/include_v0.9/checksum.h new file mode 100644 index 0000000000000000000000000000000000000000..b70991f5ab7c46163f7d13c6e11f70e5102b2457 --- /dev/null +++ b/files/mavlink_generator/C/include_v0.9/checksum.h @@ -0,0 +1,89 @@ +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef _CHECKSUM_H_ +#define _CHECKSUM_H_ + + +/** + * + * CALCULATE THE CHECKSUM + * + */ + +#define X25_INIT_CRC 0xffff +#define X25_VALIDATE_CRC 0xf0b8 + +/** + * @brief Accumulate the X.25 CRC by adding one char at a time. + * + * The checksum function adds the hash of one char at a time to the + * 16 bit checksum (uint16_t). + * + * @param data new char to hash + * @param crcAccum the already accumulated checksum + **/ +static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum) +{ + /*Accumulate one byte of data into the CRC*/ + uint8_t tmp; + + tmp = data ^ (uint8_t)(*crcAccum &0xff); + tmp ^= (tmp<<4); + *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); +} + +/** + * @brief Initiliaze the buffer for the X.25 CRC + * + * @param crcAccum the 16 bit X.25 CRC + */ +static inline void crc_init(uint16_t* crcAccum) +{ + *crcAccum = X25_INIT_CRC; +} + + +/** + * @brief Calculates the X.25 checksum on a byte buffer + * + * @param pBuffer buffer containing the byte array to hash + * @param length length of the byte array + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length) +{ + uint16_t crcTmp; + crc_init(&crcTmp); + while (length--) { + crc_accumulate(*pBuffer++, &crcTmp); + } + 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); + } +} + + + + +#endif /* _CHECKSUM_H_ */ + +#ifdef __cplusplus +} +#endif diff --git a/files/mavlink_generator/C/include_v0.9/mavlink_helpers.h b/files/mavlink_generator/C/include_v0.9/mavlink_helpers.h new file mode 100644 index 0000000000000000000000000000000000000000..98250e1ac8377d4ffaf8966c9165a62fab64cf5f --- /dev/null +++ b/files/mavlink_generator/C/include_v0.9/mavlink_helpers.h @@ -0,0 +1,488 @@ +#ifndef _MAVLINK_HELPERS_H_ +#define _MAVLINK_HELPERS_H_ + +#include "string.h" +#include "checksum.h" +#include "mavlink_types.h" + +#ifndef MAVLINK_HELPER +#define MAVLINK_HELPER +#endif + +/* + internal function to give access to the channel status for each channel + */ +MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan) +{ + static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; + return &m_mavlink_status[chan]; +} + +/** + * @brief Finalize a MAVLink message with channel assignment + * + * This function calculates the checksum and sets length and aircraft id correctly. + * It assumes that the message id and the payload are already correctly set. This function + * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack + * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead. + * + * @param msg Message to finalize + * @param system_id Id of the sending (this) system, 1-127 + * @param length Message length + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length, uint8_t crc_extra) +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length) +#endif +{ + // This code part is the same for all messages; + uint16_t checksum; + msg->magic = MAVLINK_STX; + msg->len = length; + msg->sysid = system_id; + msg->compid = component_id; + // One sequence number per component + msg->seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1; + checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN); +#if MAVLINK_CRC_EXTRA + crc_accumulate(crc_extra, &checksum); +#endif + mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF); + mavlink_ck_b(msg) = (uint8_t)(checksum >> 8); + + return length + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + + +/** + * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length, uint8_t crc_extra) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra); +} +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length); +} +#endif + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); + +/** + * @brief Finalize a MAVLink message with channel assignment and send + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, + uint8_t length, uint8_t crc_extra) +#else +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length) +#endif +{ + uint16_t checksum; + uint8_t buf[MAVLINK_NUM_HEADER_BYTES]; + uint8_t ck[2]; + mavlink_status_t *status = mavlink_get_channel_status(chan); + buf[0] = MAVLINK_STX; + buf[1] = length; + buf[2] = status->current_tx_seq; + buf[3] = mavlink_system.sysid; + buf[4] = mavlink_system.compid; + buf[5] = msgid; + status->current_tx_seq++; + checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN); + crc_accumulate_buffer(&checksum, packet, length); +#if MAVLINK_CRC_EXTRA + crc_accumulate(crc_extra, &checksum); +#endif + ck[0] = (uint8_t)(checksum & 0xFF); + ck[1] = (uint8_t)(checksum >> 8); + + MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length); + _mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES); + _mavlink_send_uart(chan, packet, length); + _mavlink_send_uart(chan, (const char *)ck, 2); + MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length); +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +/** + * @brief Pack a message to send it over a serial byte stream + */ +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg) +{ + memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len); + return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len; +} + +union __mavlink_bitfield { + uint8_t uint8; + int8_t int8; + uint16_t uint16; + int16_t int16; + uint32_t uint32; + int32_t int32; +}; + + +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg) +{ + crc_init(&msg->checksum); +} + +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) +{ + crc_accumulate(c, &msg->checksum); +} + +/** + * This is a convenience function which handles the complete MAVLink parsing. + * the function will parse one byte at a time and return the complete packet once + * it could be successfully decoded. Checksum and other failures will be silently + * ignored. + * + * @param chan ID of the current channel. This allows to parse different channels with this function. + * a channel is not a physical message channel like a serial port, but a logic partition of + * the communication streams in this case. COMM_NB is the limit for the number of channels + * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows + * @param c The char to barse + * + * @param returnMsg NULL if no message could be decoded, the message data else + * @return 0 if no message could be decoded, 1 else + * + * A typical use scenario of this function call is: + * + * @code + * #include // For fixed-width uint8_t type + * + * mavlink_message_t msg; + * int chan = 0; + * + * + * while(serial.bytesAvailable > 0) + * { + * uint8_t byte = serial.getNextByte(); + * if (mavlink_parse_char(chan, byte, &msg)) + * { + * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); + * } + * } + * + * + * @endcode + */ +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +{ + static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; + + /* + default message crc function. You can override this per-system to + put this data in a different memory segment + */ +#if MAVLINK_CRC_EXTRA +#ifndef MAVLINK_MESSAGE_CRC + static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS; +#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid] +#endif +#endif + + mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message + mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status + int bufferIndex = 0; + + status->msg_received = 0; + + switch (status->parse_state) + { + case MAVLINK_PARSE_STATE_UNINIT: + case MAVLINK_PARSE_STATE_IDLE: + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + break; + + case MAVLINK_PARSE_STATE_GOT_STX: + if (status->msg_received + /* Support shorter buffers than the + default maximum packet size */ +#if (MAVLINK_MAX_PAYLOAD_LEN < 255) + || c > MAVLINK_MAX_PAYLOAD_LEN +#endif + ) + { + status->buffer_overrun++; + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + } + else + { + // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 + rxmsg->len = c; + status->packet_idx = 0; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; + } + break; + + case MAVLINK_PARSE_STATE_GOT_LENGTH: + rxmsg->seq = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; + break; + + case MAVLINK_PARSE_STATE_GOT_SEQ: + rxmsg->sysid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; + break; + + case MAVLINK_PARSE_STATE_GOT_SYSID: + rxmsg->compid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; + break; + + case MAVLINK_PARSE_STATE_GOT_COMPID: + rxmsg->msgid = c; + mavlink_update_checksum(rxmsg, c); + if (rxmsg->len == 0) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID; + } + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID: + _MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c; + mavlink_update_checksum(rxmsg, c); + if (status->packet_idx == rxmsg->len) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + break; + + case MAVLINK_PARSE_STATE_GOT_PAYLOAD: +#if MAVLINK_CRC_EXTRA + mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid)); +#endif + if (c != (rxmsg->checksum & 0xFF)) { + // Check first checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; + } + break; + + case MAVLINK_PARSE_STATE_GOT_CRC1: + if (c != (rxmsg->checksum >> 8)) { + // Check second checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + } + else + { + // Successfully got message + status->msg_received = 1; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); + } + break; + } + + bufferIndex++; + // If a message has been sucessfully decoded, check index + if (status->msg_received == 1) + { + //while(status->current_seq != rxmsg->seq) + //{ + // status->packet_rx_drop_count++; + // status->current_seq++; + //} + status->current_rx_seq = rxmsg->seq; + // Initial condition: If no packet has been received so far, drop count is undefined + if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; + // Count this packet as received + status->packet_rx_success_count++; + } + + r_mavlink_status->current_rx_seq = status->current_rx_seq+1; + r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; + r_mavlink_status->packet_rx_drop_count = status->parse_error; + status->parse_error = 0; + return status->msg_received; +} + +/** + * @brief Put a bitfield of length 1-32 bit into the buffer + * + * @param b the value to add, will be encoded in the bitfield + * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc. + * @param packet_index the position in the packet (the index of the first byte to use) + * @param bit_index the position in the byte (the index of the first bit to use) + * @param buffer packet buffer to write into + * @return new position of the last used byte in the buffer + */ +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer) +{ + uint16_t bits_remain = bits; + // Transform number into network order + int32_t v; + uint8_t i_bit_index, i_byte_index, curr_bits_n; +#if MAVLINK_NEED_BYTE_SWAP + union { + int32_t i; + uint8_t b[4]; + } bin, bout; + bin.i = b; + bout.b[0] = bin.b[3]; + bout.b[1] = bin.b[2]; + bout.b[2] = bin.b[1]; + bout.b[3] = bin.b[0]; + v = bout.i; +#else + v = b; +#endif + + // buffer in + // 01100000 01000000 00000000 11110001 + // buffer out + // 11110001 00000000 01000000 01100000 + + // Existing partly filled byte (four free slots) + // 0111xxxx + + // Mask n free bits + // 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1 + // = ((uint32_t)(1 << n)) - 1; // = 2^n - 1 + + // Shift n bits into the right position + // out = in >> n; + + // Mask and shift bytes + i_bit_index = bit_index; + i_byte_index = packet_index; + if (bit_index > 0) + { + // If bits were available at start, they were available + // in the byte before the current index + i_byte_index--; + } + + // While bits have not been packed yet + while (bits_remain > 0) + { + // Bits still have to be packed + // there can be more than 8 bits, so + // we might have to pack them into more than one byte + + // First pack everything we can into the current 'open' byte + //curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8 + //FIXME + if (bits_remain <= (uint8_t)(8 - i_bit_index)) + { + // Enough space + curr_bits_n = (uint8_t)bits_remain; + } + else + { + curr_bits_n = (8 - i_bit_index); + } + + // Pack these n bits into the current byte + // Mask out whatever was at that position with ones (xxx11111) + buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n)); + // Put content to this position, by masking out the non-used part + buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v); + + // Increment the bit index + i_bit_index += curr_bits_n; + + // Now proceed to the next byte, if necessary + bits_remain -= curr_bits_n; + if (bits_remain > 0) + { + // Offer another 8 bits / one byte + i_byte_index++; + i_bit_index = 0; + } + } + + *r_bit_index = i_bit_index; + // If a partly filled byte is present, mark this as consumed + if (i_bit_index != 7) i_byte_index++; + return i_byte_index - packet_index; +} + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +// To make MAVLink work on your MCU, define comm_send_ch() if you wish +// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a +// whole packet at a time + +/* + +#include "mavlink_types.h" + +void comm_send_ch(mavlink_channel_t chan, uint8_t ch) +{ + if (chan == MAVLINK_COMM_0) + { + uart0_transmit(ch); + } + if (chan == MAVLINK_COMM_1) + { + uart1_transmit(ch); + } +} + */ + +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len) +{ +#ifdef MAVLINK_SEND_UART_BYTES + /* this is the more efficient approach, if the platform + defines it */ + MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len); +#else + /* fallback to one byte at a time */ + uint16_t i; + for (i = 0; i < len; i++) { + comm_send_ch(chan, (uint8_t)buf[i]); + } +#endif +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +#endif /* _MAVLINK_HELPERS_H_ */ diff --git a/files/mavlink_generator/C/include_v0.9/mavlink_types.h b/files/mavlink_generator/C/include_v0.9/mavlink_types.h new file mode 100644 index 0000000000000000000000000000000000000000..9daeffc63f7347027bffed188c00431744898174 --- /dev/null +++ b/files/mavlink_generator/C/include_v0.9/mavlink_types.h @@ -0,0 +1,298 @@ +#ifndef MAVLINK_TYPES_H_ +#define MAVLINK_TYPES_H_ + +#include "inttypes.h" + +enum MAV_CLASS +{ + MAV_CLASS_GENERIC = 0, ///< Generic autopilot, full support for everything + MAV_CLASS_PIXHAWK = 1, ///< PIXHAWK autopilot, http://pixhawk.ethz.ch + MAV_CLASS_SLUGS = 2, ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu + MAV_CLASS_ARDUPILOTMEGA = 3, ///< ArduPilotMega / ArduCopter, http://diydrones.com + MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org + MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints + MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands + MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set + MAV_CLASS_NONE = 8, ///< No valid autopilot + MAV_CLASS_NB ///< Number of autopilot classes +}; + +enum MAV_ACTION +{ + MAV_ACTION_HOLD = 0, + MAV_ACTION_MOTORS_START = 1, + MAV_ACTION_LAUNCH = 2, + MAV_ACTION_RETURN = 3, + MAV_ACTION_EMCY_LAND = 4, + MAV_ACTION_EMCY_KILL = 5, + MAV_ACTION_CONFIRM_KILL = 6, + MAV_ACTION_CONTINUE = 7, + MAV_ACTION_MOTORS_STOP = 8, + MAV_ACTION_HALT = 9, + MAV_ACTION_SHUTDOWN = 10, + MAV_ACTION_REBOOT = 11, + MAV_ACTION_SET_MANUAL = 12, + MAV_ACTION_SET_AUTO = 13, + MAV_ACTION_STORAGE_READ = 14, + MAV_ACTION_STORAGE_WRITE = 15, + MAV_ACTION_CALIBRATE_RC = 16, + MAV_ACTION_CALIBRATE_GYRO = 17, + MAV_ACTION_CALIBRATE_MAG = 18, + MAV_ACTION_CALIBRATE_ACC = 19, + MAV_ACTION_CALIBRATE_PRESSURE = 20, + MAV_ACTION_REC_START = 21, + MAV_ACTION_REC_PAUSE = 22, + MAV_ACTION_REC_STOP = 23, + MAV_ACTION_TAKEOFF = 24, + MAV_ACTION_NAVIGATE = 25, + MAV_ACTION_LAND = 26, + MAV_ACTION_LOITER = 27, + MAV_ACTION_SET_ORIGIN = 28, + MAV_ACTION_RELAY_ON = 29, + MAV_ACTION_RELAY_OFF = 30, + MAV_ACTION_GET_IMAGE = 31, + MAV_ACTION_VIDEO_START = 32, + MAV_ACTION_VIDEO_STOP = 33, + MAV_ACTION_RESET_MAP = 34, + MAV_ACTION_RESET_PLAN = 35, + MAV_ACTION_DELAY_BEFORE_COMMAND = 36, + MAV_ACTION_ASCEND_AT_RATE = 37, + MAV_ACTION_CHANGE_MODE = 38, + MAV_ACTION_LOITER_MAX_TURNS = 39, + MAV_ACTION_LOITER_MAX_TIME = 40, + MAV_ACTION_START_HILSIM = 41, + MAV_ACTION_STOP_HILSIM = 42, + MAV_ACTION_NB ///< Number of MAV actions +}; + +enum MAV_MODE +{ + MAV_MODE_UNINIT = 0, ///< System is in undefined state + MAV_MODE_LOCKED = 1, ///< Motors are blocked, system is safe + MAV_MODE_MANUAL = 2, ///< System is allowed to be active, under manual (RC) control + MAV_MODE_GUIDED = 3, ///< System is allowed to be active, under autonomous control, manual setpoint + MAV_MODE_AUTO = 4, ///< System is allowed to be active, under autonomous control and navigation + MAV_MODE_TEST1 = 5, ///< Generic test mode, for custom use + MAV_MODE_TEST2 = 6, ///< Generic test mode, for custom use + MAV_MODE_TEST3 = 7, ///< Generic test mode, for custom use + MAV_MODE_READY = 8, ///< System is ready, motors are unblocked, but controllers are inactive + MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back +}; + +enum MAV_STATE +{ + MAV_STATE_UNINIT = 0, + MAV_STATE_BOOT, + MAV_STATE_CALIBRATING, + MAV_STATE_STANDBY, + MAV_STATE_ACTIVE, + MAV_STATE_CRITICAL, + MAV_STATE_EMERGENCY, + MAV_STATE_HILSIM, + MAV_STATE_POWEROFF +}; + +enum MAV_NAV +{ + MAV_NAV_GROUNDED = 0, + MAV_NAV_LIFTOFF, + MAV_NAV_HOLD, + MAV_NAV_WAYPOINT, + MAV_NAV_VECTOR, + MAV_NAV_RETURNING, + MAV_NAV_LANDING, + MAV_NAV_LOST, + MAV_NAV_LOITER, + MAV_NAV_FREE_DRIFT +}; + +enum MAV_TYPE +{ + MAV_GENERIC = 0, + MAV_FIXED_WING = 1, + MAV_QUADROTOR = 2, + MAV_COAXIAL = 3, + MAV_HELICOPTER = 4, + MAV_GROUND = 5, + OCU = 6, + MAV_AIRSHIP = 7, + MAV_FREE_BALLOON = 8, + MAV_ROCKET = 9, + UGV_GROUND_ROVER = 10, + UGV_SURFACE_SHIP = 11 +}; + +enum MAV_AUTOPILOT_TYPE +{ + MAV_AUTOPILOT_GENERIC = 0, + MAV_AUTOPILOT_PIXHAWK = 1, + MAV_AUTOPILOT_SLUGS = 2, + MAV_AUTOPILOT_ARDUPILOTMEGA = 3, + MAV_AUTOPILOT_NONE = 4 +}; + +enum MAV_COMPONENT +{ + MAV_COMP_ID_GPS, + MAV_COMP_ID_WAYPOINTPLANNER, + MAV_COMP_ID_BLOBTRACKER, + MAV_COMP_ID_PATHPLANNER, + MAV_COMP_ID_AIRSLAM, + MAV_COMP_ID_MAPPER, + MAV_COMP_ID_CAMERA, + MAV_COMP_ID_IMU = 200, + MAV_COMP_ID_IMU_2 = 201, + MAV_COMP_ID_IMU_3 = 202, + MAV_COMP_ID_UDP_BRIDGE = 240, + MAV_COMP_ID_UART_BRIDGE = 241, + MAV_COMP_ID_SYSTEM_CONTROL = 250 +}; + +enum MAV_FRAME +{ + MAV_FRAME_GLOBAL = 0, + MAV_FRAME_LOCAL = 1, + MAV_FRAME_MISSION = 2, + MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, + MAV_FRAME_LOCAL_ENU = 4 +}; + +enum MAVLINK_DATA_STREAM_TYPE +{ + MAVLINK_DATA_STREAM_IMG_JPEG, + MAVLINK_DATA_STREAM_IMG_BMP, + MAVLINK_DATA_STREAM_IMG_RAW8U, + MAVLINK_DATA_STREAM_IMG_RAW32U, + MAVLINK_DATA_STREAM_IMG_PGM, + MAVLINK_DATA_STREAM_IMG_PNG +}; + +#ifndef MAVLINK_MAX_PAYLOAD_LEN +// it is possible to override this, but be careful! +#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length +#endif + +#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte) +#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum +#define MAVLINK_NUM_CHECKSUM_BYTES 2 +#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES) + +#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length + +typedef struct param_union { + union { + float param_float; + int32_t param_int32; + uint32_t param_uint32; + }; + uint8_t type; +} mavlink_param_union_t; + +typedef struct __mavlink_system { + uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t type; ///< Unused, can be used by user to store the system's type + uint8_t state; ///< Unused, can be used by user to store the system's state + uint8_t mode; ///< Unused, can be used by user to store the system's mode + uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode +} mavlink_system_t; + +typedef struct __mavlink_message { + uint16_t checksum; /// sent at end of packet + uint8_t magic; ///< protocol magic marker + uint8_t len; ///< Length of payload + uint8_t seq; ///< Sequence of packet + uint8_t sysid; ///< ID of message sender system/aircraft + uint8_t compid; ///< ID of the message sender component + uint8_t msgid; ///< ID of message in payload + uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; +} mavlink_message_t; + +typedef enum { + MAVLINK_TYPE_CHAR = 0, + MAVLINK_TYPE_UINT8_T = 1, + MAVLINK_TYPE_INT8_T = 2, + MAVLINK_TYPE_UINT16_T = 3, + MAVLINK_TYPE_INT16_T = 4, + MAVLINK_TYPE_UINT32_T = 5, + MAVLINK_TYPE_INT32_T = 6, + MAVLINK_TYPE_UINT64_T = 7, + MAVLINK_TYPE_INT64_T = 8, + MAVLINK_TYPE_FLOAT = 9, + MAVLINK_TYPE_DOUBLE = 10 +} mavlink_message_type_t; + +#define MAVLINK_MAX_FIELDS 64 + +typedef struct __mavlink_field_info { + const char *name; // name of this field + const char *print_format; // printing format hint, or NULL + mavlink_message_type_t type; // type of this field + unsigned array_length; // if non-zero, field is an array + unsigned wire_offset; // offset of each field in the payload + unsigned structure_offset; // offset in a C structure +} mavlink_field_info_t; + +// note that in this structure the order of fields is the order +// in the XML file, not necessary the wire order +typedef struct __mavlink_message_info { + const char *name; // name of the message + unsigned num_fields; // how many fields in this message + mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information +} mavlink_message_info_t; + +#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0])) + +// checksum is immediately after the payload bytes +#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg)) +#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg)) + +typedef enum { + MAVLINK_COMM_0, + MAVLINK_COMM_1, + MAVLINK_COMM_2, + MAVLINK_COMM_3 +} mavlink_channel_t; + +/* + * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number + * of buffers they will use. If more are used, then the result will be + * a stack overrun + */ +#ifndef MAVLINK_COMM_NUM_BUFFERS +#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) +# define MAVLINK_COMM_NUM_BUFFERS 16 +#else +# define MAVLINK_COMM_NUM_BUFFERS 4 +#endif +#endif + +typedef enum { + MAVLINK_PARSE_STATE_UNINIT=0, + MAVLINK_PARSE_STATE_IDLE, + MAVLINK_PARSE_STATE_GOT_STX, + MAVLINK_PARSE_STATE_GOT_SEQ, + MAVLINK_PARSE_STATE_GOT_LENGTH, + MAVLINK_PARSE_STATE_GOT_SYSID, + MAVLINK_PARSE_STATE_GOT_COMPID, + MAVLINK_PARSE_STATE_GOT_MSGID, + MAVLINK_PARSE_STATE_GOT_PAYLOAD, + MAVLINK_PARSE_STATE_GOT_CRC1 +} mavlink_parse_state_t; ///< The state machine for the comm parser + +typedef struct __mavlink_status { + uint8_t msg_received; ///< Number of received messages + uint8_t buffer_overrun; ///< Number of buffer overruns + uint8_t parse_error; ///< Number of parse errors + mavlink_parse_state_t parse_state; ///< Parsing state machine + uint8_t packet_idx; ///< Index in current packet + uint8_t current_rx_seq; ///< Sequence number of last packet received + uint8_t current_tx_seq; ///< Sequence number of last packet sent + uint16_t packet_rx_success_count; ///< Received packets + uint16_t packet_rx_drop_count; ///< Number of packet drops +} mavlink_status_t; + +#define MAVLINK_BIG_ENDIAN 0 +#define MAVLINK_LITTLE_ENDIAN 1 + +#endif /* MAVLINK_TYPES_H_ */ diff --git a/files/mavlink_generator/C/include_v0.9/protocol.h b/files/mavlink_generator/C/include_v0.9/protocol.h new file mode 100644 index 0000000000000000000000000000000000000000..e6d003413a696344b05566af0f969cf0a55c1574 --- /dev/null +++ b/files/mavlink_generator/C/include_v0.9/protocol.h @@ -0,0 +1,322 @@ +#ifndef _MAVLINK_PROTOCOL_H_ +#define _MAVLINK_PROTOCOL_H_ + +#include "string.h" +#include "mavlink_types.h" + +/* + If you want MAVLink on a system that is native big-endian, + you need to define NATIVE_BIG_ENDIAN +*/ +#ifdef NATIVE_BIG_ENDIAN +# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN) +#else +# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN) +#endif + +#ifndef MAVLINK_STACK_BUFFER +#define MAVLINK_STACK_BUFFER 0 +#endif + +#ifndef MAVLINK_AVOID_GCC_STACK_BUG +# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__) +#endif + +#ifndef MAVLINK_ASSERT +#define MAVLINK_ASSERT(x) +#endif + +#ifndef MAVLINK_START_UART_SEND +#define MAVLINK_START_UART_SEND(chan, length) +#endif + +#ifndef MAVLINK_END_UART_SEND +#define MAVLINK_END_UART_SEND(chan, length) +#endif + +#ifdef MAVLINK_SEPARATE_HELPERS +#define MAVLINK_HELPER +#else +#define MAVLINK_HELPER static inline +#include "mavlink_helpers.h" +#endif // MAVLINK_SEPARATE_HELPERS + +/* always include the prototypes to ensure we don't get out of sync */ +MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan); +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length, uint8_t crc_extra); +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length, uint8_t crc_extra); +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, + uint8_t length, uint8_t crc_extra); +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length); +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length); +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length); +#endif // MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg); +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg); +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c); +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status); +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, + uint8_t* r_bit_index, uint8_t* buffer); +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); +#endif + +/** + * @brief Get the required buffer size for this message + */ +static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg) +{ + return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + +#if MAVLINK_NEED_BYTE_SWAP +static inline void byte_swap_2(char *dst, const char *src) +{ + dst[0] = src[1]; + dst[1] = src[0]; +} +static inline void byte_swap_4(char *dst, const char *src) +{ + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; +} +static inline void byte_swap_8(char *dst, const char *src) +{ + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; +} +#elif !MAVLINK_ALIGNED_FIELDS +static inline void byte_copy_2(char *dst, const char *src) +{ + dst[0] = src[0]; + dst[1] = src[1]; +} +static inline void byte_copy_4(char *dst, const char *src) +{ + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; +} +static inline void byte_copy_8(char *dst, const char *src) +{ + memcpy(dst, src, 8); +} +#endif + +#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b +#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b +#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b + +#if MAVLINK_NEED_BYTE_SWAP +#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#elif !MAVLINK_ALIGNED_FIELDS +#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#else +#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b +#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b +#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b +#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b +#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b +#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b +#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b +#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b +#endif + + +/* + * Place a char array into a buffer + */ +static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length) +{ + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); + } +} + +/* + * Place a uint8_t array into a buffer + */ +static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length) +{ + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); + } +} + +/* + * Place a int8_t array into a buffer + */ +static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length) +{ + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); + } +} + +#if MAVLINK_NEED_BYTE_SWAP +#define _MAV_PUT_ARRAY(TYPE, V) \ +static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ +{ \ + if (b == NULL) { \ + memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \ + } else { \ + uint16_t i; \ + for (i=0; i>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); +} + +/** + * @brief Initiliaze the buffer for the X.25 CRC + * + * @param crcAccum the 16 bit X.25 CRC + */ +static inline void crc_init(uint16_t* crcAccum) +{ + *crcAccum = X25_INIT_CRC; +} + + +/** + * @brief Calculates the X.25 checksum on a byte buffer + * + * @param pBuffer buffer containing the byte array to hash + * @param length length of the byte array + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length) +{ + uint16_t crcTmp; + crc_init(&crcTmp); + while (length--) { + crc_accumulate(*pBuffer++, &crcTmp); + } + 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); + } +} + + + + +#endif /* _CHECKSUM_H_ */ + +#ifdef __cplusplus +} +#endif diff --git a/files/mavlink_generator/C/include_v1.0/mavlink_helpers.h b/files/mavlink_generator/C/include_v1.0/mavlink_helpers.h new file mode 100644 index 0000000000000000000000000000000000000000..6eb8f0ba2a554bf3a220ffcbbb922cbf9274dbdf --- /dev/null +++ b/files/mavlink_generator/C/include_v1.0/mavlink_helpers.h @@ -0,0 +1,488 @@ +#ifndef _MAVLINK_HELPERS_H_ +#define _MAVLINK_HELPERS_H_ + +#include "string.h" +#include "checksum.h" +#include "mavlink_types.h" + +#ifndef MAVLINK_HELPER +#define MAVLINK_HELPER +#endif + +/* + internal function to give access to the channel status for each channel + */ +MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan) +{ + static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; + return &m_mavlink_status[chan]; +} + +/** + * @brief Finalize a MAVLink message with channel assignment + * + * This function calculates the checksum and sets length and aircraft id correctly. + * It assumes that the message id and the payload are already correctly set. This function + * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack + * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead. + * + * @param msg Message to finalize + * @param system_id Id of the sending (this) system, 1-127 + * @param length Message length + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length, uint8_t crc_extra) +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length) +#endif +{ + // This code part is the same for all messages; + uint16_t checksum; + msg->magic = MAVLINK_STX; + msg->len = length; + msg->sysid = system_id; + msg->compid = component_id; + // One sequence number per component + msg->seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1; + checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN); +#if MAVLINK_CRC_EXTRA + crc_accumulate(crc_extra, &checksum); +#endif + mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF); + mavlink_ck_b(msg) = (uint8_t)(checksum >> 8); + + return length + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + + +/** + * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length, uint8_t crc_extra) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra); +} +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length); +} +#endif + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); + +/** + * @brief Finalize a MAVLink message with channel assignment and send + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, + uint8_t length, uint8_t crc_extra) +#else +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length) +#endif +{ + uint16_t checksum; + uint8_t buf[MAVLINK_NUM_HEADER_BYTES]; + uint8_t ck[2]; + mavlink_status_t *status = mavlink_get_channel_status(chan); + buf[0] = MAVLINK_STX; + buf[1] = length; + buf[2] = status->current_tx_seq; + buf[3] = mavlink_system.sysid; + buf[4] = mavlink_system.compid; + buf[5] = msgid; + status->current_tx_seq++; + checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN); + crc_accumulate_buffer(&checksum, packet, length); +#if MAVLINK_CRC_EXTRA + crc_accumulate(crc_extra, &checksum); +#endif + ck[0] = (uint8_t)(checksum & 0xFF); + ck[1] = (uint8_t)(checksum >> 8); + + MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length); + _mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES); + _mavlink_send_uart(chan, packet, length); + _mavlink_send_uart(chan, (const char *)ck, 2); + MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length); +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +/** + * @brief Pack a message to send it over a serial byte stream + */ +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg) +{ + memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len); + return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len; +} + +union __mavlink_bitfield { + uint8_t uint8; + int8_t int8; + uint16_t uint16; + int16_t int16; + uint32_t uint32; + int32_t int32; +}; + + +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg) +{ + crc_init(&msg->checksum); +} + +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) +{ + crc_accumulate(c, &msg->checksum); +} + +/** + * This is a convenience function which handles the complete MAVLink parsing. + * the function will parse one byte at a time and return the complete packet once + * it could be successfully decoded. Checksum and other failures will be silently + * ignored. + * + * @param chan ID of the current channel. This allows to parse different channels with this function. + * a channel is not a physical message channel like a serial port, but a logic partition of + * the communication streams in this case. COMM_NB is the limit for the number of channels + * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows + * @param c The char to barse + * + * @param returnMsg NULL if no message could be decoded, the message data else + * @return 0 if no message could be decoded, 1 else + * + * A typical use scenario of this function call is: + * + * @code + * #include // For fixed-width uint8_t type + * + * mavlink_message_t msg; + * int chan = 0; + * + * + * while(serial.bytesAvailable > 0) + * { + * uint8_t byte = serial.getNextByte(); + * if (mavlink_parse_char(chan, byte, &msg)) + * { + * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); + * } + * } + * + * + * @endcode + */ +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +{ + static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; + + /* + default message crc function. You can override this per-system to + put this data in a different memory segment + */ +#if MAVLINK_CRC_EXTRA +#ifndef MAVLINK_MESSAGE_CRC + static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS; +#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid] +#endif +#endif + + mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message + mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status + int bufferIndex = 0; + + status->msg_received = 0; + + switch (status->parse_state) + { + case MAVLINK_PARSE_STATE_UNINIT: + case MAVLINK_PARSE_STATE_IDLE: + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + break; + + case MAVLINK_PARSE_STATE_GOT_STX: + if (status->msg_received +/* Support shorter buffers than the + default maximum packet size */ +#if (MAVLINK_MAX_PAYLOAD_LEN < 255) + || c > MAVLINK_MAX_PAYLOAD_LEN +#endif + ) + { + status->buffer_overrun++; + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + } + else + { + // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 + rxmsg->len = c; + status->packet_idx = 0; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; + } + break; + + case MAVLINK_PARSE_STATE_GOT_LENGTH: + rxmsg->seq = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; + break; + + case MAVLINK_PARSE_STATE_GOT_SEQ: + rxmsg->sysid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; + break; + + case MAVLINK_PARSE_STATE_GOT_SYSID: + rxmsg->compid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; + break; + + case MAVLINK_PARSE_STATE_GOT_COMPID: + rxmsg->msgid = c; + mavlink_update_checksum(rxmsg, c); + if (rxmsg->len == 0) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID; + } + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID: + _MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c; + mavlink_update_checksum(rxmsg, c); + if (status->packet_idx == rxmsg->len) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + break; + + case MAVLINK_PARSE_STATE_GOT_PAYLOAD: +#if MAVLINK_CRC_EXTRA + mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid)); +#endif + if (c != (rxmsg->checksum & 0xFF)) { + // Check first checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; + } + break; + + case MAVLINK_PARSE_STATE_GOT_CRC1: + if (c != (rxmsg->checksum >> 8)) { + // Check second checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + } + else + { + // Successfully got message + status->msg_received = 1; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); + } + break; + } + + bufferIndex++; + // If a message has been sucessfully decoded, check index + if (status->msg_received == 1) + { + //while(status->current_seq != rxmsg->seq) + //{ + // status->packet_rx_drop_count++; + // status->current_seq++; + //} + status->current_rx_seq = rxmsg->seq; + // Initial condition: If no packet has been received so far, drop count is undefined + if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; + // Count this packet as received + status->packet_rx_success_count++; + } + + r_mavlink_status->current_rx_seq = status->current_rx_seq+1; + r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; + r_mavlink_status->packet_rx_drop_count = status->parse_error; + status->parse_error = 0; + return status->msg_received; +} + +/** + * @brief Put a bitfield of length 1-32 bit into the buffer + * + * @param b the value to add, will be encoded in the bitfield + * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc. + * @param packet_index the position in the packet (the index of the first byte to use) + * @param bit_index the position in the byte (the index of the first bit to use) + * @param buffer packet buffer to write into + * @return new position of the last used byte in the buffer + */ +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer) +{ + uint16_t bits_remain = bits; + // Transform number into network order + int32_t v; + uint8_t i_bit_index, i_byte_index, curr_bits_n; +#if MAVLINK_NEED_BYTE_SWAP + union { + int32_t i; + uint8_t b[4]; + } bin, bout; + bin.i = b; + bout.b[0] = bin.b[3]; + bout.b[1] = bin.b[2]; + bout.b[2] = bin.b[1]; + bout.b[3] = bin.b[0]; + v = bout.i; +#else + v = b; +#endif + + // buffer in + // 01100000 01000000 00000000 11110001 + // buffer out + // 11110001 00000000 01000000 01100000 + + // Existing partly filled byte (four free slots) + // 0111xxxx + + // Mask n free bits + // 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1 + // = ((uint32_t)(1 << n)) - 1; // = 2^n - 1 + + // Shift n bits into the right position + // out = in >> n; + + // Mask and shift bytes + i_bit_index = bit_index; + i_byte_index = packet_index; + if (bit_index > 0) + { + // If bits were available at start, they were available + // in the byte before the current index + i_byte_index--; + } + + // While bits have not been packed yet + while (bits_remain > 0) + { + // Bits still have to be packed + // there can be more than 8 bits, so + // we might have to pack them into more than one byte + + // First pack everything we can into the current 'open' byte + //curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8 + //FIXME + if (bits_remain <= (uint8_t)(8 - i_bit_index)) + { + // Enough space + curr_bits_n = (uint8_t)bits_remain; + } + else + { + curr_bits_n = (8 - i_bit_index); + } + + // Pack these n bits into the current byte + // Mask out whatever was at that position with ones (xxx11111) + buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n)); + // Put content to this position, by masking out the non-used part + buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v); + + // Increment the bit index + i_bit_index += curr_bits_n; + + // Now proceed to the next byte, if necessary + bits_remain -= curr_bits_n; + if (bits_remain > 0) + { + // Offer another 8 bits / one byte + i_byte_index++; + i_bit_index = 0; + } + } + + *r_bit_index = i_bit_index; + // If a partly filled byte is present, mark this as consumed + if (i_bit_index != 7) i_byte_index++; + return i_byte_index - packet_index; +} + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +// To make MAVLink work on your MCU, define comm_send_ch() if you wish +// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a +// whole packet at a time + +/* + +#include "mavlink_types.h" + +void comm_send_ch(mavlink_channel_t chan, uint8_t ch) +{ + if (chan == MAVLINK_COMM_0) + { + uart0_transmit(ch); + } + if (chan == MAVLINK_COMM_1) + { + uart1_transmit(ch); + } +} + */ + +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len) +{ +#ifdef MAVLINK_SEND_UART_BYTES + /* this is the more efficient approach, if the platform + defines it */ + MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len); +#else + /* fallback to one byte at a time */ + uint16_t i; + for (i = 0; i < len; i++) { + comm_send_ch(chan, (uint8_t)buf[i]); + } +#endif +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +#endif /* _MAVLINK_HELPERS_H_ */ diff --git a/files/mavlink_generator/C/include_v1.0/mavlink_types.h b/files/mavlink_generator/C/include_v1.0/mavlink_types.h new file mode 100644 index 0000000000000000000000000000000000000000..571dc50872af5eefeebd98546cfdeae2b6240e35 --- /dev/null +++ b/files/mavlink_generator/C/include_v1.0/mavlink_types.h @@ -0,0 +1,180 @@ +#ifndef MAVLINK_TYPES_H_ +#define MAVLINK_TYPES_H_ + +enum MAV_ACTION +{ + MAV_ACTION_HOLD = 0, + MAV_ACTION_MOTORS_START = 1, + MAV_ACTION_LAUNCH = 2, + MAV_ACTION_RETURN = 3, + MAV_ACTION_EMCY_LAND = 4, + MAV_ACTION_EMCY_KILL = 5, + MAV_ACTION_CONFIRM_KILL = 6, + MAV_ACTION_CONTINUE = 7, + MAV_ACTION_MOTORS_STOP = 8, + MAV_ACTION_HALT = 9, + MAV_ACTION_SHUTDOWN = 10, + MAV_ACTION_REBOOT = 11, + MAV_ACTION_SET_MANUAL = 12, + MAV_ACTION_SET_AUTO = 13, + MAV_ACTION_STORAGE_READ = 14, + MAV_ACTION_STORAGE_WRITE = 15, + MAV_ACTION_CALIBRATE_RC = 16, + MAV_ACTION_CALIBRATE_GYRO = 17, + MAV_ACTION_CALIBRATE_MAG = 18, + MAV_ACTION_CALIBRATE_ACC = 19, + MAV_ACTION_CALIBRATE_PRESSURE = 20, + MAV_ACTION_REC_START = 21, + MAV_ACTION_REC_PAUSE = 22, + MAV_ACTION_REC_STOP = 23, + MAV_ACTION_TAKEOFF = 24, + MAV_ACTION_NAVIGATE = 25, + MAV_ACTION_LAND = 26, + MAV_ACTION_LOITER = 27, + MAV_ACTION_SET_ORIGIN = 28, + MAV_ACTION_RELAY_ON = 29, + MAV_ACTION_RELAY_OFF = 30, + MAV_ACTION_GET_IMAGE = 31, + MAV_ACTION_VIDEO_START = 32, + MAV_ACTION_VIDEO_STOP = 33, + MAV_ACTION_RESET_MAP = 34, + MAV_ACTION_RESET_PLAN = 35, + MAV_ACTION_DELAY_BEFORE_COMMAND = 36, + MAV_ACTION_ASCEND_AT_RATE = 37, + MAV_ACTION_CHANGE_MODE = 38, + MAV_ACTION_LOITER_MAX_TURNS = 39, + MAV_ACTION_LOITER_MAX_TIME = 40, + MAV_ACTION_START_HILSIM = 41, + MAV_ACTION_STOP_HILSIM = 42, + MAV_ACTION_NB ///< Number of MAV actions +}; + +#ifndef MAVLINK_MAX_PAYLOAD_LEN +// it is possible to override this, but be careful! +#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length +#endif + +#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte) +#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum +#define MAVLINK_NUM_CHECKSUM_BYTES 2 +#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES) + +#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length + +typedef struct param_union { + union { + float param_float; + int32_t param_int32; + uint32_t param_uint32; + }; + uint8_t type; +} mavlink_param_union_t; + +typedef struct __mavlink_system { + uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t type; ///< Unused, can be used by user to store the system's type + uint8_t state; ///< Unused, can be used by user to store the system's state + uint8_t mode; ///< Unused, can be used by user to store the system's mode + uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode +} mavlink_system_t; + +typedef struct __mavlink_message { + uint16_t checksum; /// sent at end of packet + uint8_t magic; ///< protocol magic marker + uint8_t len; ///< Length of payload + uint8_t seq; ///< Sequence of packet + uint8_t sysid; ///< ID of message sender system/aircraft + uint8_t compid; ///< ID of the message sender component + uint8_t msgid; ///< ID of message in payload + uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; +} mavlink_message_t; + +typedef enum { + MAVLINK_TYPE_CHAR = 0, + MAVLINK_TYPE_UINT8_T = 1, + MAVLINK_TYPE_INT8_T = 2, + MAVLINK_TYPE_UINT16_T = 3, + MAVLINK_TYPE_INT16_T = 4, + MAVLINK_TYPE_UINT32_T = 5, + MAVLINK_TYPE_INT32_T = 6, + MAVLINK_TYPE_UINT64_T = 7, + MAVLINK_TYPE_INT64_T = 8, + MAVLINK_TYPE_FLOAT = 9, + MAVLINK_TYPE_DOUBLE = 10 +} mavlink_message_type_t; + +#define MAVLINK_MAX_FIELDS 64 + +typedef struct __mavlink_field_info { + const char *name; // name of this field + const char *print_format; // printing format hint, or NULL + mavlink_message_type_t type; // type of this field + unsigned array_length; // if non-zero, field is an array + unsigned wire_offset; // offset of each field in the payload + unsigned structure_offset; // offset in a C structure +} mavlink_field_info_t; + +// note that in this structure the order of fields is the order +// in the XML file, not necessary the wire order +typedef struct __mavlink_message_info { + const char *name; // name of the message + unsigned num_fields; // how many fields in this message + mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information +} mavlink_message_info_t; + +#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0])) + +// checksum is immediately after the payload bytes +#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg)) +#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg)) + +typedef enum { + MAVLINK_COMM_0, + MAVLINK_COMM_1, + MAVLINK_COMM_2, + MAVLINK_COMM_3 +} mavlink_channel_t; + +/* + * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number + * of buffers they will use. If more are used, then the result will be + * a stack overrun + */ +#ifndef MAVLINK_COMM_NUM_BUFFERS +#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) +# define MAVLINK_COMM_NUM_BUFFERS 16 +#else +# define MAVLINK_COMM_NUM_BUFFERS 4 +#endif +#endif + +typedef enum { + MAVLINK_PARSE_STATE_UNINIT=0, + MAVLINK_PARSE_STATE_IDLE, + MAVLINK_PARSE_STATE_GOT_STX, + MAVLINK_PARSE_STATE_GOT_SEQ, + MAVLINK_PARSE_STATE_GOT_LENGTH, + MAVLINK_PARSE_STATE_GOT_SYSID, + MAVLINK_PARSE_STATE_GOT_COMPID, + MAVLINK_PARSE_STATE_GOT_MSGID, + MAVLINK_PARSE_STATE_GOT_PAYLOAD, + MAVLINK_PARSE_STATE_GOT_CRC1 +} mavlink_parse_state_t; ///< The state machine for the comm parser + +typedef struct __mavlink_status { + uint8_t msg_received; ///< Number of received messages + uint8_t buffer_overrun; ///< Number of buffer overruns + uint8_t parse_error; ///< Number of parse errors + mavlink_parse_state_t parse_state; ///< Parsing state machine + uint8_t packet_idx; ///< Index in current packet + uint8_t current_rx_seq; ///< Sequence number of last packet received + uint8_t current_tx_seq; ///< Sequence number of last packet sent + uint16_t packet_rx_success_count; ///< Received packets + uint16_t packet_rx_drop_count; ///< Number of packet drops +} mavlink_status_t; + +#define MAVLINK_BIG_ENDIAN 0 +#define MAVLINK_LITTLE_ENDIAN 1 + +#endif /* MAVLINK_TYPES_H_ */ diff --git a/files/mavlink_generator/C/include_v1.0/protocol.h b/files/mavlink_generator/C/include_v1.0/protocol.h new file mode 100644 index 0000000000000000000000000000000000000000..27c2396836e839638ef2d0a186442943346b28e3 --- /dev/null +++ b/files/mavlink_generator/C/include_v1.0/protocol.h @@ -0,0 +1,324 @@ +#ifndef _MAVLINK_PROTOCOL_H_ +#define _MAVLINK_PROTOCOL_H_ + +#include "string.h" +#include "mavlink_types.h" + +/* + If you want MAVLink on a system that is native big-endian, + you need to define NATIVE_BIG_ENDIAN +*/ +#ifdef NATIVE_BIG_ENDIAN +# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN) +#else +# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN) +#endif + +#ifndef MAVLINK_STACK_BUFFER +#define MAVLINK_STACK_BUFFER 0 +#endif + +#ifndef MAVLINK_AVOID_GCC_STACK_BUG +# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__) +#endif + +#ifndef MAVLINK_ASSERT +#define MAVLINK_ASSERT(x) +#endif + +#ifndef MAVLINK_START_UART_SEND +#define MAVLINK_START_UART_SEND(chan, length) +#endif + +#ifndef MAVLINK_END_UART_SEND +#define MAVLINK_END_UART_SEND(chan, length) +#endif + +#ifdef MAVLINK_SEPARATE_HELPERS +#define MAVLINK_HELPER +#else +#define MAVLINK_HELPER static inline +#include "mavlink_helpers.h" +#endif // MAVLINK_SEPARATE_HELPERS + +/* always include the prototypes to ensure we don't get out of sync */ +MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan); +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length, uint8_t crc_extra); +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length, uint8_t crc_extra); +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, + uint8_t length, uint8_t crc_extra); +#endif +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length); +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length); +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length); +#endif // MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg); +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg); +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c); +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status); +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, + uint8_t* r_bit_index, uint8_t* buffer); +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); +#endif + +/** + * @brief Get the required buffer size for this message + */ +static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg) +{ + return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + +#if MAVLINK_NEED_BYTE_SWAP +static inline void byte_swap_2(char *dst, const char *src) +{ + dst[0] = src[1]; + dst[1] = src[0]; +} +static inline void byte_swap_4(char *dst, const char *src) +{ + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; +} +static inline void byte_swap_8(char *dst, const char *src) +{ + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; +} +#elif !MAVLINK_ALIGNED_FIELDS +static inline void byte_copy_2(char *dst, const char *src) +{ + dst[0] = src[0]; + dst[1] = src[1]; +} +static inline void byte_copy_4(char *dst, const char *src) +{ + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; +} +static inline void byte_copy_8(char *dst, const char *src) +{ + memcpy(dst, src, 8); +} +#endif + +#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b +#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b +#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b + +#if MAVLINK_NEED_BYTE_SWAP +#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#elif !MAVLINK_ALIGNED_FIELDS +#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#else +#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b +#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b +#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b +#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b +#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b +#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b +#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b +#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b +#endif + + +/* + * Place a char array into a buffer + */ +static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length) +{ + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); + } +} + +/* + * Place a uint8_t array into a buffer + */ +static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length) +{ + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); + } +} + +/* + * Place a int8_t array into a buffer + */ +static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length) +{ + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); + } +} + +#if MAVLINK_NEED_BYTE_SWAP +#define _MAV_PUT_ARRAY(TYPE, V) \ +static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ +{ \ + if (b == NULL) { \ + memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \ + } else { \ + uint16_t i; \ + for (i=0; i") +parser.add_option("-o", "--output", dest="output", default="mavlink", help="output base name") +parser.add_option("--lang", dest="language", default="python", help="language to generate") +parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="wire protocol version") +(opts, args) = parser.parse_args() + +if len(args) < 1: + parser.error("You must supply at least one MAVLink XML protocol definition") + + +xml = [] + +for fname in args: + print("Parsing %s" % fname) + xml.append(mavparse.MAVXML(fname, opts.wire_protocol)) + +# expand includes +for x in xml[:]: + for i in x.include: + fname = os.path.join(os.path.dirname(x.filename), i) + print("Parsing %s" % fname) + xml.append(mavparse.MAVXML(fname, opts.wire_protocol)) + + # include message lengths and CRCs too + for idx in range(0, 256): + if x.message_lengths[idx] == 0: + x.message_lengths[idx] = xml[-1].message_lengths[idx] + x.message_crcs[idx] = xml[-1].message_crcs[idx] + x.message_names[idx] = xml[-1].message_names[idx] + +# work out max payload size across all includes +largest_payload = 0 +for x in xml: + if x.largest_payload > largest_payload: + largest_payload = x.largest_payload +for x in xml: + x.largest_payload = largest_payload + +if mavparse.check_duplicates(xml): + sys.exit(1) + +print("Found %u MAVLink message types in %u XML files" % ( + mavparse.total_msgs(xml), len(xml))) + +if opts.language == 'python': + mavgen_python.generate(opts.output, xml) +elif opts.language == 'C': + mavgen_c.generate(opts.output, xml) +else: + print("Unsupported language %s" % opts.language) + diff --git a/files/mavlink_generator/generator/mavgen_c.py b/files/mavlink_generator/generator/mavgen_c.py new file mode 100644 index 0000000000000000000000000000000000000000..68e56cfc10b4d9a267ab59da1f6a57d1c25333e1 --- /dev/null +++ b/files/mavlink_generator/generator/mavgen_c.py @@ -0,0 +1,550 @@ +#!/usr/bin/env python +''' +parse a MAVLink protocol XML file and generate a C implementation + +Copyright Andrew Tridgell 2011 +Released under GNU GPL version 3 or later +''' + +import sys, textwrap, os, time +import mavparse, mavtemplate + +t = mavtemplate.MAVTemplate() + +def generate_version_h(directory, xml): + '''generate version.h''' + f = open(os.path.join(directory, "version.h"), mode='w') + t.write(f,''' +/** @file + * @brief MAVLink comm protocol built from ${basename}.xml + * @see http://pixhawk.ethz.ch/software/mavlink + */ +#ifndef MAVLINK_VERSION_H +#define MAVLINK_VERSION_H + +#define MAVLINK_BUILD_DATE "${parse_time}" +#define MAVLINK_WIRE_PROTOCOL_VERSION "${wire_protocol_version}" +#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE ${largest_payload} + +#endif // MAVLINK_VERSION_H +''', xml) + f.close() + +def generate_mavlink_h(directory, xml): + '''generate mavlink.h''' + f = open(os.path.join(directory, "mavlink.h"), mode='w') + t.write(f,''' +/** @file + * @brief MAVLink comm protocol built from ${basename}.xml + * @see http://pixhawk.ethz.ch/software/mavlink + */ +#ifndef MAVLINK_H +#define MAVLINK_H + +#ifndef MAVLINK_STX +#define MAVLINK_STX ${protocol_marker} +#endif + +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN ${mavlink_endian} +#endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS ${aligned_fields_define} +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA ${crc_extra_define} +#endif + +#include "version.h" +#include "${basename}.h" + +#endif // MAVLINK_H +''', xml) + f.close() + +def generate_main_h(directory, xml): + '''generate main header per XML file''' + f = open(os.path.join(directory, xml.basename + ".h"), mode='w') + t.write(f, ''' +/** @file + * @brief MAVLink comm protocol generated from ${basename}.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef ${basename_upper}_H +#define ${basename_upper}_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {${message_lengths_array}} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {${message_crcs_array}} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {${message_info_array}} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_${basename_upper} + +${{include_list:#include "../${base}/${base}.h" +}} + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION ${version} +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION ${version} +#endif + +// ENUM DEFINITIONS + +${{enum: +/** @brief ${description} */ +enum ${name} +{ +${{entry: ${name}=${value}, /* ${description} |${{param:${description}| }} */ +}} +}; +}} + +// MESSAGE DEFINITIONS +${{message:#include "./mavlink_msg_${name_lower}.h" +}} + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // ${basename_upper}_H +''', xml) + + f.close() + + +def generate_message_h(directory, m): + '''generate per-message header for a XML file''' + f = open(os.path.join(directory, 'mavlink_msg_%s.h' % m.name_lower), mode='w') + t.write(f, ''' +// MESSAGE ${name} PACKING + +#define MAVLINK_MSG_ID_${name} ${id} + +typedef struct __mavlink_${name_lower}_t +{ +${{ordered_fields: ${type} ${name}${array_suffix}; ///< ${description} +}} +} mavlink_${name_lower}_t; + +#define MAVLINK_MSG_ID_${name}_LEN ${wire_length} +#define MAVLINK_MSG_ID_${id}_LEN ${wire_length} + +${{array_fields:#define MAVLINK_MSG_${msg_name}_FIELD_${name_upper}_LEN ${array_length} +}} + +#define MAVLINK_MESSAGE_INFO_${name} { \\ + "${name}", \\ + ${num_fields}, \\ + { ${{ordered_fields: { "${name}", ${c_print_format}, MAVLINK_TYPE_${type_upper}, ${array_length}, ${wire_offset}, offsetof(mavlink_${name_lower}_t, ${name}) }, \\ + }} } \\ +} + + +/** + * @brief Pack a ${name_lower} message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * +${{arg_fields: * @param ${name} ${description} +}} + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_${name_lower}_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + ${{arg_fields: ${array_const}${type} ${array_prefix}${name},}}) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[${wire_length}]; +${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname}); +}} +${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length}); +}} + memcpy(_MAV_PAYLOAD(msg), buf, ${wire_length}); +#else + mavlink_${name_lower}_t packet; +${{scalar_fields: packet.${name} = ${putname}; +}} +${{array_fields: memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length}); +}} + memcpy(_MAV_PAYLOAD(msg), &packet, ${wire_length}); +#endif + + msg->msgid = MAVLINK_MSG_ID_${name}; + return mavlink_finalize_message(msg, system_id, component_id, ${wire_length}${crc_extra_arg}); +} + +/** + * @brief Pack a ${name_lower} message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into +${{arg_fields: * @param ${name} ${description} +}} + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_${name_lower}_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + ${{arg_fields:${array_const}${type} ${array_prefix}${name},}}) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[${wire_length}]; +${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname}); +}} +${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length}); +}} + memcpy(_MAV_PAYLOAD(msg), buf, ${wire_length}); +#else + mavlink_${name_lower}_t packet; +${{scalar_fields: packet.${name} = ${putname}; +}} +${{array_fields: memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length}); +}} + memcpy(_MAV_PAYLOAD(msg), &packet, ${wire_length}); +#endif + + msg->msgid = MAVLINK_MSG_ID_${name}; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, ${wire_length}${crc_extra_arg}); +} + +/** + * @brief Encode a ${name_lower} 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 ${name_lower} C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_${name_lower}_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_${name_lower}_t* ${name_lower}) +{ + return mavlink_msg_${name_lower}_pack(system_id, component_id, msg,${{arg_fields: ${name_lower}->${name},}}); +} + +/** + * @brief Send a ${name_lower} message + * @param chan MAVLink channel to send the message + * +${{arg_fields: * @param ${name} ${description} +}} + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_${name_lower}_send(mavlink_channel_t chan,${{arg_fields: ${array_const}${type} ${array_prefix}${name},}}) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[${wire_length}]; +${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname}); +}} +${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length}); +}} + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, buf, ${wire_length}${crc_extra_arg}); +#else + mavlink_${name_lower}_t packet; +${{scalar_fields: packet.${name} = ${putname}; +}} +${{array_fields: memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length}); +}} + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, (const char *)&packet, ${wire_length}${crc_extra_arg}); +#endif +} + +#endif + +// MESSAGE ${name} UNPACKING + +${{fields: +/** + * @brief Get field ${name} from ${name_lower} message + * + * @return ${description} + */ +static inline ${return_type} mavlink_msg_${name_lower}_get_${name}(const mavlink_message_t* msg${get_arg}) +{ + return _MAV_RETURN_${type}${array_tag}(msg, ${array_return_arg} ${wire_offset}); +} +}} + +/** + * @brief Decode a ${name_lower} message into a struct + * + * @param msg The message to decode + * @param ${name_lower} C-struct to decode the message contents into + */ +static inline void mavlink_msg_${name_lower}_decode(const mavlink_message_t* msg, mavlink_${name_lower}_t* ${name_lower}) +{ +#if MAVLINK_NEED_BYTE_SWAP +${{ordered_fields: ${decode_left}mavlink_msg_${name_lower}_get_${name}(msg${decode_right}); +}} +#else + memcpy(${name_lower}, _MAV_PAYLOAD(msg), ${wire_length}); +#endif +} +''', m) + f.close() + + +def generate_testsuite_h(directory, xml): + '''generate testsuite.h per XML file''' + f = open(os.path.join(directory, "testsuite.h"), mode='w') + t.write(f, ''' +/** @file + * @brief MAVLink comm protocol testsuite generated from ${basename}.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef ${basename_upper}_TESTSUITE_H +#define ${basename_upper}_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +${{include_list:static void mavlink_test_${base}(uint8_t, uint8_t, mavlink_message_t *last_msg); +}} +static void mavlink_test_${basename}(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ +${{include_list: mavlink_test_${base}(system_id, component_id, last_msg); +}} + mavlink_test_${basename}(system_id, component_id, last_msg); +} +#endif + +${{include_list:#include "../${base}/testsuite.h" +}} + +${{message: +static void mavlink_test_${name_lower}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_${name_lower}_t packet_in = { + ${{ordered_fields:${c_test_value}, + }}}; + mavlink_${name_lower}_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + ${{scalar_fields: packet1.${name} = packet_in.${name}; + }} + ${{array_fields: memcpy(packet1.${name}, packet_in.${name}, sizeof(${type})*${array_length}); + }} + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_${name_lower}_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_${name_lower}_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_${name_lower}_pack(system_id, component_id, &msg ${{arg_fields:, packet1.${name} }}); + mavlink_msg_${name_lower}_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_${name_lower}_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg ${{arg_fields:, packet1.${name} }}); + mavlink_msg_${name_lower}_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= 1 and self.buf[0] != ${protocol_marker}: + magic = self.buf[0] + self.buf = self.buf[1:] + if self.robust_parsing: + m = MAVLink_bad_data(chr(magic), "Bad prefix") + if self.callback: + self.callback(m, *self.callback_args, **self.callback_kwargs) + self.expected_length = 6 + self.total_receive_errors += 1 + return m + if self.have_prefix_error: + return None + self.have_prefix_error = True + self.total_receive_errors += 1 + raise MAVError("invalid MAVLink prefix '%s'" % magic) + self.have_prefix_error = False + if len(self.buf) >= 2: + (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2]) + self.expected_length += 8 + if self.expected_length >= 8 and len(self.buf) >= self.expected_length: + mbuf = self.buf[0:self.expected_length] + self.buf = self.buf[self.expected_length:] + self.expected_length = 6 + if self.robust_parsing: + try: + m = self.decode(mbuf) + self.total_packets_received += 1 + except MAVError as reason: + m = MAVLink_bad_data(mbuf, reason.message) + self.total_receive_errors += 1 + else: + m = self.decode(mbuf) + self.total_packets_received += 1 + if self.callback: + self.callback(m, *self.callback_args, **self.callback_kwargs) + return m + return None + + def decode(self, msgbuf): + '''decode a buffer as a MAVLink message''' + # decode the header + try: + magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6]) + except struct.error as emsg: + raise MAVError('Unable to unpack MAVLink header: %s' % emsg) + if ord(magic) != ${protocol_marker}: + raise MAVError("invalid MAVLink prefix '%s'" % magic) + if mlen != len(msgbuf)-8: + raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId)) + + if not msgId in mavlink_map: + raise MAVError('unknown MAVLink message ID %u' % msgId) + + # decode the payload + (fmt, type, order_map, crc_extra) = mavlink_map[msgId] + + # decode the checksum + try: + crc, = struct.unpack(' 64: + raise MAVParseError("num_fields=%u : Maximum number of field names allowed is" % ( + m.num_fields, 64)) + m.crc_extra = message_checksum(m) + self.message_lengths[m.id] = m.wire_length + self.message_names[m.id] = m.name + self.message_crcs[m.id] = m.crc_extra + if m.wire_length > self.largest_payload: + self.largest_payload = m.wire_length + + if m.wire_length+8 > 64: + print("Warning: message %s is longer than 64 bytes long (%u bytes)" % (m.name, m.wire_length+8)) + + + def __str__(self): + return "MAVXML for %s from %s (%u message, %u enums)" % ( + self.basename, self.filename, len(self.message), len(self.enum)) + + +def message_checksum(msg): + '''calculate a 8-bit checksum of the key fields of a message, so we + can detect incompatible XML changes''' + crc = mavutil.x25crc(msg.name + ' ') + for f in msg.ordered_fields: + crc.accumulate(f.type + ' ') + crc.accumulate(f.name + ' ') + if f.array_length: + crc.accumulate(chr(f.array_length)) + return (crc.crc&0xFF) ^ (crc.crc>>8) + +def check_duplicates(xml): + '''check for duplicate message IDs''' + msgmap = {} + for x in xml: + for m in x.message: + if m.id in msgmap: + print("ERROR: Duplicate message id %u for %s (%s:%u) also used by %s" % ( + m.id, m.name, + x.filename, m.linenumber, + msgmap[m.id])) + return True + fieldset = set() + for f in m.fields: + if f.name in fieldset: + print("ERROR: Duplicate field %s in message %s (%s:%u)" % ( + f.name, m.name, + x.filename, m.linenumber)) + return True + fieldset.add(f.name) + msgmap[m.id] = '%s (%s:%u)' % (m.name, x.filename, m.linenumber) + return False + + + +def total_msgs(xml): + '''count total number of msgs''' + count = 0 + for x in xml: + count += len(x.message) + return count + +def mkdir_p(dir): + '''like mkdir -p''' + if not dir: + return + if dir.endswith("/"): + mkdir_p(dir[:-1]) + return + if os.path.isdir(dir): + return + mkdir_p(os.path.dirname(dir)) + os.mkdir(dir) + +# check version consistent +# add test.xml +# finish test suite +# printf style error macro, if defined call errors diff --git a/files/mavlink_generator/generator/mavtemplate.py b/files/mavlink_generator/generator/mavtemplate.py new file mode 100644 index 0000000000000000000000000000000000000000..6ef0153150e45d5fd0f6c0da54f0dbb242a93fc1 --- /dev/null +++ b/files/mavlink_generator/generator/mavtemplate.py @@ -0,0 +1,121 @@ +#!/usr/bin/env python +''' +simple templating system for mavlink generator + +Copyright Andrew Tridgell 2011 +Released under GNU GPL version 3 or later +''' + +from mavparse import MAVParseError + +class MAVTemplate(object): + '''simple templating system''' + def __init__(self, + start_var_token="${", + end_var_token="}", + start_rep_token="${{", + end_rep_token="}}", + trim_leading_lf=True, + checkmissing=True): + self.start_var_token = start_var_token + self.end_var_token = end_var_token + self.start_rep_token = start_rep_token + self.end_rep_token = end_rep_token + self.trim_leading_lf = trim_leading_lf + self.checkmissing = checkmissing + + def find_end(self, text, start_token, end_token): + '''find the of a token. + Returns the offset in the string immediately after the matching end_token''' + if not text.startswith(start_token): + raise MAVParseError("invalid token start") + offset = len(start_token) + nesting = 1 + while nesting > 0: + idx1 = text[offset:].find(start_token) + idx2 = text[offset:].find(end_token) + if idx1 == -1 and idx2 == -1: + raise MAVParseError("token nesting error") + if idx1 == -1 or idx1 > idx2: + offset += idx2 + len(end_token) + nesting -= 1 + else: + offset += idx1 + len(start_token) + nesting += 1 + return offset + + def find_var_end(self, text): + '''find the of a variable''' + return self.find_end(text, self.start_var_token, self.end_var_token) + + def find_rep_end(self, text): + '''find the of a repitition''' + return self.find_end(text, self.start_rep_token, self.end_rep_token) + + def substitute(self, text, subvars={}, + trim_leading_lf=None, checkmissing=None): + '''substitute variables in a string''' + + if trim_leading_lf is None: + trim_leading_lf = self.trim_leading_lf + if checkmissing is None: + checkmissing = self.checkmissing + + # handle repititions + while True: + subidx = text.find(self.start_rep_token) + if subidx == -1: + break + endidx = self.find_rep_end(text[subidx:]) + if endidx == -1: + raise MAVParseError("missing end macro in %s" % text[subidx:]) + part1 = text[0:subidx] + part2 = text[subidx+len(self.start_rep_token):subidx+(endidx-len(self.end_rep_token))] + part3 = text[subidx+endidx:] + a = part2.split(':') + field_name = a[0] + rest = ':'.join(a[1:]) + v = getattr(subvars, field_name, None) + if v is None: + raise MAVParseError('unable to find field %s' % field_name) + t1 = part1 + for f in v: + t1 += self.substitute(rest, f, trim_leading_lf=False, checkmissing=False) + if len(v) != 0 and t1[-1] in ["\n", ","]: + t1 = t1[:-1] + t1 += part3 + text = t1 + + if trim_leading_lf: + if text[0] == '\n': + text = text[1:] + while True: + idx = text.find(self.start_var_token) + if idx == -1: + return text + endidx = text[idx:].find(self.end_var_token) + if endidx == -1: + raise MAVParseError('missing end of variable: %s' % text[idx:idx+10]) + varname = text[idx+2:idx+endidx] + if isinstance(subvars, dict): + if not varname in subvars: + if checkmissing: + raise MAVParseError("unknown variable in '%s%s%s'" % ( + self.start_var_token, varname, self.end_var_token)) + return text[0:idx+endidx] + self.substitute(text[idx+endidx:], subvars, + trim_leading_lf=False, checkmissing=False) + value = subvars[varname] + else: + value = getattr(subvars, varname, None) + if value is None: + if checkmissing: + raise MAVParseError("unknown variable in '%s%s%s'" % ( + self.start_var_token, varname, self.end_var_token)) + return text[0:idx+endidx] + self.substitute(text[idx+endidx:], subvars, + trim_leading_lf=False, checkmissing=False) + text = text.replace("%s%s%s" % (self.start_var_token, varname, self.end_var_token), str(value)) + return text + + def write(self, file, text, subvars={}, trim_leading_lf=True): + '''write to a file with variable substitution''' + file.write(self.substitute(text, subvars=subvars, trim_leading_lf=trim_leading_lf)) diff --git a/files/mavlink_generator/generator/mavtestgen.py b/files/mavlink_generator/generator/mavtestgen.py new file mode 100755 index 0000000000000000000000000000000000000000..e7db2334271a213ee12ba714bf491f9390778d4b --- /dev/null +++ b/files/mavlink_generator/generator/mavtestgen.py @@ -0,0 +1,139 @@ +#!/usr/bin/env python +''' +generate a MAVLink test suite + +Copyright Andrew Tridgell 2011 +Released under GNU GPL version 3 or later +''' + +import sys, textwrap +from optparse import OptionParser +import mavparse + +def gen_value(f, i, language): + '''generate a test value for the ith field of a message''' + type = f.type + + # could be an array + if type.find("[") != -1: + aidx = type.find("[") + basetype = type[0:aidx] + if basetype == "array": + basetype = "int8_t" + if language == 'C': + return '(const %s *)"%s%u"' % (basetype, f.name, i) + return '"%s%u"' % (f.name, i) + + if type == 'float': + return 17.0 + i*7 + if type == 'char': + return 'A' + i + if type == 'int8_t': + return 5 + i + if type in ['int8_t', 'uint8_t']: + return 5 + i + if type in ['uint8_t_mavlink_version']: + return 2 + if type in ['int16_t', 'uint16_t']: + return 17235 + i*52 + if type in ['int32_t', 'uint32_t']: + v = 963497464 + i*52 + if language == 'C': + return "%sL" % v + return v + if type in ['int64_t', 'uint64_t']: + v = 9223372036854775807 + i*63 + if language == 'C': + return "%sLL" % v + return v + + + +def generate_methods_python(outf, msgs): + outf.write(""" +''' +MAVLink protocol test implementation (auto-generated by mavtestgen.py) + +Generated from: %s + +Note: this file has been auto-generated. DO NOT EDIT +''' + +import mavlink + +def generate_outputs(mav): + '''generate all message types as outputs''' +""") + for m in msgs: + if m.name == "HEARTBEAT": continue + outf.write("\tmav.%s_send(" % m.name.lower()) + for i in range(0, len(m.fields)): + f = m.fields[i] + outf.write("%s=%s" % (f.name, gen_value(f, i, 'py'))) + if i != len(m.fields)-1: + outf.write(",") + outf.write(")\n") + + +def generate_methods_C(outf, msgs): + outf.write(""" +/* +MAVLink protocol test implementation (auto-generated by mavtestgen.py) + +Generated from: %s + +Note: this file has been auto-generated. DO NOT EDIT +*/ + +static void mavtest_generate_outputs(mavlink_channel_t chan) +{ +""") + for m in msgs: + if m.name == "HEARTBEAT": continue + outf.write("\tmavlink_msg_%s_send(chan," % m.name.lower()) + for i in range(0, len(m.fields)): + f = m.fields[i] + outf.write("%s" % gen_value(f, i, 'C')) + if i != len(m.fields)-1: + outf.write(",") + outf.write(");\n") + outf.write("}\n") + + + +###################################################################### +'''main program''' + +parser = OptionParser("mavtestgen.py [options] ") +parser.add_option("-o", "--output", dest="output", default="mavtest", help="output file base name") +(opts, args) = parser.parse_args() + +if len(args) < 1: + parser.error("You must supply at least one MAVLink XML protocol definition") + + +msgs = [] +enums = [] + +for fname in args: + (m, e) = mavparse.parse_mavlink_xml(fname) + msgs.extend(m) + enums.extend(e) + + +if mavparse.check_duplicates(msgs): + sys.exit(1) + +print("Found %u MAVLink message types" % len(msgs)) + +print("Generating python %s" % (opts.output+'.py')) +outf = open(opts.output + '.py', "w") +generate_methods_python(outf, msgs) +outf.close() + +print("Generating C %s" % (opts.output+'.h')) +outf = open(opts.output + '.h', "w") +generate_methods_C(outf, msgs) +outf.close() + +print("Generated %s OK" % opts.output) diff --git a/files/pixhawk/quadrotor/parameter_tooltips/tooltips.txt b/files/pixhawk/quadrotor/parameter_tooltips/tooltips.txt new file mode 100644 index 0000000000000000000000000000000000000000..610873647651e034a665f5d2d85dd53cf41a8a47 --- /dev/null +++ b/files/pixhawk/quadrotor/parameter_tooltips/tooltips.txt @@ -0,0 +1,3 @@ +EEPROM,variable name,Min,Max,Default,Multiplier,Enabled (0 = no, 1 = yes),Comment +HDNG2RLL_P, 0, 5, 0.7, 1, 1, NAV_ROLL_P - Navigation control gains. Tuning values for the navigation control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction. +SYS_TYPE, 0, 15, 1, 1, 1, System type (airframe) \ No newline at end of file diff --git a/files/vehicles/Ascent_Park_Glider/ascent-park-glider.dae b/files/vehicles/Ascent_Park_Glider/ascent-park-glider.dae new file mode 100644 index 0000000000000000000000000000000000000000..3d70dffda4f4f34c3af9c7c6d2a73ac5be6eebe6 --- /dev/null +++ b/files/vehicles/Ascent_Park_Glider/ascent-park-glider.dae @@ -0,0 +1,1646 @@ + + + + + Google SketchUp 8.0.4810 + + 2011-09-04T06:55:53Z + 2011-09-04T06:55:53Z + + Z_UP + + + + + + 27.8133639 0.0000000 0.0000000 1.3710257 0.0000000 27.8133639 0.0000000 -0.0180907 0.0000000 0.0000000 27.8133639 -1.3153749 0.0000000 0.0000000 0.0000000 1.0000000 + + + + + + + + + 1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 + + + + 1.0000000 0.0000000 0.0000000 0.0000000 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i + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + 2005-03-08 + + + Jakub Steiner + + + + + workstation + computer + node + client + + + + http://jimmac.musichall.cz/ + + + + + + + + + + + + + + + QGroundControl + Open Source MAV Ground Control Station + + + + diff --git a/images/splash.png b/images/splash.png index 72952bb2dba42805edec69615ee8ec849503118e..4cfe6a704302eba060ab59c01b9226ed1383db3f 100644 Binary files a/images/splash.png and b/images/splash.png differ diff --git a/images/style-mission.css b/images/style-mission.css index 63514226f45b4e81da8f0006e1e798c8f2c586d0..7a19cadb8dc9359eb150b320e7793fcc1ee73cc8 100644 --- a/images/style-mission.css +++ b/images/style-mission.css @@ -338,6 +338,7 @@ QProgressBar { padding: 2px; color: #DDDDDF; background-color: #111118; + height: 10px; } QProgressBar:horizontal { @@ -398,3 +399,28 @@ QDialog { QTabBar::tab:selected { border: 2px solid #379AC3; } + +QLabel { + background-color: transparent; +} + +QLabel#toolBarNameLabel { + font: bold 16px; + color: #3C7B9E; +} + +QLabel#toolBarModeLabel { + font: 12px; +} + +QLabel#toolBarStateLabel { + font: 12px; + color: #3C7B9E; +} + +QLabel#toolBarMessageLabel { + font: 12px; + font-style: italic; + color: #3C7B9E; +} + diff --git a/images/style-outdoor-dark.css b/images/style-outdoor-dark.css new file mode 100644 index 0000000000000000000000000000000000000000..0ad06a80d1deb8f939e9ad7cf6d71f549b28a6fb --- /dev/null +++ b/images/style-outdoor-dark.css @@ -0,0 +1,426 @@ +* { font-family: "Bitstream Vera Sans"; font: "Roman"; font-size: 12px; } +QWidget#colorIcon {} + +QWidget { +background-color: #050508; +color: #FFFFFF; +background-clip: border; +font-size: 11px; +} + +QGroupBox { +border: 1px solid #66666B; +border-radius: 3px; +padding: 10px 0px 0px 0px; +margin-top: 1ex; /* leave space at the top for the title */ +} + +QCheckBox { +/*background-color: #252528;*/ +color: #DDDDDF; +} + +QCheckBox::indicator { + border: 1px solid #777777; + border-radius: 2px; + color: #DDDDDF; + width: 10px; + height: 10px; +} + +QLineEdit { +border: 1px solid #777777; + border-radius: 2px; +} + +QTextEdit { +border: 1px solid #777777; + border-radius: 2px; +} + +QPlainTextEdit { +border: 1px solid #777777; + border-radius: 2px; +} + +QComboBox { +border: 1px solid #777777; + border-radius: 2px; + } + + QCheckBox::indicator:checked { + background-color: #379AC3; + } + + QCheckBox::indicator:checked:hover { + background-color: #379AC3; + } + + QCheckBox::indicator:checked:pressed { + background-color: #379AC3; + } + + QCheckBox::indicator:indeterminate:hover { + image: url(:/images/checkbox_indeterminate_hover.png); + } + + QCheckBox::indicator:indeterminate:pressed { + image: url(:/images/checkbox_indeterminate_pressed.png); + } + + QGroupBox::title { + subcontrol-origin: margin; + subcontrol-position: top center; /* position at the top center */ + margin: 0 3px 0px 3px; + padding: 0 3px 0px 0px; + font: bold 8px; + color: #DDDDDF; + } + + QMainWindow::separator { + background: #090909; + width: 2px; /* when vertical */ + height: 2px; /* when horizontal */ + } + + QMainWindow::separator:hover { + background: white; + } + + QGCToolWidgetItem { + border: 1px solid #66666B; + border-radius: 3px; + padding: 10px 0px 0px 0px; + margin-top: 1ex; /* leave space at the top for the title */ + } + + QDockWidget { + border: 1px solid #32345E; + /* titlebar-close-icon: url(close.png); + titlebar-normal-icon: url(undock.png);*/ + } + + QDockWidget::title { + text-align: left; /* align the text to the left */ + background: lightgray; + padding-left: 5px; + } + + QDockWidget::close-button, QDockWidget::float-button { + border: 1px solid transparent; + background: darkgray; + padding: 0px; + } + + QDockWidget::close-button:hover, QDockWidget::float-button:hover { + background: gray; + } + + QDockWidget::close-button:pressed, QDockWidget::float-button:pressed { + padding: 1px -1px -1px 1px; + } + + + +QDockWidget::close-button, QDockWidget::float-button { + background-color: #181820; + color: #EEEEEE; +} + +QDockWidget::title { + text-align: left; + background: #121214; + color: #4A4A4F; + padding-left: 5px; + height: 10px; + border-bottom: 1px solid #555555; +} + +QSeparator { + color: #EEEEEE; + } + + +QSpinBox { + min-height: 14px; + max-height: 18px; + border: 1px solid #4A4A4F; + border-radius: 5px; +} + +QSpinBox::up-button { + subcontrol-origin: border; + subcontrol-position: top right; /* position at the top right corner */ + border-image: url(:/images/actions/go-up.svg) 1; + border-width: 1px; +} +QSpinBox::down-button { + subcontrol-origin: border; + subcontrol-position: bottom right; /* position at the top right corner */ + border-image: url(:/images/actions/go-down.svg) 1; + border-width: 1px; +} + +QDoubleSpinBox { + min-height: 14px; + max-height: 18px; + border: 1px solid #4A4A4F; + border-radius: 5px; +} + +QDoubleSpinBox::up-button { + subcontrol-origin: border; + subcontrol-position: top right; /* position at the top right corner */ + border-image: url(:/images/actions/go-up.svg) 1; + border-width: 1px; + max-width: 5px; +} +QDoubleSpinBox::down-button { + subcontrol-origin: border; + subcontrol-position: bottom right; /* position at the top right corner */ + border-image: url(:/images/actions/go-down.svg) 1; + border-width: 1px; + max-width: 5px; +} + +QPushButton { + font-weight: bold; + min-height: 18px; + max-height: 18px; + border: 2px solid #4A4A4F; + border-radius: 5px; + padding-left: 5px; + padding-right: 5px; + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208); +} + +QPushButton:checked { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080); + border: 2px solid #379AC3; +} + +QPushButton:pressed { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0); + border: 2px solid #379AC3; +} + +QToolButton { + font-weight: bold; + min-height: 16px; + min-width: 24px; + max-height: 18px; + border: 2px solid #4A4A4F; + border-radius: 5px; + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208); +} + +QToolButton:checked { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535); + border: 2px solid #379AC3; +} + +QToolButton:pressed { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0); + border: 2px solid #379AC3; +} + +QToolTip { + background-color: #090909; + border: 1px solid #379AC3; + border-radius: 3px; + color: #DDDDDF; +} + +QMenu { + border: 1px solid #379AC3; +} + +QMenu::separator { + height: 1px; + background: #379AC3; + margin-top: 8px; + margin-bottom: 4px; + margin-left: 5px; + margin-right: 5px; + } + +QSlider::groove:horizontal { + border: 1px solid #999999; + height: 4px; /* the groove expands to the size of the slider by default. by giving it a height, it has a fixed size */ + background: qlineargradient(x1:0, y1:0, x2:0, y2:1, stop:0 #4A4A4F, stop:1 #4A4A4F); + margin: 2px 0; + } + + QSlider::handle:horizontal { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208); + border: 2px solid #379AC3; + width: 18px; + margin: -5px 0; /* handle is placed by default on the contents rect of the groove. Expand outside the groove */ + border-radius: 3px; + } + + QSlider::groove:vertical { + border: 1px solid #999999; + width: 4px; /* the groove expands to the size of the slider by default. by giving it a height, it has a fixed size */ + background: qlineargradient(x1:0, y1:0, x2:1, y2:0, stop:0 #4A4A4F, stop:1 #4A4A4F); + margin: 2px 0; + } + + QSlider::handle:vertical { + background-color: qlineargradient(x1: 0, y1: 0, x2: 1, y2: 0, stop: 0 #232228, stop: 1 #020208); + border: 2px solid #379AC3; + height: 18px; + margin: 0 -5px; /* handle is placed by default on the contents rect of the groove. Expand outside the groove */ + border-radius: 3px; + } + +QPushButton#forceLandButton { + font-weight: bold; + min-height: 30px; + color: #000000; + background: qlineargradient(x1:0, y1:0, x2:0, y2:1, + stop:0 #ffee01, stop:1 #ae8f00) url("ICONDIR/control/emergency-button.png"); + background-clip: border; + border-width: 1px; + border-color: #555555; + border-radius: 5px; +} + +QPushButton:pressed#forceLandButton { + font-weight: bold; + min-height: 30px; + color: #000000; + background: qlineargradient(x1:0, y1:0, x2:0, y2:1, + stop:0 #bbaa00, stop:1 #a05b00) url("ICONDIR/control/emergency-button.png"); + background-clip: border; + border-width: 1px; + border-color: #555555; + border-radius: 5px; +} + +QPushButton#killButton { + font-weight: bold; + min-height: 30px; + color: #000000; + background: qlineargradient(x1:0, y1:0, x2:0, y2:1, + stop:0 #ffb917, stop:1 #b37300) url("ICONDIR/control/emergency-button.png"); + background-clip: border; + border-width: 1px; + border-color: #555555; + border-radius: 5px; +} + +QPushButton:pressed#killButton { + font-weight: bold; + min-height: 30px; + color: #000000; + background: qlineargradient(x1:0, y1:0, x2:0, y2:1, + stop:0 #bb8500, stop:1 #903000) url("ICONDIR/control/emergency-button.png"); + background-clip: border; + border-width: 1px; + border-color: #555555; + border-radius: 5px; +} + +QPushButton#controlButton { + min-height: 25px; + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A0AE00, stop: 1 #909E00); +} + +QPushButton:checked#controlButton { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #b76f11, stop: 1 #e1a718); +} + +QProgressBar { + border: 1px solid #4A4A4F; + border-radius: 4px; + text-align: center; + padding: 2px; + color: #DDDDDF; + background-color: #111118; + height: 10px; +} + +QProgressBar:horizontal { + height: 9px; +} + +QProgressBar:vertical { + width: 9px; +} + +QProgressBar::chunk { + background-color: #3C7B9E; +} + +QProgressBar::chunk#batteryBar { + background-color: green; +} + +QProgressBar::chunk#speedBar { + background-color: yellow; +} + +QProgressBar::chunk#thrustBar { + background-color: orange; +} + +QDialog { + border: 1px solid #62676B; + border-radius: 2px; +} + + QTabWidget::pane { /* The tab widget frame */ + border: 1px solid #62676B; + border-radius: 2px; + position: absolute; + top: -0.5em; + } + + QTabWidget::tab-bar { + alignment: center; + } + + /* Style the tab using the tab sub-control. Note that + it reads QTabBar _not_ QTabWidget */ + QTabBar::tab { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535); + border: 2px solid #62676B; + border-radius: 4px; + min-width: 8ex; + padding: 2px; + } + + QTabBar::tab:selected, QTabBar::tab:hover { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535); + border: 2px solid #379AC3; + } + + QTabBar::tab:selected { + border: 2px solid #379AC3; + } + +QLabel { + background-color: transparent; +} + +QLabel#toolBarNameLabel { + font: bold 16px; + color: #3C7B9E; +} + +QLabel#toolBarModeLabel { + font: 12px; +} + +QLabel#toolBarStateLabel { + font: 12px; + color: #3C7B9E; +} + +QLabel#toolBarMessageLabel { + font: 12px; + font-style: italic; + color: #3C7B9E; +} + diff --git a/models/cessna.osg b/models/cessna.osg deleted file mode 100644 index 4cdb259ffe71ab045d6ed4becc95f15e4ee1d22c..0000000000000000000000000000000000000000 --- a/models/cessna.osg +++ /dev/null @@ -1,20534 +0,0 @@ -Group { - 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-0.137921 0.177436 -0.97442 - -0.0241546 0.252791 -0.967219 - -0.0378605 0.184231 -0.982154 - 0.051851 0.238548 -0.969745 - 0.0957422 0.18223 -0.978584 - 0.121589 0.271109 -0.954838 - 0.350701 0.185484 -0.917935 - 0.591703 0.630381 -0.502501 - 0.871856 0.192695 -0.450261 - 0.66915 0.704451 -0.236615 - 0.968558 0.159625 -0.190829 - } - } - } - } -} diff --git a/qgcvideo.pro b/qgcvideo.pro index 01c66cc4cc5d832905d8d13ae121c9299f477bbe..39246caa0bd42da47c47bd875e7e4d652fdf27fd 100644 --- a/qgcvideo.pro +++ b/qgcvideo.pro @@ -45,4 +45,4 @@ SOURCES += \ FORMS += \ src/apps/qgcvideo/QGCVideoMainWindow.ui -RESOURCES = mavground.qrc +RESOURCES = qgroundcontrol.qrc diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri index c12b3245ae3f4c82e66c5e4c9f067d864b4b453b..59cc0514c0119c9f1b995403f12a35926d479b71 100644 --- a/qgroundcontrol.pri +++ b/qgroundcontrol.pri @@ -84,11 +84,15 @@ macx { # Copy audio files if needed QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOS + # Copy contributed files + QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS # Copy google earth starter file QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOS # Copy CSS stylesheets QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-mission.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/style-indoor.css QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-outdoor.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOS + # Copy parameter tooltip files + QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS # Copy model files #QMAKE_POST_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs @@ -219,7 +223,10 @@ message("Compiling for linux 32") DEFINES += QGC_LIBFREENECT_ENABLED } - QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$DESTDIR + # Validated copy commands + QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$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 $$DESTDIR/images/Vera.ttf @@ -293,7 +300,9 @@ linux-g++-64 { DEFINES += QGC_LIBFREENECT_ENABLED } - QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$DESTDIR + # Validated copy commands + QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR + QMAKE_POST_LINK += && cp -rf $$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 @@ -369,6 +378,7 @@ DEFINES += QGC_OSG_ENABLED exists($$TARGETDIR/debug) { QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n)) QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\debug\\audio" /E /I $$escape_expand(\\n)) + QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\debug\\files" /E /I $$escape_expand(\\n)) QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\debug\\models" /E /I $$escape_expand(\\n)) QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n)) QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n)) @@ -389,6 +399,7 @@ DEFINES += QGC_OSG_ENABLED exists($$TARGETDIR/release) { QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n)) QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\release\\audio" /E /I $$escape_expand(\\n)) + QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\release\\files" /E /I $$escape_expand(\\n)) QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\release\\models" /E /I $$escape_expand(\\n)) QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\release\\earth.html" $$escape_expand(\\n)) QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n)) diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index f0e5c1dab695e8e794a1c33dee16d76f9698fa5b..436dc5338d658641879a5d86cad062d1ae8c26df 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -40,6 +40,7 @@ MOC_DIR = $${BUILDDIR}/moc UI_DIR = $${BUILDDIR}/ui RCC_DIR = $${BUILDDIR}/rcc MAVLINK_CONF = "" +DEFINES += MAVLINK_NO_DATA QMAKE_INCDIR_QT = $$(QTDIR)/include QMAKE_LIBDIR_QT = $$(QTDIR)/lib @@ -191,8 +192,7 @@ FORMS += src/ui/MainWindow.ui \ src/ui/Linechart.ui \ src/ui/UASView.ui \ src/ui/ParameterInterface.ui \ - src/ui/WaypointList.ui \ - src/ui/WaypointView.ui \ + src/ui/WaypointList.ui \ src/ui/ObjectDetectionView.ui \ src/ui/JoystickWidget.ui \ src/ui/DebugConsole.ui \ @@ -227,7 +227,10 @@ FORMS += src/ui/MainWindow.ui \ src/ui/mission/QGCMissionDoWidget.ui \ src/ui/mission/QGCMissionConditionWidget.ui \ src/ui/map/QGCMapTool.ui \ - src/ui/map/QGCMapToolBar.ui + src/ui/map/QGCMapToolBar.ui \ + src/ui/QGCMAVLinkInspector.ui \ + src/ui/WaypointViewOnlyView.ui \ + src/ui/WaypointEditableView.ui INCLUDEPATH += src \ src/ui \ src/ui/linechart \ @@ -252,10 +255,8 @@ HEADERS += src/MG.h \ src/comm/LinkInterface.h \ src/comm/SerialLinkInterface.h \ src/comm/SerialLink.h \ - src/comm/SerialSimulationLink.h \ src/comm/ProtocolInterface.h \ src/comm/MAVLinkProtocol.h \ - src/comm/AS4Protocol.h \ src/comm/QGCFlightGearLink.h \ src/ui/CommConfigurationWindow.h \ src/ui/SerialConfigurationWindow.h \ @@ -275,8 +276,7 @@ HEADERS += src/MG.h \ src/comm/UDPLink.h \ src/ui/ParameterInterface.h \ src/ui/WaypointList.h \ - src/Waypoint.h \ - src/ui/WaypointView.h \ + src/Waypoint.h \ src/ui/ObjectDetectionView.h \ src/input/JoystickInput.h \ src/ui/JoystickWidget.h \ @@ -321,7 +321,6 @@ HEADERS += src/MG.h \ src/ui/uas/QGCUnconnectedInfoWidget.h \ src/ui/designer/QGCToolWidget.h \ src/ui/designer/QGCParamSlider.h \ - src/ui/designer/QGCActionButton.h \ src/ui/designer/QGCCommandButton.h \ src/ui/designer/QGCToolWidgetItem.h \ src/ui/QGCMAVLinkLogPlayer.h \ @@ -342,7 +341,12 @@ HEADERS += src/MG.h \ src/ui/map/QGCMapToolBar.h \ src/libs/qextserialport/qextserialenumerator.h \ src/QGCGeo.h \ - src/ui/QGCToolBar.h + src/ui/QGCToolBar.h \ + src/ui/QGCMAVLinkInspector.h \ + src/ui/MAVLinkDecoder.h \ + src/ui/WaypointViewOnlyView.h \ + src/ui/WaypointViewOnlyView.h \ + src/ui/WaypointEditableView.h # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler macx|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h @@ -384,9 +388,7 @@ SOURCES += src/main.cc \ src/comm/LinkManager.cc \ src/comm/LinkInterface.cpp \ src/comm/SerialLink.cc \ - src/comm/SerialSimulationLink.cc \ src/comm/MAVLinkProtocol.cc \ - src/comm/AS4Protocol.cc \ src/comm/QGCFlightGearLink.cc \ src/ui/CommConfigurationWindow.cc \ src/ui/SerialConfigurationWindow.cc \ @@ -406,7 +408,6 @@ SOURCES += src/main.cc \ src/ui/ParameterInterface.cc \ src/ui/WaypointList.cc \ src/Waypoint.cc \ - src/ui/WaypointView.cc \ src/ui/ObjectDetectionView.cc \ src/input/JoystickInput.cc \ src/ui/JoystickWidget.cc \ @@ -450,7 +451,6 @@ SOURCES += src/main.cc \ src/ui/uas/QGCUnconnectedInfoWidget.cc \ src/ui/designer/QGCToolWidget.cc \ src/ui/designer/QGCParamSlider.cc \ - src/ui/designer/QGCActionButton.cc \ src/ui/designer/QGCCommandButton.cc \ src/ui/designer/QGCToolWidgetItem.cc \ src/ui/QGCMAVLinkLogPlayer.cc \ @@ -469,7 +469,11 @@ SOURCES += src/main.cc \ src/ui/map/Waypoint2DIcon.cc \ src/ui/map/QGCMapTool.cc \ src/ui/map/QGCMapToolBar.cc \ - src/ui/QGCToolBar.cc + src/ui/QGCToolBar.cc \ + src/ui/QGCMAVLinkInspector.cc \ + src/ui/MAVLinkDecoder.cc \ + src/ui/WaypointViewOnlyView.cc \ + src/ui/WaypointEditableView.cc # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler macx|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc index c8ba5a25b5f7c2cb47103f00e205e408831a5165..18b36bed1fbf171ded47ff6abd37a64404f63763 100644 --- a/src/GAudioOutput.cc +++ b/src/GAudioOutput.cc @@ -137,12 +137,12 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent), } } -GAudioOutput::~GAudioOutput() -{ -#ifdef _MSC_VER2 - ::CoUninitialize(); -#endif -} +//GAudioOutput::~GAudioOutput() +//{ +//#ifdef _MSC_VER2 +// ::CoUninitialize(); +//#endif +//} void GAudioOutput::mute(bool mute) { diff --git a/src/GAudioOutput.h b/src/GAudioOutput.h index 6154a315ce810a19cf3b1b0e814b0d5a76cf5417..2856ea19cbfde2f19c8e8abbb6f117bfcbab1ee1 100644 --- a/src/GAudioOutput.h +++ b/src/GAudioOutput.h @@ -124,7 +124,7 @@ protected: bool muted; private: GAudioOutput(QObject* parent=NULL); - ~GAudioOutput(); +// ~GAudioOutput(); }; #endif // AUDIOOUTPUT_H diff --git a/src/QGC.cc b/src/QGC.cc index 08467d7e51ec4794a3b057872dae5848a48ec269..179d54f5905c1c1c06006a2a68f31fc01bba2f90 100644 --- a/src/QGC.cc +++ b/src/QGC.cc @@ -49,12 +49,22 @@ quint64 groundTimeMilliseconds() float limitAngleToPMPIf(float angle) { - while (angle > ((float)M_PI+FLT_EPSILON)) { - angle -= 2.0f * (float)M_PI; - } + if (angle > -20*M_PI && angle < 20*M_PI) + { + while (angle > ((float)M_PI+FLT_EPSILON)) + { + angle -= 2.0f * (float)M_PI; + } - while (angle <= -((float)M_PI+FLT_EPSILON)) { - angle += 2.0f * (float)M_PI; + while (angle <= -((float)M_PI+FLT_EPSILON)) + { + angle += 2.0f * (float)M_PI; + } + } + else + { + // Approximate + angle = fmodf(angle, M_PI); } return angle; @@ -62,15 +72,29 @@ float limitAngleToPMPIf(float angle) double limitAngleToPMPId(double angle) { - if (angle < -M_PI) { - while (angle < -M_PI) { - angle += M_PI; + if (angle > -20*M_PI && angle < 20*M_PI) + { + if (angle < -M_PI) + { + while (angle < -M_PI) + { + angle += M_PI; + } } - } else if (angle > M_PI) { - while (angle > M_PI) { - angle -= M_PI; + else if (angle > M_PI) + { + while (angle > M_PI) + { + angle -= M_PI; + } } } + else + { + // Approximate + angle = fmod(angle, M_PI); + } + return angle; } diff --git a/src/QGCCore.cc b/src/QGCCore.cc index 754fcb7d2b3ce9f015eff901f8d5994bc52d95ff..1d22ae53ff47be672fd5391a90fab03e891e1f0e 100644 --- a/src/QGCCore.cc +++ b/src/QGCCore.cc @@ -44,7 +44,6 @@ This file is part of the QGROUNDCONTROL project #include "configuration.h" #include "QGC.h" #include "QGCCore.h" -#include "MG.h" #include "MainWindow.h" #include "GAudioOutput.h" @@ -68,8 +67,6 @@ This file is part of the QGROUNDCONTROL project QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv) { - - // Set application name this->setApplicationName(QGC_APPLICATION_NAME); this->setApplicationVersion(QGC_APPLICATION_VERSION); @@ -111,6 +108,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv) // Delete splash screen after mainWindow was displayed splashScreen->setAttribute(Qt::WA_DeleteOnClose); splashScreen->show(); + processEvents(); splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Exit main application when last window is closed @@ -161,7 +159,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv) simulationLink->disconnect(); //mainWindow->addLink(simulationLink); - mainWindow = MainWindow::instance(); + mainWindow = MainWindow::instance(splashScreen); // Remove splash screen splashScreen->finish(mainWindow); @@ -205,7 +203,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv) QGCCore::~QGCCore() { //mainWindow->storeSettings(); - mainWindow->hide(); + mainWindow->close(); mainWindow->deleteLater(); // Delete singletons delete LinkManager::instance(); diff --git a/src/Waypoint.cc b/src/Waypoint.cc index 2fd5a7099fd5c1ff1c793d72c90c712fbdeba3e6..1f42cd364cd1d477f2e234b2c9201feeaaaf816c 100644 --- a/src/Waypoint.cc +++ b/src/Waypoint.cc @@ -109,7 +109,8 @@ void Waypoint::setId(quint16 id) void Waypoint::setX(double x) { - if (this->x != x && (this->frame == MAV_FRAME_LOCAL)) { + if (!isinf(x) && !isnan(x) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU))) + { this->x = x; emit changed(this); } @@ -117,7 +118,8 @@ void Waypoint::setX(double x) void Waypoint::setY(double y) { - if (this->y != y && (this->frame == MAV_FRAME_LOCAL)) { + if (!isinf(y) && !isnan(y) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU))) + { this->y = y; emit changed(this); } @@ -125,7 +127,8 @@ void Waypoint::setY(double y) void Waypoint::setZ(double z) { - if (this->z != z && (this->frame == MAV_FRAME_LOCAL)) { + if (!isinf(z) && !isnan(z) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU))) + { this->z = z; emit changed(this); } @@ -133,7 +136,8 @@ void Waypoint::setZ(double z) void Waypoint::setLatitude(double lat) { - if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) { + if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) + { this->x = lat; emit changed(this); } @@ -141,7 +145,8 @@ void Waypoint::setLatitude(double lat) void Waypoint::setLongitude(double lon) { - if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) { + if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) + { this->y = lon; emit changed(this); } @@ -149,7 +154,8 @@ void Waypoint::setLongitude(double lon) void Waypoint::setAltitude(double altitude) { - if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) { + if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) + { this->z = altitude; emit changed(this); } @@ -157,7 +163,8 @@ void Waypoint::setAltitude(double altitude) void Waypoint::setYaw(int yaw) { - if (this->yaw != yaw) { + if (this->yaw != yaw) + { this->yaw = yaw; emit changed(this); } @@ -165,7 +172,8 @@ void Waypoint::setYaw(int yaw) void Waypoint::setYaw(double yaw) { - if (this->yaw != yaw) { + if (this->yaw != yaw) + { this->yaw = yaw; emit changed(this); } @@ -173,7 +181,8 @@ void Waypoint::setYaw(double yaw) void Waypoint::setAction(int action) { - if (this->action != (MAV_CMD)action) { + if (this->action != (MAV_CMD)action) + { this->action = (MAV_CMD)action; emit changed(this); } @@ -197,7 +206,7 @@ void Waypoint::setFrame(MAV_FRAME frame) void Waypoint::setAutocontinue(bool autoContinue) { - if (this->autocontinue != autocontinue) { + if (this->autocontinue != autoContinue) { this->autocontinue = autoContinue; emit changed(this); } @@ -205,7 +214,8 @@ void Waypoint::setAutocontinue(bool autoContinue) void Waypoint::setCurrent(bool current) { - if (this->current != current) { + if (this->current != current) + { this->current = current; emit changed(this); } @@ -213,7 +223,8 @@ void Waypoint::setCurrent(bool current) void Waypoint::setAcceptanceRadius(double radius) { - if (this->param2 != radius) { + if (this->param2 != radius) + { this->param2 = radius; emit changed(this); } @@ -221,9 +232,10 @@ void Waypoint::setAcceptanceRadius(double radius) void Waypoint::setParam1(double param1) { - //qDebug() << "SENDER:" << QObject::sender(); - //qDebug() << "PARAM1 SET REQ:" << param1; - if (this->param1 != param1) { + //// // qDebug() << "SENDER:" << QObject::sender(); + //// // qDebug() << "PARAM1 SET REQ:" << param1; + if (this->param1 != param1) + { this->param1 = param1; emit changed(this); } @@ -231,7 +243,8 @@ void Waypoint::setParam1(double param1) void Waypoint::setParam2(double param2) { - if (this->param2 != param2) { + if (this->param2 != param2) + { this->param2 = param2; emit changed(this); } diff --git a/src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc b/src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc index 1ef314a4b9ccd104859e94eeb0a141a2e42c9750..5bbb3ec45fe4fa566a4700635d37c77f596b2f0d 100644 --- a/src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc +++ b/src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc @@ -34,6 +34,8 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#include + #include "MAVLinkXMLParserV10.h" #include @@ -62,797 +64,1031 @@ MAVLinkXMLParserV10::~MAVLinkXMLParserV10() { } +void MAVLinkXMLParserV10::processError(QProcess::ProcessError err) +{ + switch(err) + { + case QProcess::FailedToStart: + emit parseState(tr("Generator failed to start. Please check if the path and command is correct.")); + break; + case QProcess::Crashed: + emit parseState("Generator crashed, This is a generator-related problem. Please upgrade MAVLink generator."); + break; + case QProcess::Timedout: + emit parseState(tr("Generator start timed out, please check if the path and command are correct")); + break; + case QProcess::WriteError: + emit parseState(tr("Could not communicate with generator. Please check if the path and command are correct")); + break; + case QProcess::ReadError: + emit parseState(tr("Could not communicate with generator. Please check if the path and command are correct")); + break; + case QProcess::UnknownError: + default: + emit parseState(tr("Generator error. Please check if the path and command is correct.")); + break; + } +} + /** * Generate C-code (C-89 compliant) out of the XML protocol specs. */ bool MAVLinkXMLParserV10::generate() { - // Process result - bool success = true; - - // Only generate if output dir is correctly set - if (outputDirName == "") - { - emit parseState(tr("ERROR: No output directory given.\nAbort.")); - return false; - } - - QString topLevelOutputDirName = outputDirName; - - // print out the element names of all elements that are direct children - // of the outermost element. - QDomElement docElem = doc->documentElement(); - QDomNode n = docElem;//.firstChild(); - QDomNode p = docElem; - - // Sanity check variables - QList* usedMessageIDs = new QList(); - QMap* usedMessageNames = new QMap(); - QMap* usedEnumNames = new QMap(); - - QList< QPair > cFiles; - QString lcmStructDefs = ""; - - QString pureFileName; - QString pureIncludeFileName; - - QFileInfo fInfo(this->fileName); - pureFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first(); - - // XML parsed and converted to C code. Now generating the files - outputDirName += QDir::separator() + pureFileName; - QDateTime now = QDateTime::currentDateTime().toUTC(); - QLocale loc(QLocale::English); - QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC"; - QString date = loc.toString(now, dateFormat); - QString includeLine = "#include \"%1\"\n"; - QString mainHeaderName = pureFileName + ".h"; - QString messagesDirName = ".";//"generated"; - QDir dir(outputDirName + "/" + messagesDirName); - - int mavlinkVersion = 0; - - - - // Start main header - QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://qgroundcontrol.org/mavlink/\n *\t Generated on %1\n */\n#ifndef " + pureFileName.toUpper() + "_H\n#define " + pureFileName.toUpper() + "_H\n\n").arg(date); // The main header includes all messages - // Mark all code as C code - mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n"; - mainHeader += "\n#include \"../protocol.h\"\n"; - mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n"; - - QString enums; - - - // Run through root children - while(!n.isNull()) - { - // Each child is a message - QDomElement e = n.toElement(); // try to convert the node to an element. - if(!e.isNull()) - { - if (e.tagName() == "mavlink") - { - p = n; - n = n.firstChild(); - while (!n.isNull()) - { - e = n.toElement(); - if (!e.isNull()) - { - // Handle all include tags - if (e.tagName() == "include") - { - QString incFileName = e.text(); - // Load file - //QDomDocument includeDoc = QDomDocument(); - - // Prepend file path if it is a relative path and - // make it relative to opened file - QFileInfo fInfo(incFileName); - - QString incFilePath; - if (fInfo.isRelative()) - { - QFileInfo rInfo(this->fileName); - incFilePath = rInfo.absoluteDir().canonicalPath() + "/" + incFileName; - pureIncludeFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first(); - } - - QFile file(incFilePath); - if (file.open(QIODevice::ReadOnly | QIODevice::Text)) - { - emit parseState(QString("Included messages from file: %1").arg(incFileName)); - // NEW MODE: CREATE INDIVIDUAL FOLDERS - // Create new output directory, parse included XML and generate C-code - MAVLinkXMLParserV10 includeParser(incFilePath, topLevelOutputDirName, this); - connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString))); - // Generate and write - includeParser.generate(); - mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n"; - - - // OLD MODE: MERGE BOTH FILES - // const QString instanceText(QString::fromUtf8(file.readAll())); - // includeDoc.setContent(instanceText); - // // Get all messages - // QDomNode in = includeDoc.documentElement().firstChild(); - // QDomElement ie = in.toElement(); - // if (!ie.isNull()) - // { - // if (ie.tagName() == "messages" || ie.tagName() == "include") - // { - // QDomNode ref = n.parentNode().insertAfter(in, n); - // if (ref.isNull()) - // { - // emit parseState(QString("ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.").arg(fileName)); - // return false; - // } - // } - // } - - emit parseState(QString("End of inclusion from file: %1").arg(incFileName)); - } - else - { - // Include file could not be opened - emit parseState(QString("ERROR: Failed including file: %1, file is not readable. Wrong/misspelled filename?\nAbort.").arg(fileName)); - return false; - } - - } - // Handle all enum tags - else if (e.tagName() == "version") - { - //QString fieldType = e.attribute("type", ""); - //QString fieldName = e.attribute("name", ""); - QString fieldText = e.text(); - - // Check if version has been previously set - if (mavlinkVersion != 0) - { - emit parseState(QString("ERROR: Protocol version tag set twice, please use it only once. First version was %1, second version is %2.\nAbort.").arg(mavlinkVersion).arg(fieldText)); - return false; - } - - bool ok; - int version = fieldText.toInt(&ok); - if (ok && (version > 0) && (version < 256)) - { - // Set MAVLink version - mavlinkVersion = version; - } - else - { - emit parseState(QString("ERROR: Reading version string failed: %1, string is not an integer number between 1 and 255.\nAbort.").arg(fieldText)); - return false; - } - } - // Handle all enum tags - else if (e.tagName() == "enums") - { - // One down into the enums list - p = n; - n = n.firstChild(); - while (!n.isNull()) - { - e = n.toElement(); - - QString currEnum; - QString currEnumEnd; - // Comment - QString comment; - - if(!e.isNull() && e.tagName() == "enum") - { - // Get enum name - QString enumName = e.attribute("name", "").toLower(); - if (enumName.size() == 0) - { - emit parseState(tr("ERROR: Missing required name=\"\" attribute for tag %2 near line %1\nAbort.").arg(QString::number(e.lineNumber()), e.tagName())); - return false; - } - else - { - // Sanity check: Accept only enum names not used previously - if (usedEnumNames->contains(enumName)) - { - emit parseState(tr("ERROR: Enum name %1 used twice, second occurence near line %2 of file %3\nAbort.").arg(enumName, QString::number(e.lineNumber()), fileName)); - return false; - } - else - { - usedEnumNames->insert(enumName, QString::number(e.lineNumber())); - } - - // Everything sane, starting with enum content - currEnum = "enum " + enumName.toUpper() + "\n{\n"; - currEnumEnd = QString("\t%1_ENUM_END\n};\n\n").arg(enumName.toUpper()); - - int nextEnumValue = 0; - - // Get the enum fields - QDomNode f = e.firstChild(); - while (!f.isNull()) - { - QDomElement e2 = f.toElement(); - if (!e2.isNull() && e2.tagName() == "entry") - { - QString fieldValue = e2.attribute("value", ""); - - // If value was given, use it, if not, use the enum iterator - // value. The iterator value gets reset by manual values - - QString fieldName = e2.attribute("name", ""); - if (fieldValue.length() == 0) - { - fieldValue = QString::number(nextEnumValue); - nextEnumValue++; - } - else - { - bool ok; - nextEnumValue = fieldValue.toInt(&ok) + 1; - if (!ok) - { - emit parseState(tr("ERROR: Enum entry %1 has not a valid number (%2) in the value field.\nAbort.").arg(fieldName, fieldValue)); - return false; - } - } - - // Add comment of field if there is one - QString fieldComment; - if (e2.text().length() > 0) - { - QString sep(" | "); - QDomNode pp = e2.firstChild(); - while (!pp.isNull()) - { - QDomElement pp2 = pp.toElement(); - if (pp2.isText() || pp2.isCDATASection()) - { - fieldComment += pp2.nodeValue() + sep; - } - else if (pp2.isElement()) - { - fieldComment += pp2.text() + sep; - } - pp = pp.nextSibling(); - } - fieldComment = fieldComment.replace("\n", " "); - fieldComment = " /* " + fieldComment.simplified() + " */"; - } - currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n"; - } - else if(!e2.isNull() && e2.tagName() == "description") - { - comment = " " + e2.text().replace("\n", " ") + comment; - } - f = f.nextSibling(); - } - } - // Add the last parsed enum - // Remove the last comma, as the last value has none - // ENUM END MARKER IS LAST ENTRY, COMMA REMOVAL NOT NEEDED - //int commaPosition = currEnum.lastIndexOf(","); - //currEnum.remove(commaPosition, 1); - - enums += "/** @brief " + comment.simplified() + " */\n" + currEnum + currEnumEnd; - } // Element is non-zero and element name is - n = n.nextSibling(); - } // While through - // One up, back into the structure - n = p; - } - - // Handle all message tags - else if (e.tagName() == "messages") - { - p = n; - n = n.firstChild(); - while (!n.isNull()) - { - e = n.toElement(); - if(!e.isNull()) - { - //if (e.isNull()) continue; - // Get message name - QString messageName = e.attribute("name", "").toLower(); - if (messageName.size() == 0) - { - emit parseState(tr("ERROR: Missing required name=\"\" attribute for tag %2 near line %1\nAbort.").arg(QString::number(e.lineNumber()), e.tagName())); - return false; - } - else - { - // Get message id - bool ok; - int messageId = e.attribute("id", "-1").toInt(&ok, 10); - emit parseState(tr("Compiling message %1 \t(#%3) \tnear line %2").arg(messageName, QString::number(n.lineNumber()), QString::number(messageId))); - - // Sanity check: Accept only message IDs not used previously - if (usedMessageIDs->contains(messageId)) - { - emit parseState(tr("ERROR: Message ID %1 used twice, second occurence near line %2 of file %3\nAbort.").arg(QString::number(messageId), QString::number(e.lineNumber()), fileName)); - return false; - } - else - { - usedMessageIDs->append(messageId); - } - - // Sanity check: Accept only message names not used previously - if (usedMessageNames->contains(messageName)) - { - emit parseState(tr("ERROR: Message name %1 used twice, second occurence near line %2 of file %3\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName)); - return false; - } - else - { - usedMessageNames->insert(messageName, QString::number(e.lineNumber())); - } - - QString channelType("mavlink_channel_t"); - QString messageType("mavlink_message_t"); - QString headerType("mavlink_header_t"); - - // Build up function call - QString commentContainer("/**\n * @brief Pack a %1 message\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param msg The MAVLink message to compress the data into\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n"); - QString commentPackChanContainer("/**\n * @brief Pack a %1 message\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param chan The MAVLink channel this message was sent over\n * @param msg The MAVLink message to compress the data into\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n"); - QString commentSendContainer("/**\n * @brief Send a %1 message\n * @param chan MAVLink channel to send the message\n *\n%2 */\n"); - QString commentEncodeContainer("/**\n * @brief Encode a %1 struct into a message\n *\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param msg The MAVLink message to compress the data into\n * @param %1 C-struct to read the message contents from\n */\n"); - QString commentDecodeContainer("/**\n * @brief Decode a %1 message into a struct\n *\n * @param msg The message to decode\n * @param %1 C-struct to decode the message contents into\n */\n"); - QString commentEntry(" * @param %1 %2\n"); - QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2\n#define MAVLINK_MSG_ID_%1_LEN %3\n#define MAVLINK_MSG_%2_LEN %3"); - QString arrayDefines; - QString cStructName = QString("mavlink_%1_t").arg(messageName); - QString cStruct("typedef struct __%1 \n{\n%2\n} %1;"); - QString cStructLines; - QString encode("static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n"); - - // QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n"); - QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n\tmemcpy( %1, msg->payload, sizeof(%2));\n}\n"); - // QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n"); - QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_%3_LEN);\n}\n\n"); - // QString packChan("static inline uint16_t mavlink_msg_%1_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);\n}\n\n"); - QString packChan("static inline uint16_t mavlink_msg_%1_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg%2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_%3_LEN);\n}\n\n"); - //QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif"; - QString unpacking; - QString prepends; - QString packParameters; - QString packArguments("system_id, component_id, msg"); - QString packLines; - QString decodeLines; - QString sendArguments; - QString commentLines; - int calculatedLength = 0; - - - // Get the message fields - QDomNode f = e.firstChild(); - while (!f.isNull()) - { - QDomElement e2 = f.toElement(); - if (!e2.isNull() && e2.tagName() == "field") - { - QString fieldType = e2.attribute("type", ""); - QString fieldName = e2.attribute("name", ""); - QString fieldOffset = e2.attribute("offset", ""); - QString fieldText = e2.text(); - - QString unpackingCode; - QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText); - - // Send arguments do not work for the version field - if (!fieldType.contains("uint8_t_mavlink_version")) - { - // Send arguments are the same for integral types and arrays - sendArguments += ", " + fieldName; - commentLines += commentEntry.arg(fieldName, fieldText.replace("\n", " ")); - } - - // MAVLink version field - // this is a special field always containing the version define - if (fieldType.contains("uint8_t_mavlink_version")) - { - // Add field to C structure - cStructLines += QString("\t%1 %2; ///< %3\n").arg("uint8_t", fieldName, fieldText); - calculatedLength += 1; - // Add pack line to message_xx_pack function - // packLines += QString("\ti += put_uint8_t_by_index(%1, i, msg->payload); // %2\n").arg(mavlinkVersion).arg(fieldText); - packLines += QString("\n\tp->%2 = MAVLINK_VERSION; // %1:%3").arg(fieldType, fieldName, e2.text()); - // Add decode function for this type - decodeLines += QString("\n\t%1->%2 = mavlink_msg_%1_get_%2(msg);").arg(messageName, fieldName); - - if (fieldOffset != "") { // does not use the number - always moves up one slot - QStringList itemList; - // Swap field in C structure - itemList = cStructLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - cStructLines = itemList.join("\n") + "\n"; - - // Swap line in message_xx_pack function - itemList = packLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - packLines = itemList.join("\n") + "\n"; - - // Swap line in decode function for this type - itemList = decodeLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - decodeLines = itemList.join("\n") + "\n"; - } - } - - // Array handling is different from simple types - else if (fieldType.startsWith("array")) - { - int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); - QString arrayType = fieldType.split("[").first(); - if (arrayType.contains("array")) calculatedLength += arrayLength; else - if (arrayType.contains("char")) calculatedLength += arrayLength; else - if (arrayType.contains("int8")) calculatedLength += arrayLength; else - if (arrayType.contains("int16")) calculatedLength += arrayLength*2; else - if (arrayType.contains("int32")) calculatedLength += arrayLength*4; else - if (arrayType.contains("int64")) calculatedLength += arrayLength*8; else - if (arrayType == "float") calculatedLength += arrayLength*4; else { - emit parseState(tr("ERROR: In message %1 inavlid array type %4 used near line %2 of file %3\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName, arrayType)); - return false; - } - packParameters += QString(", const ") + QString("int8_t*") + " " + fieldName; - packArguments += ", " + messageName + "->" + fieldName; - - // Add field to C structure - cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText); - // Add pack line to message_xx_pack function - // packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText); - packLines += QString("\tmemcpy( p->%2, %2, sizeof(p->%2)); // %1[%3]:%4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText); - // Add decode function for this type - decodeLines += QString("\n\tmavlink_msg_%1_get_%2(msg, %1->%2);").arg(messageName, fieldName); - - if (fieldOffset != "") { // does not use the number - always moves up one slot - QStringList itemList; - // Swap field in C structure - itemList = cStructLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - cStructLines = itemList.join("\n") + "\n"; - - // Swap line in message_xx_pack function - itemList = packLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - packLines = itemList.join("\n") + "\n"; - - // Swap line in decode function for this type - itemList = decodeLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - decodeLines = itemList.join("\n") + "\n"; - } - - arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength)); - } - else if (fieldType.startsWith("string")) - { - int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); - calculatedLength += arrayLength; - QString arrayType = fieldType.split("[").first(); - if (arrayType.contains("string")) calculatedLength += arrayLength; else - if (arrayType.contains("array")) calculatedLength += arrayLength; else - if (arrayType.contains("char")) calculatedLength += arrayLength; else - if (arrayType.contains("int8")) calculatedLength += arrayLength; else - if (arrayType.contains("int16")) calculatedLength += arrayLength*2; else - if (arrayType.contains("int32")) calculatedLength += arrayLength*4; else - if (arrayType.contains("int64")) calculatedLength += arrayLength*8; else - if (arrayType == "float") calculatedLength += arrayLength*4; else { - emit parseState(tr("ERROR: In message %1 inavlid array type %4 used near line %2 of file %3\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName, arrayType)); - return false; - } - packParameters += QString(", const ") + QString("char*") + " " + fieldName; - packArguments += ", " + messageName + "->" + fieldName; - - // Add field to C structure - cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("char", fieldName, QString::number(arrayLength), fieldText); - // Add pack line to message_xx_pack function - // packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text()); - packLines += QString("\tstrncpy( p->%2, %2, sizeof(p->%2)); // %1[%3]:%4\n").arg("char", fieldName, QString::number(arrayLength), fieldText); - // Add decode function for this type - decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName); - arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength)); - - if (fieldOffset != "") { // does not use the number - always moves up one slot - QStringList itemList; - // Swap field in C structure - itemList = cStructLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - cStructLines = itemList.join("\n") + "\n"; - - // Swap line in message_xx_pack function - itemList = packLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - packLines = itemList.join("\n") + "\n"; - - // Swap line in decode function for this type - itemList = decodeLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - decodeLines = itemList.join("\n") + "\n"; - } - } - // Expand array handling to all valid mavlink data types - else if(fieldType.contains('[') && fieldType.contains(']')) - { - int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); - QString arrayType = fieldType.split("[").first(); - if (arrayType.contains("array")) calculatedLength += arrayLength; else - if (arrayType.contains("char")) calculatedLength += arrayLength; else - if (arrayType.contains("int8")) calculatedLength += arrayLength; else - if (arrayType.contains("int16")) calculatedLength += arrayLength*2; else - if (arrayType.contains("int32")) calculatedLength += arrayLength*4; else - if (arrayType.contains("int64")) calculatedLength += arrayLength*8; else - if (arrayType == "float") calculatedLength += arrayLength*4; else { - emit parseState(tr("ERROR: In message %1 inavlid array type %4 used near line %2 of file %3\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName, arrayType)); - return false; - } - packParameters += QString(", const ") + arrayType + "* " + fieldName; - packArguments += ", " + messageName + "->" + fieldName; - - // Add field to C structure - cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText); - // Add pack line to message_xx_pack function - // packLines += QString("\ti += put_array_by_index((const int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText); - packLines += QString("\tmemcpy(p->%2, %2, sizeof(p->%2)); // %1[%3]:%4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText); - // Add decode function for this type - decodeLines += QString("\n\tmavlink_msg_%1_get_%2(msg, %1->%2);").arg(messageName, fieldName); - - if (fieldOffset != "") { // does not use the number - always moves up one slot - QStringList itemList; - // Swap field in C structure - itemList = cStructLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - cStructLines = itemList.join("\n") + "\n"; - - // Swap line in message_xx_pack function - itemList = packLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - packLines = itemList.join("\n") + "\n"; - - // Swap line in decode function for this type - itemList = decodeLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - decodeLines = itemList.join("\n") + "\n"; - } - - arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength)); - - // unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, sizeof(%2)*%3);\n\treturn sizeof(%2)*%3;").arg(prepends, arrayType, QString::number(arrayLength)); - unpackingCode = QString("\n\tmemcpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName); - - // unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, arrayType, unpackingCode); - unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* %2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n%4\n}\n\n").arg(messageName, fieldName, arrayType, unpackingCode); - // decodeLines += ""; - prepends += QString("+sizeof(%1)*%2").arg(arrayType, QString::number(arrayLength)); - - } - else - // Handle simple types like integers and floats - { - packParameters += ", " + fieldType + " " + fieldName; - packArguments += ", " + messageName + "->" + fieldName; - - // Add field to C structure - cStructLines += QString("\t%1 %2; ///< %3\n").arg(fieldType, fieldName, fieldText); - // Add pack line to message_xx_pack function - // packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); // %3\n").arg(fieldType, fieldName, e2.text()); - packLines += QString("\tp->%2 = %2; // %1:%3\n").arg(fieldType, fieldName, e2.text()); - // Add decode function for this type - // decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName); - decodeLines += QString("\n\t%1 = p->%1;").arg(fieldName); - - if (fieldOffset != "") { // does not use the number - always moves up one slot - QStringList itemList; - // Swap field in C structure - itemList = cStructLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - cStructLines = itemList.join("\n") + "\n"; - - // Swap line in message_xx_pack function - itemList = packLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - packLines = itemList.join("\n") + "\n"; - - // Swap line in decode function for this type - itemList = decodeLines.split("\n", QString::SkipEmptyParts); - if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; - decodeLines = itemList.join("\n") + "\n"; - } - - if (fieldType.contains("array")) calculatedLength += 1; else - if (fieldType.contains("char")) calculatedLength += 1; else - if (fieldType.contains("int8")) calculatedLength += 1; else - if (fieldType.contains("int16")) calculatedLength += 2; else - if (fieldType.contains("int32")) calculatedLength += 4; else - if (fieldType.contains("int64")) calculatedLength += 8; else - if (fieldType == "float") calculatedLength += 4; else { - emit parseState(tr("ERROR: In message %1 inavlid type %4 used near line %2 of file %3\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName, fieldType)); - return false; - } - } - - - // - // QString unpackingCode; - - if (fieldType == "uint8_t_mavlink_version") - { - // unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg("uint8_t", prepends); - unpackingCode = QString("\treturn (%1)(p->%2);").arg("uint8_t", fieldName); - } - else if (fieldType == "uint8_t" || fieldType == "int8_t") - { - // unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg(fieldType, prepends); - unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); - } - else if (fieldType == "uint16_t" || fieldType == "int16_t") - { - // unpackingCode = QString("\tgeneric_16bit r;\n\tr.b[1] = (msg->payload%1)[0];\n\tr.b[0] = (msg->payload%1)[1];\n\treturn (%2)r.s;").arg(prepends).arg(fieldType); - unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); - } - else if (fieldType == "uint32_t" || fieldType == "int32_t") - { - // unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.i;").arg(prepends).arg(fieldType); - unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); - } - else if (fieldType == "float") - { - // unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.f;").arg(prepends).arg(fieldType); - unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); - } - else if (fieldType == "uint64_t" || fieldType == "int64_t") - { - // unpackingCode = QString("\tgeneric_64bit r;\n\tr.b[7] = (msg->payload%1)[0];\n\tr.b[6] = (msg->payload%1)[1];\n\tr.b[5] = (msg->payload%1)[2];\n\tr.b[4] = (msg->payload%1)[3];\n\tr.b[3] = (msg->payload%1)[4];\n\tr.b[2] = (msg->payload%1)[5];\n\tr.b[1] = (msg->payload%1)[6];\n\tr.b[0] = (msg->payload%1)[7];\n\treturn (%2)r.ll;").arg(prepends).arg(fieldType); - unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); - } - else if (fieldType.startsWith("array")) - { // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string - // unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(filedName, prepends, fieldType.split("[").at(1).split("]").first()); - unpackingCode = QString("\n\tmemcpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName); - } - else if (fieldType.startsWith("string")) - { // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string - // unpackingCode = QString("\n\tstrcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first()); - unpackingCode = QString("\n\tstrncpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName); - } - - - // Generate the message decoding function - if (fieldType.contains("uint8_t_mavlink_version")) - { - // unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg("uint8_t", messageName, fieldName, unpackingCode); - unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n\tmavlink_%2_t *p = (mavlink_%2_t *)&msg->payload[0];\n%4\n}\n\n").arg("uint8_t", messageName, fieldName, unpackingCode); - decodeLines += ""; - prepends += "+sizeof(uint8_t)"; - } - // Array handling is different from simple types - else if (fieldType.startsWith("array")) - { - // unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode); - unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* %2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n%3\n}\n\n").arg(messageName, fieldName, unpackingCode); - decodeLines += ""; - QString arrayLength = QString(fieldType.split("[").at(1).split("]").first()); - prepends += "+" + arrayLength; - } - else if (fieldType.startsWith("string")) - { - // unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode); - unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* %2)\n{\n\tmavlink_%1 *p = (mavlink_%1 *)&msg->payload[0];\n%3\n}\n\n").arg(messageName, fieldName, unpackingCode); - decodeLines += ""; - QString arrayLength = QString(fieldType.split("[").at(1).split("]").first()); - prepends += "+" + arrayLength; - } - else if(fieldType.contains('[') && fieldType.contains(']')) - { - // prevent this case from being caught in the following else - } - else - { - // unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode); - unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n\tmavlink_%2_t *p = (mavlink_%2_t *)&msg->payload[0];\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode); - decodeLines += ""; - prepends += "+sizeof(" + e2.attribute("type", "void") + ")"; - } - } - f = f.nextSibling(); - } - - // cStruct = cStruct.arg(cStructName, cStructLines, QString::number(calculatedLength) ); - cStruct = cStruct.arg(cStructName, cStructLines ); - lcmStructDefs.append("\n").append(cStruct).append("\n"); - pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines); - packChan = packChan.arg(messageName, packParameters, messageName.toUpper(), packLines); - encode = encode.arg(messageName).arg(cStructName).arg(packArguments); - // decode = decode.arg(messageName).arg(cStructName).arg(decodeLines); - decode = decode.arg(messageName).arg(cStructName); - // QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif"); - QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tuint16_t checksum;\n\tmavlink_%3_t *p = (mavlink_%3_t *)&msg.payload[0];\n\n%6\n\tmsg.STX = MAVLINK_STX;\n\tmsg.len = MAVLINK_MSG_ID_%4_LEN;\n\tmsg.msgid = MAVLINK_MSG_ID_%4;\n"); - QString compactSend2("\tmsg.sysid = mavlink_system.sysid;\n\tmsg.compid = mavlink_system.compid;\n\tmsg.seq = mavlink_get_channel_status(chan)->current_tx_seq;\n\tmavlink_get_channel_status(chan)->current_tx_seq = msg.seq + 1;\n"); - QString compactSend3("\tchecksum = crc_calculate_msg(&msg, msg.len + MAVLINK_CORE_HEADER_LEN);\n\tmsg.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte\n\tmsg.ck_b = (uint8_t)(checksum >> 8); ///< High byte\n\n\tmavlink_send_msg(chan, &msg);\n}\n\n#endif"); - // compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters ); - compactSend = compactSend.arg(channelType, messageType, messageName, messageName.toUpper(), packParameters, packLines ) + compactSend2 + compactSend3; - QString compact2Send("\n\n#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS_SMALL\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 hdr;\n\tmavlink_%3_t payload;\n\tuint16_t checksum;\n\tmavlink_%3_t *p = &payload;\n\n%6\n\thdr.STX = MAVLINK_STX;\n\thdr.len = MAVLINK_MSG_ID_%4_LEN;\n\thdr.msgid = MAVLINK_MSG_ID_%4;\n"); - QString compact2Send2("\thdr.sysid = mavlink_system.sysid;\n\thdr.compid = mavlink_system.compid;\n\thdr.seq = mavlink_get_channel_status(chan)->current_tx_seq;\n\tmavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;\n\tmavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );\n"); - QString compact2Send3("\n\tcrc_init(&checksum);\n\tchecksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);\n\tchecksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );\n\thdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte\n\thdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte\n\n\tmavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);\n\tmavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);\n}\n\n#endif"); - compact2Send = compact2Send.arg(channelType, headerType, messageName, messageName.toUpper(), packParameters, packLines ) + compact2Send2 + compact2Send3; - QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine.arg(messageName.toUpper(), QString::number(messageId), QString::number(calculatedLength)) + "\n\n" + cStruct + "\n" + arrayDefines + "\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + commentPackChanContainer.arg(messageName.toLower(), commentLines) + packChan + commentEncodeContainer.arg(messageName.toLower()) + encode + "\n" + commentSendContainer.arg(messageName.toLower(), commentLines) + compactSend + compact2Send + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + commentDecodeContainer.arg(messageName.toLower()) + decode; - cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile)); - } // Check if tag = message - } // Check if e = NULL - n = n.nextSibling(); - } // While through - n = p; - - } // Check if tag = messages - } // Check if e = NULL - n = n.nextSibling(); - } // While through include and messages - // One up - current node = parent - n = p; - - } // Check if tag = mavlink - } // Check if e = NULL - n = n.nextSibling(); - } // While through root children - - // Add version to main header - - mainHeader += "// MAVLINK VERSION\n\n"; - mainHeader += QString("#ifndef MAVLINK_VERSION\n#define MAVLINK_VERSION %1\n#endif\n\n").arg(mavlinkVersion); - mainHeader += QString("#if (MAVLINK_VERSION == 0)\n#undef MAVLINK_VERSION\n#define MAVLINK_VERSION %1\n#endif\n\n").arg(mavlinkVersion); - - // Add enums to main header - - mainHeader += "// ENUM DEFINITIONS\n\n"; - mainHeader += enums; - mainHeader += "\n"; - - mainHeader += "// MESSAGE DEFINITIONS\n\n"; - // Create directory if it doesn't exist, report result in success - if (!dir.exists()) success = success && dir.mkpath(outputDirName + "/" + messagesDirName); - for (int i = 0; i < cFiles.size(); i++) - { - QFile rawFile(dir.filePath(cFiles.at(i).first)); - bool ok = rawFile.open(QIODevice::WriteOnly | QIODevice::Text); - success = success && ok; - rawFile.write(cFiles.at(i).second.toLatin1()); - rawFile.close(); - mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first); - } - - mainHeader += "#ifdef __cplusplus\n}\n#endif\n"; - mainHeader += "#endif"; - // Newline to make compiler happy - mainHeader += "\n"; - - // Write main header - QFile rawHeader(outputDirName + "/" + mainHeaderName); - bool ok = rawHeader.open(QIODevice::WriteOnly | QIODevice::Text); - success = success && ok; - rawHeader.write(mainHeader.toLatin1()); - rawHeader.close(); - - // Write alias mavlink header - QFile mavlinkHeader(outputDirName + "/mavlink.h"); - ok = mavlinkHeader.open(QIODevice::WriteOnly | QIODevice::Text); - success = success && ok; - QString mHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages - // Mark all code as C code -// mHeader += "\n#include \"" + mainHeaderName + "\"\n\n"; - mHeader += "#pragma pack(push,1)\n#include \"" + mainHeaderName + "\"\n#ifdef MAVLINK_CHECK_LENGTH\n#include \"lengths.h\"\n#endif\n#pragma pack(pop)\n"; - mHeader += "#endif\n"; - mavlinkHeader.write(mHeader.toLatin1()); - mavlinkHeader.close(); - - // Write C structs / lcm definitions - // QFile lcmStructs(outputDirName + "/mavlink.lcm"); - // ok = lcmStructs.open(QIODevice::WriteOnly | QIODevice::Text); - // success = success && ok; - // lcmStructs.write(lcmStructDefs.toLatin1()); - - return success; +#ifdef Q_OS_WIN + QString generatorCall("%1/files/mavlink_generator/generator/mavgen.exe"); +#endif +#if (defined Q_OS_MAC) || (defined Q_OS_LINUX) + QString generatorCall("python"); +#endif + QString lang("C"); + QString version("1.0"); + + QStringList arguments; +#if (defined Q_OS_MAC) || (defined Q_OS_LINUX) + // Script is only needed as argument if Python is used, the Py2Exe implicitely knows the script + arguments << QString("%1/files/mavlink_generator/generator/mavgen.py").arg(QApplication::applicationDirPath()); +#endif + arguments << QString("--lang=%1").arg(lang); + arguments << QString("--output=%2").arg(outputDirName); + arguments << QString("%3").arg(fileName); + arguments << QString("--wire-protocol=%4").arg(version); + + qDebug() << "Attempted to start" << generatorCall << arguments; + process = new QProcess(this); + connect(process, SIGNAL(error(QProcess::ProcessError)), this, SLOT(processError(QProcess::ProcessError))); + bool result = (process->execute(generatorCall, arguments) == 0); + // Print process status + emit parseState(QString("%1").arg(QString(process->readAllStandardError()))); + emit parseState(QString(process->readAllStandardOutput())); + return result; } + +///** +// * Generate C-code (C-89 compliant) out of the XML protocol specs. +// */ +//bool MAVLinkXMLParserV10::generate() +//{ +// uint16_t crc_key = X25_INIT_CRC; +// // Process result +// bool success = true; + +// // Only generate if output dir is correctly set +// if (outputDirName == "") +// { +// emit parseState(tr("ERROR: No output directory given.\nAbort.")); +// return false; +// } + +// QString topLevelOutputDirName = outputDirName; + +// // print out the element names of all elements that are direct children +// // of the outermost element. +// QDomElement docElem = doc->documentElement(); +// QDomNode n = docElem;//.firstChild(); +// QDomNode p = docElem; + +// // Sanity check variables +// QList* usedMessageIDs = new QList(); +// QMap* usedMessageNames = new QMap(); +// QMap* usedEnumNames = new QMap(); + +// QList< QPair > cFiles; +// QString lcmStructDefs = ""; + +// QString pureFileName; +// QString pureIncludeFileName; + +// QFileInfo fInfo(this->fileName); +// pureFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first(); + +// // XML parsed and converted to C code. Now generating the files +// outputDirName += QDir::separator() + pureFileName; +// QDateTime now = QDateTime::currentDateTime().toUTC(); +// QLocale loc(QLocale::English); +// QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC"; +// QString date = loc.toString(now, dateFormat); +// QString includeLine = "#include \"%1\"\n"; +// QString mainHeaderName = pureFileName + ".h"; +// QString messagesDirName = ".";//"generated"; +// QDir dir(outputDirName + "/" + messagesDirName); + +// int mavlinkVersion = 0; +// static unsigned message_lengths[256]; +// static unsigned message_key[256]; +// static int highest_message_id; +// static int recursion_level; + +// if (recursion_level == 0) { +// highest_message_id = 0; +// memset(message_lengths, 0, sizeof(message_lengths)); +// } + + +// // Start main header +// QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://qgroundcontrol.org/mavlink/\n *\t Generated on %1\n */\n#ifndef " + pureFileName.toUpper() + "_H\n#define " + pureFileName.toUpper() + "_H\n\n").arg(date); // The main header includes all messages +// // Mark all code as C code +// mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n"; +// mainHeader += "\n#include \"../mavlink_protocol.h\"\n"; +// mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n"; + +// QString enums; + + +// // Run through root children +// while(!n.isNull()) +// { +// // Each child is a message +// QDomElement e = n.toElement(); // try to convert the node to an element. +// if(!e.isNull()) +// { +// if (e.tagName() == "mavlink") +// { +// p = n; +// n = n.firstChild(); +// while (!n.isNull()) +// { +// e = n.toElement(); +// if (!e.isNull()) +// { +// // Handle all include tags +// if (e.tagName() == "include") +// { +// QString incFileName = e.text(); +// // Load file +// //QDomDocument includeDoc = QDomDocument(); + +// // Prepend file path if it is a relative path and +// // make it relative to opened file +// QFileInfo fInfo(incFileName); + +// QString incFilePath; +// if (fInfo.isRelative()) +// { +// QFileInfo rInfo(this->fileName); +// incFilePath = rInfo.absoluteDir().canonicalPath() + "/" + incFileName; +// pureIncludeFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first(); +// } + +// QFile file(incFilePath); +// if (file.open(QIODevice::ReadOnly | QIODevice::Text)) +// { +// emit parseState(QString("Included messages from file: %1").arg(incFileName)); +// // NEW MODE: CREATE INDIVIDUAL FOLDERS +// // Create new output directory, parse included XML and generate C-code +// MAVLinkXMLParserV10 includeParser(incFilePath, topLevelOutputDirName, this); +// connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString))); +// // Generate and write +// includeParser.generate(); +// mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n"; + +// emit parseState(QString("End of inclusion from file: %1").arg(incFileName)); +// } +// else +// { +// // Include file could not be opened +// emit parseState(QString("ERROR: Failed including file: %1, file is not readable. Wrong/misspelled filename?\nAbort.").arg(fileName)); +// return false; +// } + +// } +// // Handle all enum tags +// else if (e.tagName() == "version") +// { +// //QString fieldType = e.attribute("type", ""); +// //QString fieldName = e.attribute("name", ""); +// QString fieldText = e.text(); + +// // Check if version has been previously set +// if (mavlinkVersion != 0) +// { +// emit parseState(QString("ERROR: Protocol version tag set twice, please use it only once. First version was %1, second version is %2.\nAbort.").arg(mavlinkVersion).arg(fieldText)); +// return false; +// } + +// bool ok; +// int version = fieldText.toInt(&ok); +// if (ok && (version > 0) && (version < 256)) +// { +// // Set MAVLink version +// mavlinkVersion = version; +// } +// else +// { +// emit parseState(QString("ERROR: Reading version string failed: %1, string is not an integer number between 1 and 255.\nAbort.").arg(fieldText)); +// return false; +// } +// } +// // Handle all enum tags +// else if (e.tagName() == "enums") +// { +// // One down into the enums list +// p = n; +// n = n.firstChild(); +// while (!n.isNull()) +// { +// e = n.toElement(); + +// QString currEnum; +// QString currEnumEnd; +// // Comment +// QString comment; + +// if(!e.isNull() && e.tagName() == "enum") +// { +// // Get enum name +// QString enumName = e.attribute("name", "").toLower(); +// if (enumName.size() == 0) +// { +// emit parseState(tr("ERROR: Missing required name=\"\" attribute for tag %2 near line %1\nAbort.").arg(QString::number(e.lineNumber()), e.tagName())); +// return false; +// } +// else +// { +// // Sanity check: Accept only enum names not used previously +// if (usedEnumNames->contains(enumName)) +// { +// emit parseState(tr("ERROR: Enum name %1 used twice, second occurence near line %2 of file %3\nAbort.").arg(enumName, QString::number(e.lineNumber()), fileName)); +// return false; +// } +// else +// { +// usedEnumNames->insert(enumName, QString::number(e.lineNumber())); +// } + +// // Everything sane, starting with enum content +// currEnum = "enum " + enumName.toUpper() + "\n{\n"; +// currEnumEnd = QString("\t%1_ENUM_END\n};\n\n").arg(enumName.toUpper()); + +// int nextEnumValue = 0; + +// // Get the enum fields +// QDomNode f = e.firstChild(); +// while (!f.isNull()) +// { +// QDomElement e2 = f.toElement(); +// if (!e2.isNull() && e2.tagName() == "entry") +// { +// QString fieldValue = e2.attribute("value", ""); + +// // If value was given, use it, if not, use the enum iterator +// // value. The iterator value gets reset by manual values + +// QString fieldName = e2.attribute("name", ""); +// if (fieldValue.length() == 0) +// { +// fieldValue = QString::number(nextEnumValue); +// nextEnumValue++; +// } +// else +// { +// bool ok; +// nextEnumValue = fieldValue.toInt(&ok) + 1; +// if (!ok) +// { +// emit parseState(tr("ERROR: Enum entry %1 has not a valid number (%2) in the value field.\nAbort.").arg(fieldName, fieldValue)); +// return false; +// } +// } + +// // Add comment of field if there is one +// QString fieldComment; +// if (e2.text().length() > 0) +// { +// QString sep(" | "); +// QDomNode pp = e2.firstChild(); +// while (!pp.isNull()) +// { +// QDomElement pp2 = pp.toElement(); +// if (pp2.isText() || pp2.isCDATASection()) +// { +// // If this is the only field, don't add the separator +// if (pp.nextSibling().isNull()) +// { +// fieldComment += pp2.nodeValue(); +// } +// else +// { +// fieldComment += pp2.nodeValue() + sep; +// } +// } +// else if (pp2.isElement()) +// { +// // If this is the only field, don't add the separator +// if (pp.nextSibling().isNull()) +// { +// fieldComment += pp2.text(); +// } +// else +// { +// fieldComment += pp2.text() + sep; +// } +// } +// pp = pp.nextSibling(); +// } +// fieldComment = fieldComment.replace("\n", " "); +// fieldComment = " /* " + fieldComment.simplified() + " */"; +// } +// currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n"; +// } +// else if(!e2.isNull() && e2.tagName() == "description") +// { +// comment = " " + e2.text().replace("\n", " ") + comment; +// } +// f = f.nextSibling(); +// } +// } +// // Add the last parsed enum +// // Remove the last comma, as the last value has none +// // ENUM END MARKER IS LAST ENTRY, COMMA REMOVAL NOT NEEDED +// //int commaPosition = currEnum.lastIndexOf(","); +// //currEnum.remove(commaPosition, 1); + +// enums += "/** @brief " + comment.simplified() + " */\n" + currEnum + currEnumEnd; +// } // Element is non-zero and element name is +// n = n.nextSibling(); +// } // While through +// // One up, back into the structure +// n = p; +// } + +// // Handle all message tags +// else if (e.tagName() == "messages") +// { +// p = n; +// n = n.firstChild(); +// while (!n.isNull()) +// { +// e = n.toElement(); +// if(!e.isNull()) +// { +// //if (e.isNull()) continue; +// // Get message name +// QString messageName = e.attribute("name", "").toLower(); +// if (messageName.size() == 0) +// { +// emit parseState(tr("ERROR: Missing required name=\"\" attribute for tag %2 near line %1\nAbort.").arg(QString::number(e.lineNumber()), e.tagName())); +// return false; +// } +// else +// { +// // Get message id +// bool ok; +// int messageId = e.attribute("id", "-1").toInt(&ok, 10); +//// emit parseState(tr("Compiling message %1 \t(#%3) \tnear line %2").arg(messageName, QString::number(n.lineNumber()), QString::number(messageId))); + +// // Sanity check: Accept only message IDs not used previously +// if (usedMessageIDs->contains(messageId)) +// { +// emit parseState(tr("ERROR: Message ID %1 used twice, second occurence near line %2 of file %3\nAbort.").arg(QString::number(messageId), QString::number(e.lineNumber()), fileName)); +// return false; +// } +// else +// { +// usedMessageIDs->append(messageId); +// } + +// // Sanity check: Accept only message names not used previously +// if (usedMessageNames->contains(messageName)) +// { +// emit parseState(tr("ERROR: Message name %1 used twice, second occurence near line %2 of file %3\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName)); +// return false; +// } +// else +// { +// usedMessageNames->insert(messageName, QString::number(e.lineNumber())); +// } + +// QString channelType("mavlink_channel_t"); +// QString messageType("mavlink_message_t"); +// QString headerType("mavlink_header_t"); + +// // Build up function call +// QString commentContainer("/**\n * @brief Pack a %1 message\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param msg The MAVLink message to compress the data into\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n"); +// QString commentPackChanContainer("/**\n * @brief Pack a %1 message\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param chan The MAVLink channel this message was sent over\n * @param msg The MAVLink message to compress the data into\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n"); +// QString commentSendContainer("/**\n * @brief Send a %1 message\n * @param chan MAVLink channel to send the message\n *\n%2 */\n"); +// QString commentEncodeContainer("/**\n * @brief Encode a %1 struct into a message\n *\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param msg The MAVLink message to compress the data into\n * @param %1 C-struct to read the message contents from\n */\n"); +// QString commentDecodeContainer("/**\n * @brief Decode a %1 message into a struct\n *\n * @param msg The message to decode\n * @param %1 C-struct to decode the message contents into\n */\n"); +// QString commentEntry(" * @param %1 %2\n"); +// QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2\n#define MAVLINK_MSG_ID_%1_LEN %3\n#define MAVLINK_MSG_%2_LEN %3\n#define MAVLINK_MSG_ID_%1_KEY 0x%4\n#define MAVLINK_MSG_%2_KEY 0x%4"); +// QString arrayDefines; +// QString cStructName = QString("mavlink_%1_t").arg(messageName); +// QString cStruct("typedef struct __%1 \n{\n%2\n} %1;"); +// QString cStructLines; +// QString encode("static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n"); + +// // QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n"); +// QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n\tmemcpy( %1, msg->payload, sizeof(%2));\n}\n"); +// // QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n"); +// QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_%3_LEN);\n}\n\n"); +// // QString packChan("static inline uint16_t mavlink_msg_%1_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);\n}\n\n"); +// QString packChan("static inline uint16_t mavlink_msg_%1_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg%2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_%3_LEN);\n}\n\n"); +// //QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif"; +// QString unpacking; +// QString prepends; +// QString packParameters; +// QString packArguments("system_id, component_id, msg"); +// QString packLines; +// QString decodeLines; +// QString sendArguments; +// QString commentLines; +// int calculatedLength = 0; +// unsigned message_length = 0; + + +// // Get the message fields +// QDomNode f = e.firstChild(); + +// // The field types and order are hashed with a checksum + +// // Initialize CRC +// uint16_t fieldHash; +// crcInit(&fieldHash); + +// while (!f.isNull()) +// { +// QDomElement e2 = f.toElement(); +// if (!e2.isNull() && e2.tagName() == "field") +// { +// QString fieldType = e2.attribute("type", ""); +// QString fieldName = e2.attribute("name", ""); +// QString fieldOffset = e2.attribute("offset", ""); +// QString fieldText = e2.text(); + +// QString unpackingCode; +// QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText); + +// // Send arguments do not work for the version field +// if (!fieldType.contains("uint8_t_mavlink_version")) +// { +// // Send arguments are the same for integral types and arrays +// sendArguments += ", " + fieldName; +// commentLines += commentEntry.arg(fieldName, fieldText.replace("\n", " ")); +// } + +// // MAVLink version field +// // this is a special field always containing the version define +// if (fieldType.contains("uint8_t_mavlink_version")) +// { +// // Add field to C structure +// cStructLines += QString("\t%1 %2;\t///< %3\n").arg("uint8_t", fieldName, fieldText); +// calculatedLength += 1; +// // Add pack line to message_xx_pack function +// // packLines += QString("\ti += put_uint8_t_by_index(%1, i, msg->payload); // %2\n").arg(mavlinkVersion).arg(fieldText); +// packLines += QString("\n\tp->%2 = MAVLINK_VERSION;\t// %1:%3").arg(fieldType, fieldName, e2.text()); +// // Add decode function for this type +// decodeLines += QString("\n\t%1->%2 = mavlink_msg_%1_get_%2(msg);").arg(messageName, fieldName); + +// if (fieldOffset != "") { // does not use the number - always moves up one slot +// QStringList itemList; +// // Swap field in C structure +// itemList = cStructLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// cStructLines = itemList.join("\n") + "\n"; + +// // Swap line in message_xx_pack function +// itemList = packLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// packLines = itemList.join("\n") + "\n"; + +// // Swap line in decode function for this type +// itemList = decodeLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// decodeLines = itemList.join("\n") + "\n"; +// } +// } + +// // ARRAYS are not longer supported - leave error message in here to inform users! +// else if (fieldType.startsWith("array")) +// { +// emit parseState(tr("ERROR: In message %1 deprecated type used near line %2 of file %3. Please change from array[size] to uint8_t[size] to get the same behaviour.\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName)); +// return false; +// } +// else if (fieldType.startsWith("string")) +// { +// int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); +// // String array is always unsigned char, so bytes +// calculatedLength += arrayLength; +// packParameters += QString(", const ") + QString("char*") + " " + fieldName; +// packArguments += ", " + messageName + "->" + fieldName; + +// // Add field to C structure +// cStructLines += QString("\t%1 %2[%3];\t///< %4\n").arg("char", fieldName, QString::number(arrayLength), fieldText); +// // Add pack line to message_xx_pack function +// // packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text()); +// packLines += QString("\tstrncpy( p->%2, %2, sizeof(p->%2));\t// %1[%3]:%4\n").arg("char", fieldName, QString::number(arrayLength), fieldText); +// // Add decode function for this type +// decodeLines += QString("\n\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName); +// arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength)); + +// if (fieldOffset != "") +// { // does not use the number - always moves up one slot +// QStringList itemList; +// // Swap field in C structure +// itemList = cStructLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// cStructLines = itemList.join("\n") + "\n"; + +// // Swap line in message_xx_pack function +// itemList = packLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// packLines = itemList.join("\n") + "\n"; + +// // Swap line in decode function for this type +// itemList = decodeLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// decodeLines = itemList.join("\n") + "\n"; +// } +// } +// // Expand array handling to all valid mavlink data types +// else if(fieldType.contains('[') && fieldType.contains(']')) +// { +// int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); +// QString arrayType = fieldType.split("[").first(); +// if (arrayType.contains("array")) +// { +// calculatedLength += arrayLength; +// } +// else if (arrayType.contains("char")) +// { +// calculatedLength += arrayLength; +// } +// else if (arrayType.contains("int8")) +// { +// calculatedLength += arrayLength; +// } +// else if (arrayType.contains("int16")) +// { +// calculatedLength += arrayLength*2; +// } +// else if (arrayType.contains("int32")) +// { +// calculatedLength += arrayLength*4; +// } +// else if (arrayType.contains("int64")) +// { +// calculatedLength += arrayLength*8; +// } +// else if (arrayType == "float") +// { +// calculatedLength += arrayLength*4; +// } +// else +// { +// emit parseState(tr("ERROR: In message %1 invalid array type %4 used near line %2 of file %3\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName, arrayType)); +// return false; +// } +// packParameters += QString(", const ") + arrayType + "* " + fieldName; +// packArguments += ", " + messageName + "->" + fieldName; + +// // Add field to C structure +// cStructLines += QString("\t%1 %2[%3];\t///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText); +// // Add pack line to message_xx_pack function +// // packLines += QString("\ti += put_array_by_index((const int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText); +// packLines += QString("\tmemcpy(p->%2, %2, sizeof(p->%2));\t// %1[%3]:%4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText); +// // Add decode function for this type +// decodeLines += QString("\n\tmavlink_msg_%1_get_%2(msg, %1->%2);").arg(messageName, fieldName); + +// if (fieldOffset != "") +// { // does not use the number - always moves up one slot +// QStringList itemList; +// // Swap field in C structure +// itemList = cStructLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// cStructLines = itemList.join("\n") + "\n"; + +// // Swap line in message_xx_pack function +// itemList = packLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// packLines = itemList.join("\n") + "\n"; + +// // Swap line in decode function for this type +// itemList = decodeLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// decodeLines = itemList.join("\n") + "\n"; +// } + +// arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength)); + +// // unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, sizeof(%2)*%3);\n\treturn sizeof(%2)*%3;").arg(prepends, arrayType, QString::number(arrayLength)); +// unpackingCode = QString("\n\tmemcpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName); + +// // unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, arrayType, unpackingCode); +// unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* %2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n%4\n}\n\n").arg(messageName, fieldName, arrayType, unpackingCode); +// // decodeLines += ""; +// prepends += QString("+sizeof(%1)*%2").arg(arrayType, QString::number(arrayLength)); + +// } +// else +// // Handle simple types like integers and floats +// { +// packParameters += ", " + fieldType + " " + fieldName; +// packArguments += ", " + messageName + "->" + fieldName; + +// // Add field to C structure +// cStructLines += QString("\t%1 %2;\t///< %3\n").arg(fieldType, fieldName, fieldText); +// // Add pack line to message_xx_pack function +// // packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); // %3\n").arg(fieldType, fieldName, e2.text()); +// packLines += QString("\tp->%2 = %2;\t// %1:%3\n").arg(fieldType, fieldName, e2.text()); +// // Add decode function for this type +// // decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName); +// decodeLines += QString("\n\t%1 = p->%1;").arg(fieldName); + +// if (fieldOffset != "") { // does not use the number - always moves up one slot +// QStringList itemList; +// // Swap field in C structure +// itemList = cStructLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// cStructLines = itemList.join("\n") + "\n"; + +// // Swap line in message_xx_pack function +// itemList = packLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// packLines = itemList.join("\n") + "\n"; + +// // Swap line in decode function for this type +// itemList = decodeLines.split("\n", QString::SkipEmptyParts); +// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); +// decodeLines = itemList.join("\n") + "\n"; +// } +// if (fieldType.contains("char")) +// { +// calculatedLength += 1; +// } +// else if (fieldType.contains("int8")) +// { +// calculatedLength += 1; +// } +// else if (fieldType.contains("int16")) +// { +// calculatedLength += 2; +// } +// else if (fieldType.contains("int32")) +// { +// calculatedLength += 4; +// } +// else if (fieldType.contains("int64")) +// { +// calculatedLength += 8; +// } +// else if (fieldType == "float") +// { +// calculatedLength += 4; +// } +// else +// { +// emit parseState(tr("ERROR: In message %1 inavlid type %4 used near line %2 of file %3\nAbort.").arg(messageName, QString::number(e.lineNumber()), fileName, fieldType)); +// return false; +// } +// } + +// // message length calculation +// unsigned element_multiplier = 1; +// unsigned element_length = 0; + +// if (fieldType.contains("[")) { +// element_multiplier = fieldType.split("[").at(1).split("]").first().toInt(); +// } +// for (unsigned i=0; iERROR: Unable to calculate length for %2 near line %1\nAbort.").arg(QString::number(e.lineNumber()), fieldType)); +// return false; +// } +// message_length += element_length; + + +// // +// // QString unpackingCode; + +// if (fieldType == "uint8_t_mavlink_version") +// { +// // unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg("uint8_t", prepends); +// unpackingCode = QString("\treturn (%1)(p->%2);").arg("uint8_t", fieldName); +// } +// else if (fieldType == "uint8_t" || fieldType == "int8_t") +// { +// // unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg(fieldType, prepends); +// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); +// } +// else if (fieldType == "uint16_t" || fieldType == "int16_t") +// { +// // unpackingCode = QString("\tgeneric_16bit r;\n\tr.b[1] = (msg->payload%1)[0];\n\tr.b[0] = (msg->payload%1)[1];\n\treturn (%2)r.s;").arg(prepends).arg(fieldType); +// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); +// } +// else if (fieldType == "uint32_t" || fieldType == "int32_t") +// { +// // unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.i;").arg(prepends).arg(fieldType); +// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); +// } +// else if (fieldType == "float") +// { +// // unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.f;").arg(prepends).arg(fieldType); +// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); +// } +// else if (fieldType == "uint64_t" || fieldType == "int64_t") +// { +// // unpackingCode = QString("\tgeneric_64bit r;\n\tr.b[7] = (msg->payload%1)[0];\n\tr.b[6] = (msg->payload%1)[1];\n\tr.b[5] = (msg->payload%1)[2];\n\tr.b[4] = (msg->payload%1)[3];\n\tr.b[3] = (msg->payload%1)[4];\n\tr.b[2] = (msg->payload%1)[5];\n\tr.b[1] = (msg->payload%1)[6];\n\tr.b[0] = (msg->payload%1)[7];\n\treturn (%2)r.ll;").arg(prepends).arg(fieldType); +// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName); +// } +// else if (fieldType.startsWith("array")) +// { // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string +// // unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(filedName, prepends, fieldType.split("[").at(1).split("]").first()); +// unpackingCode = QString("\n\tmemcpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName); +// } +// else if (fieldType.startsWith("string")) +// { // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string +// // unpackingCode = QString("\n\tstrcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first()); +// unpackingCode = QString("\n\tstrncpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName); +// } + + +// // Generate the message decoding function +// if (fieldType.contains("uint8_t_mavlink_version")) +// { +// // unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg("uint8_t", messageName, fieldName, unpackingCode); +// unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n\tmavlink_%2_t *p = (mavlink_%2_t *)&msg->payload[0];\n%4\n}\n\n").arg("uint8_t", messageName, fieldName, unpackingCode); +// decodeLines += ""; +// prepends += "+sizeof(uint8_t)"; +// } +// // Array handling is different from simple types +// else if (fieldType.startsWith("array")) +// { +// // unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode); +// unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* %2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n%3\n}\n\n").arg(messageName, fieldName, unpackingCode); +// decodeLines += ""; +// QString arrayLength = QString(fieldType.split("[").at(1).split("]").first()); +// prepends += "+" + arrayLength; +// } +// else if (fieldType.startsWith("string")) +// { +// // unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode); +// unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* %2)\n{\n\tmavlink_%1 *p = (mavlink_%1 *)&msg->payload[0];\n%3\n}\n\n").arg(messageName, fieldName, unpackingCode); +// decodeLines += ""; +// QString arrayLength = QString(fieldType.split("[").at(1).split("]").first()); +// prepends += "+" + arrayLength; +// } +// else if(fieldType.contains('[') && fieldType.contains(']')) +// { +// // prevent this case from being caught in the following else +// } +// else +// { +// // unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode); +// unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n\tmavlink_%2_t *p = (mavlink_%2_t *)&msg->payload[0];\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode); +// decodeLines += ""; +// prepends += "+sizeof(" + e2.attribute("type", "void") + ")"; +// } +// } +// f = f.nextSibling(); +// } + +// if (messageId > highest_message_id) { +// highest_message_id = messageId; +// } +// message_lengths[messageId] = message_length; + + +// // Sort fields to ensure 16bit-boundary aligned data +// QStringList fieldList; +// // Stable sort fields in C structure +// fieldList = cStructLines.split("\n", QString::SkipEmptyParts); +// if (fieldList.size() > 1) +// { +// qStableSort(fieldList.begin(), fieldList.end(), structSort); +// } + +// // struct now sorted, do crc calc for each field +// QString fieldCRCstring; +// QByteArray fieldText; +// crc_key = X25_INIT_CRC; + +// for (int i =0; i < fieldList.size(); i++) +// { +// fieldCRCstring = fieldList.at(i).simplified(); +// fieldCRCstring = fieldCRCstring.section(" ",0,1); // note: this has one space bewteen type and name +// fieldText = fieldCRCstring.toAscii(); +// for (int i = 0; i < fieldText.size(); ++i) +// { +// crcAccumulate((uint8_t) fieldText.at(i), &crc_key); +// } +// } + +// // generate the key byte value +// QString stringCRC; +// message_key[messageId] = (crc_key&0xff)^((crc_key>>8)&0xff); +// stringCRC = stringCRC.number( message_key[messageId], 16); + +// // create structure +// cStructLines = fieldList.join("\n") + "\n"; + +// // cStruct = cStruct.arg(cStructName, cStructLines, QString::number(calculatedLength) ); +// cStruct = cStruct.arg(cStructName, cStructLines ); +// lcmStructDefs.append("\n").append(cStruct).append("\n"); +// pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines); +// packChan = packChan.arg(messageName, packParameters, messageName.toUpper(), packLines); +// encode = encode.arg(messageName).arg(cStructName).arg(packArguments); +//// decode = decode.arg(messageName).arg(cStructName).arg(decodeLines); +// decode = decode.arg(messageName).arg(cStructName); +//// QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif"); +//// QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tuint16_t checksum;\n\tmavlink_%3_t *p = (mavlink_%3_t *)&msg.payload[0];\n\n%6\n\tmsg.STX = MAVLINK_STX;\n\tmsg.len = MAVLINK_MSG_ID_%4_LEN;\n\tmsg.msgid = MAVLINK_MSG_ID_%4;\n"); +//// QString compactSend2("\tmsg.sysid = mavlink_system.sysid;\n\tmsg.compid = mavlink_system.compid;\n\tmsg.seq = mavlink_get_channel_status(chan)->current_tx_seq;\n\tmavlink_get_channel_status(chan)->current_tx_seq = msg.seq + 1;\n"); +//// QString compactSend3("\tchecksum = crc_calculate_msg(&msg, msg.len + MAVLINK_CORE_HEADER_LEN);\n\tmsg.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte\n\tmsg.ck_b = (uint8_t)(checksum >> 8); ///< High byte\n\n\tmavlink_send_msg(chan, &msg);\n}\n\n#endif"); +//// compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters ); +//// compactSend = compactSend.arg(channelType, messageType, messageName, messageName.toUpper(), packParameters, packLines ) + compactSend2 + compactSend3; +//// QString compact2Send("\n\n#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS_SMALL\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 hdr;\n\tmavlink_%3_t payload;\n\tuint16_t checksum;\n\tmavlink_%3_t *p = &payload;\n\n%6\n\thdr.STX = MAVLINK_STX;\n\thdr.len = MAVLINK_MSG_ID_%4_LEN;\n\thdr.msgid = MAVLINK_MSG_ID_%4;\n"); +// QString compact2Send0( "\n#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n" ); +// QString compact2Send1("static inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 hdr;\n\tmavlink_%3_t payload;\n\n\tMAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_%4_LEN )\n%6\n\thdr.STX = MAVLINK_STX;\n\thdr.len = MAVLINK_MSG_ID_%4_LEN;\n\thdr.msgid = MAVLINK_MSG_ID_%4;\n"); +// QString compact2Send2("\thdr.sysid = mavlink_system.sysid;\n\thdr.compid = mavlink_system.compid;\n\thdr.seq = mavlink_get_channel_status(chan)->current_tx_seq;\n\tmavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;\n\tmavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );\n\tmavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) );\n"); +// QString compact2Send3("\n\tcrc_init(&hdr.ck);\n\tcrc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);\n\tcrc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );\n\tcrc_accumulate( 0x%1, &hdr.ck); /// include key in X25 checksum\n\tmavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);\n\tMAVLINK_BUFFER_CHECK_END\n}\n\n#endif"); +// QString compact2Send = compact2Send0 + commentSendContainer.arg(messageName.toLower(), commentLines) + compact2Send1.arg(channelType, headerType, messageName, messageName.toUpper(), packParameters, packLines.replace(QString("p->"),QString("payload.")) ) + compact2Send2 + compact2Send3.arg(stringCRC.toUpper()); +//// QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine.arg(messageName.toUpper(), QString::number(messageId), QString::number(calculatedLength), stringCRC.toUpper() ) + "\n\n" + cStruct + "\n" + arrayDefines + "\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + commentPackChanContainer.arg(messageName.toLower(), commentLines) + packChan + commentEncodeContainer.arg(messageName.toLower()) + encode + "\n" + commentSendContainer.arg(messageName.toLower(), commentLines) + compactSend + compact2Send + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + commentDecodeContainer.arg(messageName.toLower()) + decode; +// QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine.arg(messageName.toUpper(), QString::number(messageId), QString::number(calculatedLength), stringCRC.toUpper() ) + "\n\n" + cStruct + "\n" + arrayDefines + "\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + commentPackChanContainer.arg(messageName.toLower(), commentLines) + packChan + commentEncodeContainer.arg(messageName.toLower()) + encode + "\n" + compact2Send + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + commentDecodeContainer.arg(messageName.toLower()) + decode; +// cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile)); + +// emit parseState(tr("Compiled message %1 \t(#%3) \tend near line %2, length %4, crc key 0x%5(%6)").arg(messageName, QString::number(n.lineNumber()), QString::number(messageId), QString::number(message_lengths[messageId]), stringCRC.toUpper(), QString::number(message_key[messageId]))); +// } // Check if tag = message +// } // Check if e = NULL +// n = n.nextSibling(); +// } // While through +// n = p; + +// } // Check if tag = messages +// } // Check if e = NULL +// n = n.nextSibling(); +// } // While through include and messages +// // One up - current node = parent +// n = p; + +// } // Check if tag = mavlink +// } // Check if e = NULL +// n = n.nextSibling(); +// } // While through root children + +// // Add version to main header + +// mainHeader += "// MAVLINK VERSION\n\n"; +// mainHeader += QString("#ifndef MAVLINK_VERSION\n#define MAVLINK_VERSION %1\n#endif\n\n").arg(mavlinkVersion); +// mainHeader += QString("#if (MAVLINK_VERSION == 0)\n#undef MAVLINK_VERSION\n#define MAVLINK_VERSION %1\n#endif\n\n").arg(mavlinkVersion); + +// // Add enums to main header + +// mainHeader += "// ENUM DEFINITIONS\n\n"; +// mainHeader += enums; +// mainHeader += "\n"; + +// mainHeader += "// MESSAGE DEFINITIONS\n\n"; +// // Create directory if it doesn't exist, report result in success +// if (!dir.exists()) success = success && dir.mkpath(outputDirName + "/" + messagesDirName); +// for (int i = 0; i < cFiles.size(); i++) +// { +// QFile rawFile(dir.filePath(cFiles.at(i).first)); +// bool ok = rawFile.open(QIODevice::WriteOnly | QIODevice::Text); +// success = success && ok; +// rawFile.write(cFiles.at(i).second.toLatin1()); +// rawFile.close(); +// mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first); +// } + +// // CRC seeds +// mainHeader += "\n\n// MESSAGE CRC KEYS\n\n"; +// mainHeader += "#undef MAVLINK_MESSAGE_KEYS\n"; +// mainHeader += "#define MAVLINK_MESSAGE_KEYS { "; +// for (int i=0; i>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); +//} + +///** +// * @param crcAccum the 16 bit X.25 CRC +// */ +//void MAVLinkXMLParserV10::crcInit(uint16_t* crcAccum) +//{ +// *crcAccum = X25_INIT_CRC; +//} + + +//const struct { +// const char *prefix; +// unsigned length; +//} length_map[] = { +// { "array", 1 }, +// { "char", 1 }, +// { "uint8", 1 }, +// { "int8", 1 }, +// { "uint16", 2 }, +// { "int16", 2 }, +// { "uint32", 4 }, +// { "int32", 4 }, +// { "uint64", 8 }, +// { "int64", 8 }, +// { "float", 4 }, +// { "double", 8 }, +//}; + +//unsigned itemLength( const QString &s1 ) +//{ +// unsigned el1, i1, i2; +// QString Ss1 = s1; + +// Ss1 = Ss1.replace("_"," "); +// Ss1 = Ss1.simplified(); +// Ss1 = Ss1.section(" ",0,0); + +// el1 = i1 = 0; +// i2 = sizeof(length_map)/sizeof(length_map[0]); + +// do { +// if (Ss1.startsWith(length_map[i1].prefix)) +// { +// el1 = length_map[i1].length; +// } +// i1++; +// } while ( (el1 == 0) && (i1 < i2)); +// return el1; +//} + +//bool structSort(const QString &s1, const QString &s2) +//{ +// unsigned el1, el2; + +// el1 = itemLength( s1 ); +// el2 = itemLength( s2 ); +// return el2 < el1; +//} diff --git a/src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h b/src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h index 0b17e5ad834e6d486a7a1db43769c98f4797fcec..7e1e38a7806fecaa5dd0f612c93d867e3e5aa200 100644 --- a/src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h +++ b/src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h @@ -33,6 +33,9 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#include + +#include /** * @brief MAVLink micro air vehicle protocol generator @@ -53,14 +56,24 @@ public slots: /** @brief Parse XML and generate C files */ bool generate(); + /** @brief Handle process errors */ + void processError(QProcess::ProcessError err); + signals: /** @brief Status message on the parsing */ void parseState(QString message); protected: +// /** @brief Accumulate the X.25 CRC by adding one char at a time. */ +// void crcAccumulate(uint8_t data, uint16_t *crcAccum); + +// /** @brief Initialize the buffer for the X.25 CRC */ +// void crcInit(uint16_t* crcAccum); + QDomDocument* doc; QString outputDirName; QString fileName; + QProcess* process; }; #endif // MAVLINKXMLPARSERV10_H diff --git a/src/apps/mavlinkgen/mavlinkgen.pro b/src/apps/mavlinkgen/mavlinkgen.pro index 48e3bba526355877c5438193c979c542cd220227..27869560437b5fedc521c460755b0823912fb757 100644 --- a/src/apps/mavlinkgen/mavlinkgen.pro +++ b/src/apps/mavlinkgen/mavlinkgen.pro @@ -13,5 +13,10 @@ include(mavlinkgen.pri) # Standalone files HEADERS += MAVLinkGen.h +win32-msvc2008|win32-msvc2010 { +HEADERS += msinttypes/inttypes.h \ + msinttypes/stdint.h +INCLUDEPATH += msinttypes +} SOURCES += main.cc \ - MAVLinkGen.cc \ No newline at end of file + MAVLinkGen.cc diff --git a/src/apps/mavlinkgen/msinttypes/inttypes.h b/src/apps/mavlinkgen/msinttypes/inttypes.h new file mode 100644 index 0000000000000000000000000000000000000000..4b3828a216298df33899652a1574db70ded3f082 --- /dev/null +++ b/src/apps/mavlinkgen/msinttypes/inttypes.h @@ -0,0 +1,305 @@ +// ISO C9x compliant inttypes.h for Microsoft Visual Studio +// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 +// +// Copyright (c) 2006 Alexander Chemeris +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// 1. Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// 2. Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// 3. The name of the author may be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED +// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO +// EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; +// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR +// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////////// + +#ifndef _MSC_VER // [ +#error "Use this header only with Microsoft Visual C++ compilers!" +#endif // _MSC_VER ] + +#ifndef _MSC_INTTYPES_H_ // [ +#define _MSC_INTTYPES_H_ + +#if _MSC_VER > 1000 +#pragma once +#endif + +#include "stdint.h" + +// 7.8 Format conversion of integer types + +typedef struct { + intmax_t quot; + intmax_t rem; +} imaxdiv_t; + +// 7.8.1 Macros for format specifiers + +#if !defined(__cplusplus) || defined(__STDC_FORMAT_MACROS) // [ See footnote 185 at page 198 + +// The fprintf macros for signed integers are: +#define PRId8 "d" +#define PRIi8 "i" +#define PRIdLEAST8 "d" +#define PRIiLEAST8 "i" +#define PRIdFAST8 "d" +#define PRIiFAST8 "i" + +#define PRId16 "hd" +#define PRIi16 "hi" +#define PRIdLEAST16 "hd" +#define PRIiLEAST16 "hi" +#define PRIdFAST16 "hd" +#define PRIiFAST16 "hi" + +#define PRId32 "I32d" +#define PRIi32 "I32i" +#define PRIdLEAST32 "I32d" +#define PRIiLEAST32 "I32i" +#define PRIdFAST32 "I32d" +#define PRIiFAST32 "I32i" + +#define PRId64 "I64d" +#define PRIi64 "I64i" +#define PRIdLEAST64 "I64d" +#define PRIiLEAST64 "I64i" +#define PRIdFAST64 "I64d" +#define PRIiFAST64 "I64i" + +#define PRIdMAX "I64d" +#define PRIiMAX "I64i" + +#define PRIdPTR "Id" +#define PRIiPTR "Ii" + +// The fprintf macros for unsigned integers are: +#define PRIo8 "o" +#define PRIu8 "u" +#define PRIx8 "x" +#define PRIX8 "X" +#define PRIoLEAST8 "o" +#define PRIuLEAST8 "u" +#define PRIxLEAST8 "x" +#define PRIXLEAST8 "X" +#define PRIoFAST8 "o" +#define PRIuFAST8 "u" +#define PRIxFAST8 "x" +#define PRIXFAST8 "X" + +#define PRIo16 "ho" +#define PRIu16 "hu" +#define PRIx16 "hx" +#define PRIX16 "hX" +#define PRIoLEAST16 "ho" +#define PRIuLEAST16 "hu" +#define PRIxLEAST16 "hx" +#define PRIXLEAST16 "hX" +#define PRIoFAST16 "ho" +#define PRIuFAST16 "hu" +#define PRIxFAST16 "hx" +#define PRIXFAST16 "hX" + +#define PRIo32 "I32o" +#define PRIu32 "I32u" +#define PRIx32 "I32x" +#define PRIX32 "I32X" +#define PRIoLEAST32 "I32o" +#define PRIuLEAST32 "I32u" +#define PRIxLEAST32 "I32x" +#define PRIXLEAST32 "I32X" +#define PRIoFAST32 "I32o" +#define PRIuFAST32 "I32u" +#define PRIxFAST32 "I32x" +#define PRIXFAST32 "I32X" + +#define PRIo64 "I64o" +#define PRIu64 "I64u" +#define PRIx64 "I64x" +#define PRIX64 "I64X" +#define PRIoLEAST64 "I64o" +#define PRIuLEAST64 "I64u" +#define PRIxLEAST64 "I64x" +#define PRIXLEAST64 "I64X" +#define PRIoFAST64 "I64o" +#define PRIuFAST64 "I64u" +#define PRIxFAST64 "I64x" +#define PRIXFAST64 "I64X" + +#define PRIoMAX "I64o" +#define PRIuMAX "I64u" +#define PRIxMAX "I64x" +#define PRIXMAX "I64X" + +#define PRIoPTR "Io" +#define PRIuPTR "Iu" +#define PRIxPTR "Ix" +#define PRIXPTR "IX" + +// The fscanf macros for signed integers are: +#define SCNd8 "d" +#define SCNi8 "i" +#define SCNdLEAST8 "d" +#define SCNiLEAST8 "i" +#define SCNdFAST8 "d" +#define SCNiFAST8 "i" + +#define SCNd16 "hd" +#define SCNi16 "hi" +#define SCNdLEAST16 "hd" +#define SCNiLEAST16 "hi" +#define SCNdFAST16 "hd" +#define SCNiFAST16 "hi" + +#define SCNd32 "ld" +#define SCNi32 "li" +#define SCNdLEAST32 "ld" +#define SCNiLEAST32 "li" +#define SCNdFAST32 "ld" +#define SCNiFAST32 "li" + +#define SCNd64 "I64d" +#define SCNi64 "I64i" +#define SCNdLEAST64 "I64d" +#define SCNiLEAST64 "I64i" +#define SCNdFAST64 "I64d" +#define SCNiFAST64 "I64i" + +#define SCNdMAX "I64d" +#define SCNiMAX "I64i" + +#ifdef _WIN64 // [ +# define SCNdPTR "I64d" +# define SCNiPTR "I64i" +#else // _WIN64 ][ +# define SCNdPTR "ld" +# define SCNiPTR "li" +#endif // _WIN64 ] + +// The fscanf macros for unsigned integers are: +#define SCNo8 "o" +#define SCNu8 "u" +#define SCNx8 "x" +#define SCNX8 "X" +#define SCNoLEAST8 "o" +#define SCNuLEAST8 "u" +#define SCNxLEAST8 "x" +#define SCNXLEAST8 "X" +#define SCNoFAST8 "o" +#define SCNuFAST8 "u" +#define SCNxFAST8 "x" +#define SCNXFAST8 "X" + +#define SCNo16 "ho" +#define SCNu16 "hu" +#define SCNx16 "hx" +#define SCNX16 "hX" +#define SCNoLEAST16 "ho" +#define SCNuLEAST16 "hu" +#define SCNxLEAST16 "hx" +#define SCNXLEAST16 "hX" +#define SCNoFAST16 "ho" +#define SCNuFAST16 "hu" +#define SCNxFAST16 "hx" +#define SCNXFAST16 "hX" + +#define SCNo32 "lo" +#define SCNu32 "lu" +#define SCNx32 "lx" +#define SCNX32 "lX" +#define SCNoLEAST32 "lo" +#define SCNuLEAST32 "lu" +#define SCNxLEAST32 "lx" +#define SCNXLEAST32 "lX" +#define SCNoFAST32 "lo" +#define SCNuFAST32 "lu" +#define SCNxFAST32 "lx" +#define SCNXFAST32 "lX" + +#define SCNo64 "I64o" +#define SCNu64 "I64u" +#define SCNx64 "I64x" +#define SCNX64 "I64X" +#define SCNoLEAST64 "I64o" +#define SCNuLEAST64 "I64u" +#define SCNxLEAST64 "I64x" +#define SCNXLEAST64 "I64X" +#define SCNoFAST64 "I64o" +#define SCNuFAST64 "I64u" +#define SCNxFAST64 "I64x" +#define SCNXFAST64 "I64X" + +#define SCNoMAX "I64o" +#define SCNuMAX "I64u" +#define SCNxMAX "I64x" +#define SCNXMAX "I64X" + +#ifdef _WIN64 // [ +# define SCNoPTR "I64o" +# define SCNuPTR "I64u" +# define SCNxPTR "I64x" +# define SCNXPTR "I64X" +#else // _WIN64 ][ +# define SCNoPTR "lo" +# define SCNuPTR "lu" +# define SCNxPTR "lx" +# define SCNXPTR "lX" +#endif // _WIN64 ] + +#endif // __STDC_FORMAT_MACROS ] + +// 7.8.2 Functions for greatest-width integer types + +// 7.8.2.1 The imaxabs function +#define imaxabs _abs64 + +// 7.8.2.2 The imaxdiv function + +// This is modified version of div() function from Microsoft's div.c found +// in %MSVC.NET%\crt\src\div.c +#ifdef STATIC_IMAXDIV // [ +static +#else // STATIC_IMAXDIV ][ +_inline +#endif // STATIC_IMAXDIV ] +imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom) +{ + imaxdiv_t result; + + result.quot = numer / denom; + result.rem = numer % denom; + + if (numer < 0 && result.rem > 0) { + // did division wrong; must fix up + ++result.quot; + result.rem -= denom; + } + + return result; +} + +// 7.8.2.3 The strtoimax and strtoumax functions +#define strtoimax _strtoi64 +#define strtoumax _strtoui64 + +// 7.8.2.4 The wcstoimax and wcstoumax functions +#define wcstoimax _wcstoi64 +#define wcstoumax _wcstoui64 + + +#endif // _MSC_INTTYPES_H_ ] diff --git a/src/apps/mavlinkgen/msinttypes/stdint.h b/src/apps/mavlinkgen/msinttypes/stdint.h new file mode 100644 index 0000000000000000000000000000000000000000..d02608a5972642c7b7a13b987f21e2502a5af3ea --- /dev/null +++ b/src/apps/mavlinkgen/msinttypes/stdint.h @@ -0,0 +1,247 @@ +// ISO C9x compliant stdint.h for Microsoft Visual Studio +// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 +// +// Copyright (c) 2006-2008 Alexander Chemeris +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// 1. Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// 2. Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// 3. The name of the author may be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED +// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO +// EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; +// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR +// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////////// + +#ifndef _MSC_VER // [ +#error "Use this header only with Microsoft Visual C++ compilers!" +#endif // _MSC_VER ] + +#ifndef _MSC_STDINT_H_ // [ +#define _MSC_STDINT_H_ + +#if _MSC_VER > 1000 +#pragma once +#endif + +#include + +// For Visual Studio 6 in C++ mode and for many Visual Studio versions when +// compiling for ARM we should wrap include with 'extern "C++" {}' +// or compiler give many errors like this: +// error C2733: second C linkage of overloaded function 'wmemchr' not allowed +#ifdef __cplusplus +extern "C" { +#endif +# include +#ifdef __cplusplus +} +#endif + +// Define _W64 macros to mark types changing their size, like intptr_t. +#ifndef _W64 +# if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300 +# define _W64 __w64 +# else +# define _W64 +# endif +#endif + + +// 7.18.1 Integer types + +// 7.18.1.1 Exact-width integer types + +// Visual Studio 6 and Embedded Visual C++ 4 doesn't +// realize that, e.g. char has the same size as __int8 +// so we give up on __intX for them. +#if (_MSC_VER < 1300) + typedef signed char int8_t; + typedef signed short int16_t; + typedef signed int int32_t; + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; +#else + typedef signed __int8 int8_t; + typedef signed __int16 int16_t; + typedef signed __int32 int32_t; + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; +#endif +typedef signed __int64 int64_t; +typedef unsigned __int64 uint64_t; + + +// 7.18.1.2 Minimum-width integer types +typedef int8_t int_least8_t; +typedef int16_t int_least16_t; +typedef int32_t int_least32_t; +typedef int64_t int_least64_t; +typedef uint8_t uint_least8_t; +typedef uint16_t uint_least16_t; +typedef uint32_t uint_least32_t; +typedef uint64_t uint_least64_t; + +// 7.18.1.3 Fastest minimum-width integer types +typedef int8_t int_fast8_t; +typedef int16_t int_fast16_t; +typedef int32_t int_fast32_t; +typedef int64_t int_fast64_t; +typedef uint8_t uint_fast8_t; +typedef uint16_t uint_fast16_t; +typedef uint32_t uint_fast32_t; +typedef uint64_t uint_fast64_t; + +// 7.18.1.4 Integer types capable of holding object pointers +#ifdef _WIN64 // [ + typedef signed __int64 intptr_t; + typedef unsigned __int64 uintptr_t; +#else // _WIN64 ][ + typedef _W64 signed int intptr_t; + typedef _W64 unsigned int uintptr_t; +#endif // _WIN64 ] + +// 7.18.1.5 Greatest-width integer types +typedef int64_t intmax_t; +typedef uint64_t uintmax_t; + + +// 7.18.2 Limits of specified-width integer types + +#if !defined(__cplusplus) || defined(__STDC_LIMIT_MACROS) // [ See footnote 220 at page 257 and footnote 221 at page 259 + +// 7.18.2.1 Limits of exact-width integer types +#define INT8_MIN ((int8_t)_I8_MIN) +#define INT8_MAX _I8_MAX +#define INT16_MIN ((int16_t)_I16_MIN) +#define INT16_MAX _I16_MAX +#define INT32_MIN ((int32_t)_I32_MIN) +#define INT32_MAX _I32_MAX +#define INT64_MIN ((int64_t)_I64_MIN) +#define INT64_MAX _I64_MAX +#define UINT8_MAX _UI8_MAX +#define UINT16_MAX _UI16_MAX +#define UINT32_MAX _UI32_MAX +#define UINT64_MAX _UI64_MAX + +// 7.18.2.2 Limits of minimum-width integer types +#define INT_LEAST8_MIN INT8_MIN +#define INT_LEAST8_MAX INT8_MAX +#define INT_LEAST16_MIN INT16_MIN +#define INT_LEAST16_MAX INT16_MAX +#define INT_LEAST32_MIN INT32_MIN +#define INT_LEAST32_MAX INT32_MAX +#define INT_LEAST64_MIN INT64_MIN +#define INT_LEAST64_MAX INT64_MAX +#define UINT_LEAST8_MAX UINT8_MAX +#define UINT_LEAST16_MAX UINT16_MAX +#define UINT_LEAST32_MAX UINT32_MAX +#define UINT_LEAST64_MAX UINT64_MAX + +// 7.18.2.3 Limits of fastest minimum-width integer types +#define INT_FAST8_MIN INT8_MIN +#define INT_FAST8_MAX INT8_MAX +#define INT_FAST16_MIN INT16_MIN +#define INT_FAST16_MAX INT16_MAX +#define INT_FAST32_MIN INT32_MIN +#define INT_FAST32_MAX INT32_MAX +#define INT_FAST64_MIN INT64_MIN +#define INT_FAST64_MAX INT64_MAX +#define UINT_FAST8_MAX UINT8_MAX +#define UINT_FAST16_MAX UINT16_MAX +#define UINT_FAST32_MAX UINT32_MAX +#define UINT_FAST64_MAX UINT64_MAX + +// 7.18.2.4 Limits of integer types capable of holding object pointers +#ifdef _WIN64 // [ +# define INTPTR_MIN INT64_MIN +# define INTPTR_MAX INT64_MAX +# define UINTPTR_MAX UINT64_MAX +#else // _WIN64 ][ +# define INTPTR_MIN INT32_MIN +# define INTPTR_MAX INT32_MAX +# define UINTPTR_MAX UINT32_MAX +#endif // _WIN64 ] + +// 7.18.2.5 Limits of greatest-width integer types +#define INTMAX_MIN INT64_MIN +#define INTMAX_MAX INT64_MAX +#define UINTMAX_MAX UINT64_MAX + +// 7.18.3 Limits of other integer types + +#ifdef _WIN64 // [ +# define PTRDIFF_MIN _I64_MIN +# define PTRDIFF_MAX _I64_MAX +#else // _WIN64 ][ +# define PTRDIFF_MIN _I32_MIN +# define PTRDIFF_MAX _I32_MAX +#endif // _WIN64 ] + +#define SIG_ATOMIC_MIN INT_MIN +#define SIG_ATOMIC_MAX INT_MAX + +#ifndef SIZE_MAX // [ +# ifdef _WIN64 // [ +# define SIZE_MAX _UI64_MAX +# else // _WIN64 ][ +# define SIZE_MAX _UI32_MAX +# endif // _WIN64 ] +#endif // SIZE_MAX ] + +// WCHAR_MIN and WCHAR_MAX are also defined in +#ifndef WCHAR_MIN // [ +# define WCHAR_MIN 0 +#endif // WCHAR_MIN ] +#ifndef WCHAR_MAX // [ +# define WCHAR_MAX _UI16_MAX +#endif // WCHAR_MAX ] + +#define WINT_MIN 0 +#define WINT_MAX _UI16_MAX + +#endif // __STDC_LIMIT_MACROS ] + + +// 7.18.4 Limits of other integer types + +#if !defined(__cplusplus) || defined(__STDC_CONSTANT_MACROS) // [ See footnote 224 at page 260 + +// 7.18.4.1 Macros for minimum-width integer constants + +#define INT8_C(val) val##i8 +#define INT16_C(val) val##i16 +#define INT32_C(val) val##i32 +#define INT64_C(val) val##i64 + +#define UINT8_C(val) val##ui8 +#define UINT16_C(val) val##ui16 +#define UINT32_C(val) val##ui32 +#define UINT64_C(val) val##ui64 + +// 7.18.4.2 Macros for greatest-width integer constants +#define INTMAX_C INT64_C +#define UINTMAX_C UINT64_C + +#endif // __STDC_CONSTANT_MACROS ] + + +#endif // _MSC_STDINT_H_ ] diff --git a/src/apps/mavlinkgen/template/checksum.h b/src/apps/mavlinkgen/template/checksum.h new file mode 100644 index 0000000000000000000000000000000000000000..07bab9102ae4947f80f39d56907a7d6a30b96242 --- /dev/null +++ b/src/apps/mavlinkgen/template/checksum.h @@ -0,0 +1,139 @@ +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef _CHECKSUM_H_ +#define _CHECKSUM_H_ + +#include "inttypes.h" + + +/** + * + * CALCULATE THE CHECKSUM + * + */ + +#define X25_INIT_CRC 0xffff +#define X25_VALIDATE_CRC 0xf0b8 + +/** + * @brief Accumulate the X.25 CRC by adding one char at a time. + * + * The checksum function adds the hash of one char at a time to the + * 16 bit checksum (uint16_t). + * + * @param data new char to hash + * @param crcAccum the already accumulated checksum + **/ +static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum) +{ + /*Accumulate one byte of data into the CRC*/ + uint8_t tmp; + + tmp=data ^ (uint8_t)(*crcAccum &0xff); + tmp^= (tmp<<4); + *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); +// *crcAccum += data; // super simple to test +} + +/** + * @brief Initiliaze the buffer for the X.25 CRC + * + * @param crcAccum the 16 bit X.25 CRC + */ +static inline void crc_init(uint16_t* crcAccum) +{ + *crcAccum = X25_INIT_CRC; +} + + +/** + * @brief Calculates the X.25 checksum on a byte buffer + * + * @param pBuffer buffer containing the byte array to hash + * @param length length of the byte array + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate(uint8_t* pBuffer, int length) +{ + + // For a "message" of length bytes contained in the unsigned char array + // pointed to by pBuffer, calculate the CRC + // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed + + uint16_t crcTmp; + //uint16_t tmp; + uint8_t* pTmp; + int i; + + pTmp=pBuffer; + + + /* init crcTmp */ + crc_init(&crcTmp); + + for (i = 0; i < length; i++){ + crc_accumulate(*pTmp++, &crcTmp); + } + + /* This is currently not needed, as only the checksum over payload should be computed + tmp = crcTmp; + crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp); + crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp); + *checkConst = tmp; + */ + return(crcTmp); +} + + +/** + * @brief Calculates the X.25 checksum on a msg buffer + * + * @param pMSG buffer containing the msg to hash + * @param length number of bytes to hash + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate_msg(mavlink_message_t* pMSG, int length) +{ + + // For a "message" of length bytes contained in the unsigned char array + // pointed to by pBuffer, calculate the CRC + // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed + + uint16_t crcTmp; + //uint16_t tmp; + uint8_t* pTmp; + int i; + + pTmp=&pMSG->len; + + /* init crcTmp */ + crc_init(&crcTmp); + + for (i = 0; i < 5; i++){ + crc_accumulate(*pTmp++, &crcTmp); + } + + pTmp=&pMSG->payload[0]; + for (; i < length; i++){ + crc_accumulate(*pTmp++, &crcTmp); + } + + /* This is currently not needed, as only the checksum over payload should be computed + tmp = crcTmp; + crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp); + crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp); + *checkConst = tmp; + */ + return(crcTmp); +} + + + + +#endif /* _CHECKSUM_H_ */ + +#ifdef __cplusplus +} +#endif diff --git a/thirdParty/mavlink/include/documentation.dox b/src/apps/mavlinkgen/template/documentation.dox similarity index 100% rename from thirdParty/mavlink/include/documentation.dox rename to src/apps/mavlinkgen/template/documentation.dox diff --git a/src/apps/mavlinkgen/template/mavlink_checksum.h b/src/apps/mavlinkgen/template/mavlink_checksum.h new file mode 100644 index 0000000000000000000000000000000000000000..fdcee99d169f36b6ff116255d91ad5bc04341312 --- /dev/null +++ b/src/apps/mavlinkgen/template/mavlink_checksum.h @@ -0,0 +1,183 @@ +/** @file + * @brief MAVLink comm protocol checksum routines. + * @see http://qgroundcontrol.org/mavlink/ + * Edited on Monday, August 8 2011 + */ + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef _CHECKSUM_H_ +#define _CHECKSUM_H_ + +#include "inttypes.h" + + +/** + * + * CALCULATE THE CHECKSUM + * + */ + +#define X25_INIT_CRC 0xffff +#define X25_VALIDATE_CRC 0xf0b8 + +/** + * @brief Accumulate the X.25 CRC by adding one char at a time. + * + * The checksum function adds the hash of one char at a time to the + * 16 bit checksum (uint16_t). + * + * @param data new char to hash + * @param crcAccum the already accumulated checksum + **/ +static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum) +{ + /*Accumulate one byte of data into the CRC*/ + uint8_t tmp; + + tmp=data ^ (uint8_t)(*crcAccum &0xff); + tmp^= (tmp<<4); + *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); +// *crcAccum += data; // super simple to test +} + +/** + * @brief Initiliaze the buffer for the X.25 CRC + * + * @param crcAccum the 16 bit X.25 CRC + */ +static inline void crc_init(uint16_t* crcAccum) +{ + *crcAccum = X25_INIT_CRC; +} + +/** + * @brief Initiliaze the buffer for the X.25 CRC to a specified value + * + * @param crcAccum the 16 bit X.25 CRC + */ +static inline void crc_init2(uint16_t* crcAccum, uint16_t crcValue) +{ + *crcAccum = crcValue; +} + + + +/** + * @brief Calculates the X.25 checksum on a byte buffer + * + * @param pBuffer buffer containing the byte array to hash + * @param length length of the byte array + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate(uint8_t* pBuffer, int length) +{ + + // For a "message" of length bytes contained in the unsigned char array + // pointed to by pBuffer, calculate the CRC + // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed + + uint16_t crcTmp; + //uint16_t tmp; + uint8_t* pTmp; + int i; + + pTmp=pBuffer; + + + /* init crcTmp */ + crc_init(&crcTmp); + + for (i = 0; i < length; i++){ + crc_accumulate(*pTmp++, &crcTmp); + } + + /* This is currently not needed, as only the checksum over payload should be computed + tmp = crcTmp; + crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp); + crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp); + *checkConst = tmp; + */ + return(crcTmp); +} + +/** + * @brief Calculates the X.25 checksum on a byte buffer + * + * @param pBuffer buffer containing the byte array to hash + * @param length length of the byte array + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate_mem(uint8_t *pBuffer, uint16_t *crcTmp, int length) +{ + + // For a "message" of length bytes contained in the unsigned char array + // pointed to by pBuffer, calculate the CRC + // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed + + //uint16_t tmp; + //uint8_t* pTmp; + int i; + +// pTmp=pBuffer; + + for (i = 0; i < length; i++){ + crc_accumulate(*pBuffer++, crcTmp); + } + + return(*crcTmp); +} + + +/** + * @brief Calculates the X.25 checksum on a msg buffer + * + * @param pMSG buffer containing the msg to hash + * @param length number of bytes to hash + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate_msg(mavlink_message_t* pMSG, int length) +{ + + // For a "message" of length bytes contained in the unsigned char array + // pointed to by pBuffer, calculate the CRC + // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed + + uint16_t crcTmp; + //uint16_t tmp; + uint8_t* pTmp; + int i; + + pTmp=&pMSG->len; + + /* init crcTmp */ + crc_init(&crcTmp); + + for (i = 0; i < 5; i++){ + crc_accumulate(*pTmp++, &crcTmp); + } + + pTmp=&pMSG->payload[0]; + for (; i < length; i++){ + crc_accumulate(*pTmp++, &crcTmp); + } + + /* This is currently not needed, as only the checksum over payload should be computed + tmp = crcTmp; + crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp); + crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp); + *checkConst = tmp; + */ + return(crcTmp); +} + + + + +#endif /* _CHECKSUM_H_ */ + +#ifdef __cplusplus +} +#endif diff --git a/src/apps/mavlinkgen/template/mavlink_data.h b/src/apps/mavlinkgen/template/mavlink_data.h new file mode 100644 index 0000000000000000000000000000000000000000..17c88cc2a99441e7e849bedc9107a81b42044584 --- /dev/null +++ b/src/apps/mavlinkgen/template/mavlink_data.h @@ -0,0 +1,21 @@ +/** @file + * @brief Main MAVLink comm protocol data. + * @see http://qgroundcontrol.org/mavlink/ + * Edited on Monday, August 8 2011 + */ + +#ifndef _ML_DATA_H_ +#define _ML_DATA_H_ + +#include "mavlink_types.h" + +#ifdef MAVLINK_CHECK_LENGTH +const uint8_t MAVLINK_CONST mavlink_msg_lengths[256] = MAVLINK_MESSAGE_LENGTHS; +#endif + +const uint8_t MAVLINK_CONST mavlink_msg_keys[256] = MAVLINK_MESSAGE_KEYS; + +mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB]; +mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB]; +mavlink_system_t mavlink_system; +#endif \ No newline at end of file diff --git a/src/apps/mavlinkgen/template/mavlink_options.h b/src/apps/mavlinkgen/template/mavlink_options.h new file mode 100644 index 0000000000000000000000000000000000000000..550a85ae55bbec41e716e32bc70b9f6d1dee0d64 --- /dev/null +++ b/src/apps/mavlinkgen/template/mavlink_options.h @@ -0,0 +1,135 @@ +/** @file + * @brief MAVLink comm protocol option constants. + * @see http://qgroundcontrol.org/mavlink/ + * Edited on Monday, August 8 2011 + */ + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef _ML_OPTIONS_H_ +#define _ML_OPTIONS_H_ + + +/** + * + * Receive message length check option. On receive verify the length field + * as soon as the message ID field is received. Requires a 256 byte const + * table. Comment out the define to leave out the table and code to check it. + * + */ +//#define MAVLINK_CHECK_LENGTH + +/** + * + * Receive message buffer option. This option should be used only when the + * side effects are understood but allows the underlying program access to + * the internal recieve buffer - eliminating the usual double buffering. It + * also REQUIRES changes in the return type of mavlink_parse_char so only + * enable if you make the changes required. Default DISABLED. + * + */ +//#define MAVLINK_STATIC_BUFFER + +/** + * + * Receive message buffers option. This option defines how many msg buffers + * mavlink will define, and thereby how many links it can support. A default + * will be supplied if the symbol is not pre-defined, dependant on the make + * envionment. The default is 16 for a recognised OS envionment and 1 + * otherwise. + * + */ +#if !((defined MAVLINK_COMM_NB) | (MAVLINK_COMM_NB < 1)) +#undef MAVLINK_COMM_NB + #if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) | (defined __APPLE__) + #define MAVLINK_COMM_NB 16 + #else + #define MAVLINK_COMM_NB 1 + #endif +#endif + + +/** + * + * Data relization option. This option controls inclusion of the file + * mavlink_data.h in the current compile unit - thus defining mavlink's + * variables. Default is ON (not defined) because typically mavlink.h is only + * included once in a system but if it was used in two files there would + * be duplicate variables at link time. Normal practice would be to define + * this symbol outside of this file as defining it here will cause missing + * symbols at link time. In other words in the first file to include mavlink.h + * do not define this sybol, then define this symbol in all other files before + * including mavlink.h + * + */ +//#define MAVLINK_NO_DATA +#ifdef MAVLINK_NO_DATA + #undef MAVLINK_DATA +#else + #define MAVLINK_DATA +#endif + +/** + * + * Custom data const data relization and access options. + * This define is placed in the form + * const uint8_t MAVLINK_CONST name[] = { ... }; + * for the keys table and (if applicable) lengths table to tell the compiler + * were to put the data. The access option is placed in the form + * variable = MAVLINK_CONST_READ( name[i] ); + * in order to allow custom read function's or accessors. + * By default MAVLINK_CONST is defined as nothing and MAVLINK_CONST_READ as + * MAVLINK_CONST_READ( a ) a + * These symbols are only defined if not already defined allowing this file + * to remain unchanged while the actual definitions are maintained in external + * files. + * + */ +#ifndef MAVLINK_CONST +#define MAVLINK_CONST +#endif +#ifndef MAVLINK_CONST_READ +#define MAVLINK_CONST_READ( a ) a +#endif + + +/** + * + * Convience functions. These are all in one send functions that are very + * easy to use. Just define the symbol MAVLINK_USE_CONVENIENCE_FUNCTIONS. + * These functions also support a buffer check, to ensure there is enough + * space in your comm buffer that the function would not block - it could + * also be used as the basis of a MUTEX. This is implemented in the send + * function as a macro with two arguments, first the comm chan number and + * the message length in the form + * MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_LEN ) + * followed by the function code and then + * MAVLINK_BUFFER_CHECK_START + * Note that there are no terminators on these statements to allow for + * code nesting or other constructs. Default value for both is empty. + * A sugested implementation is shown below and the symbols will be defined + * only if they are not allready. + * + * if ( serial_space( chan ) > len ) { // serial_space returns available space + * ..... code that creates message + * } + * + * #define MAVLINK_BUFFER_CHECK_START( c, l ) if ( serial_space( c ) > l ) { + * #define MAVLINK_BUFFER_CHECK_END } + * + */ +//#define MAVLINK_USE_CONVENIENCE_FUNCTIONS +#ifndef MAVLINK_BUFFER_CHECK_START +#define MAVLINK_BUFFER_CHECK_START( c, l ) ; +#endif +#ifndef MAVLINK_BUFFER_CHECK_END +#define MAVLINK_BUFFER_CHECK_END ; +#endif + +#endif /* _ML_OPTIONS_H_ */ + +#ifdef __cplusplus +} +#endif diff --git a/src/apps/mavlinkgen/template/mavlink_protocol.h b/src/apps/mavlinkgen/template/mavlink_protocol.h new file mode 100644 index 0000000000000000000000000000000000000000..8cf62f115d81ae5ba93b14ad863d43839d4361f3 --- /dev/null +++ b/src/apps/mavlinkgen/template/mavlink_protocol.h @@ -0,0 +1,423 @@ +/** @file + * @brief Main MAVLink comm protocol routines. + * @see http://qgroundcontrol.org/mavlink/ + * Edited on Monday, August 8 2011 + */ + +#ifndef _MAVLINK_PROTOCOL_H_ +#define _MAVLINK_PROTOCOL_H_ + +#include "mavlink_types.h" + +#include "mavlink_checksum.h" + +#ifdef MAVLINK_CHECK_LENGTH +extern const uint8_t MAVLINK_CONST mavlink_msg_lengths[256]; +#endif + +extern const uint8_t MAVLINK_CONST mavlink_msg_keys[256]; + +extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB]; +extern mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB]; +extern mavlink_system_t mavlink_system; + + +/** + * @brief Initialize the communication stack + * + * This function has to be called before using commParseBuffer() to initialize the different status registers. + * + * @return Will initialize the different buffers and status registers. + */ +static void mavlink_parse_state_initialize(mavlink_status_t* initStatus) +{ + if ((initStatus->parse_state <= MAVLINK_PARSE_STATE_UNINIT) || (initStatus->parse_state > MAVLINK_PARSE_STATE_GOT_CRC1)) + { + initStatus->ck_a = 0; + initStatus->ck_b = 0; + initStatus->msg_received = 0; + initStatus->buffer_overrun = 0; + initStatus->parse_error = 0; + initStatus->parse_state = MAVLINK_PARSE_STATE_UNINIT; + initStatus->packet_idx = 0; + initStatus->packet_rx_drop_count = 0; + initStatus->packet_rx_success_count = 0; + initStatus->current_rx_seq = 0; + initStatus->current_tx_seq = 0; + } +} + +static inline mavlink_status_t* mavlink_get_channel_status(uint8_t chan) +{ + + return &m_mavlink_status[chan]; +} + +/** + * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel + * + * This function calculates the checksum and sets length and aircraft id correctly. + * It assumes that the message id and the payload are already correctly set. + * + * @warning This function implicitely assumes the message is sent over channel zero. + * if the message is sent over a different channel it will reach the receiver + * without error, BUT the sequence number might be wrong due to the wrong + * channel sequence counter. This will result is wrongly reported excessive + * packet loss. Please use @see mavlink_{pack|encode}_headerless and then + * @see mavlink_finalize_message_chan before sending for a correct channel + * assignment. Please note that the mavlink_msg_xxx_pack and encode functions + * assign channel zero as default and thus induce possible loss counter errors.\ + * They have been left to ensure code compatibility. + * + * @see mavlink_finalize_message_chan + * @param msg Message to finalize + * @param system_id Id of the sending (this) system, 1-127 + * @param length Message length, usually just the counter incremented while packing the message + */ +static inline uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint16_t length) +{ + // This code part is the same for all messages; + uint8_t key; + msg->len = length; + msg->sysid = system_id; + msg->compid = component_id; + // One sequence number per component + msg->seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq; + mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq+1; + msg->ck = crc_calculate_msg(msg, length + MAVLINK_CORE_HEADER_LEN); + key = MAVLINK_CONST_READ( mavlink_msg_keys[msg->msgid] ); + crc_accumulate( key, &msg->ck ); /// include key in X25 checksum + + return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES; +} + +/** + * @brief Finalize a MAVLink message with channel assignment + * + * This function calculates the checksum and sets length and aircraft id correctly. + * It assumes that the message id and the payload are already correctly set. This function + * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack + * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead. + * + * @param msg Message to finalize + * @param system_id Id of the sending (this) system, 1-127 + * @param length Message length, usually just the counter incremented while packing the message + */ +static inline uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint16_t length) +{ + // This code part is the same for all messages; + uint8_t key; + msg->len = length; + msg->sysid = system_id; + msg->compid = component_id; + // One sequence number per component + msg->seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1; + msg->ck = crc_calculate_msg(msg, length + MAVLINK_CORE_HEADER_LEN); + key = MAVLINK_CONST_READ( mavlink_msg_keys[msg->msgid] ); + crc_accumulate( key, &msg->ck ); /// include key in X25 checksum + + return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES; +} + +/** + * @brief Pack a message to send it over a serial byte stream + */ +static inline uint16_t mavlink_msg_to_send_buffer(uint8_t* buffer, const mavlink_message_t* msg) +{ + *(buffer+0) = MAVLINK_STX; ///< Start transmit +// memcpy((buffer+1), msg, msg->len + MAVLINK_CORE_HEADER_LEN); ///< Core header plus payload + memcpy((buffer+1), &msg->len, MAVLINK_CORE_HEADER_LEN); ///< Core header + memcpy((buffer+1+MAVLINK_CORE_HEADER_LEN), &msg->payload[0], msg->len); ///< payload + *(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 1) = msg->ck_a; + *(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 2) = msg->ck_b; + return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; +// return 0; +} + +/** + * @brief Get the required buffer size for this message + */ +static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg) +{ + return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + +union checksum_ { + uint16_t s; + uint8_t c[2]; +}; + +static inline void mavlink_start_checksum(mavlink_message_t* msg) +{ + crc_init(&msg->ck); +} + +static inline void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) +{ + crc_accumulate(c, &msg->ck); +} + +/** + * This is a convenience function which handles the complete MAVLink parsing. + * the function will parse one byte at a time and return the complete packet once + * it could be successfully decoded. Checksum and other failures will be silently + * ignored. + * + * @param chan ID of the current channel. This allows to parse different channels with this function. + * a channel is not a physical message channel like a serial port, but a logic partition of + * the communication streams in this case. COMM_NB is the limit for the number of channels + * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows + * @param c The char to barse + * + * @param returnMsg NULL if no message could be decoded, the message data else + * @return 0 if no message could be decoded, 1 else + * + * A typical use scenario of this function call is: + * + * @code + * #include // For fixed-width uint8_t type + * + * mavlink_message_t msg; + * int chan = 0; + * + * + * while(serial.bytesAvailable > 0) + * { + * uint8_t byte = serial.getNextByte(); + * if (mavlink_parse_char(chan, byte, &msg)) + * { + * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); + * } + * } + * + * + * @endcode + */ +#ifdef MAVLINK_STATIC_BUFFER +static inline mavlink_message_t* mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +#else +static inline int16_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +#endif +{ + // Initializes only once, values keep unchanged after first initialization + mavlink_parse_state_initialize(mavlink_get_channel_status(chan)); + + mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message + mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status + int bufferIndex = 0; + + status->msg_received = 0; + + switch (status->parse_state) + { + case MAVLINK_PARSE_STATE_UNINIT: + case MAVLINK_PARSE_STATE_IDLE: + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + mavlink_start_checksum(rxmsg); + } + break; + + case MAVLINK_PARSE_STATE_GOT_STX: + if (status->msg_received) + { + status->buffer_overrun++; + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + } + else + { + // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 + rxmsg->len = c; + status->packet_idx = 0; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; + } + break; + + case MAVLINK_PARSE_STATE_GOT_LENGTH: + rxmsg->seq = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; + break; + + case MAVLINK_PARSE_STATE_GOT_SEQ: + rxmsg->sysid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; + break; + + case MAVLINK_PARSE_STATE_GOT_SYSID: + rxmsg->compid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; + break; + + case MAVLINK_PARSE_STATE_GOT_COMPID: + rxmsg->msgid = c; + mavlink_update_checksum(rxmsg, c); +#ifdef MAVLINK_CHECK_LENGTH + if (rxmsg->len != MAVLINK_CONST_READ( mavlink_msg_lengths[c] ) ) + { + status->parse_state = MAVLINK_PARSE_STATE_IDLE; // abort, not going to understand it anyway + break; + } else ; +#endif + if (rxmsg->len == 0) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID; + } + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID: + rxmsg->payload[status->packet_idx++] = c; + mavlink_update_checksum(rxmsg, c); + if (status->packet_idx == rxmsg->len) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + mavlink_update_checksum(rxmsg, + MAVLINK_CONST_READ( mavlink_msg_keys[rxmsg->msgid] )); + } + break; + + case MAVLINK_PARSE_STATE_GOT_PAYLOAD: + if (c != rxmsg->ck_a) + { + // Check first checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + mavlink_start_checksum(rxmsg); + } + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; + } + break; + + case MAVLINK_PARSE_STATE_GOT_CRC1: + if (c != rxmsg->ck_b) + {// Check second checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + mavlink_start_checksum(rxmsg); + } + } + else + { + // Successfully got message + status->msg_received = 1; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if ( r_message != NULL ) + memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); + else ; + } + break; + } + + bufferIndex++; + // If a message has been sucessfully decoded, check index + if (status->msg_received == 1) + { + //while(status->current_seq != rxmsg->seq) + //{ + // status->packet_rx_drop_count++; + // status->current_seq++; + //} + status->current_rx_seq = rxmsg->seq; + // Initial condition: If no packet has been received so far, drop count is undefined + if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; + // Count this packet as received + status->packet_rx_success_count++; + } + + r_mavlink_status->current_rx_seq = status->current_rx_seq+1; + r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; + r_mavlink_status->packet_rx_drop_count = status->parse_error; + status->parse_error = 0; +#ifdef MAVLINK_STATIC_BUFFER + if (status->msg_received == 1) + { + if ( r_message != NULL ) + return r_message; + else return rxmsg; + } else return NULL; +#else + if (status->msg_received == 1) + return 1; + else return 0; +#endif +} + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +// To make MAVLink work on your MCU, define a similar function + +/* + +#include "mavlink_types.h" + +void comm_send_ch(mavlink_channel_t chan, uint8_t ch) +{ + if (chan == MAVLINK_COMM_0) + { + uart0_transmit(ch); + } + if (chan == MAVLINK_COMM_1) + { + uart1_transmit(ch); + } +} + + +static inline void mavlink_send_msg(mavlink_channel_t chan, mavlink_message_t* msg) +{ + // ARM7 MCU board implementation + // Create pointer on message struct + // Send STX + comm_send_ch(chan, MAVLINK_STX); + comm_send_ch(chan, msg->len); + comm_send_ch(chan, msg->seq); + comm_send_ch(chan, msg->sysid); + comm_send_ch(chan, msg->compid); + comm_send_ch(chan, msg->msgid); + for(uint16_t i = 0; i < msg->len; i++) + { + comm_send_ch(chan, msg->payload[i]); + } + comm_send_ch(chan, msg->ck_a); + comm_send_ch(chan, msg->ck_b); +} + +static inline void mavlink_send_mem(mavlink_channel_t chan, (uint8_t *)mem, uint8_t num) +{ + // ARM7 MCU board implementation + // Create pointer on message struct + // Send STX + for(uint16_t i = 0; i < num; i++) + { + comm_send_ch( chan, mem[i] ); + } +} + */ +static inline void mavlink_send_uart(mavlink_channel_t chan, mavlink_message_t* msg); +static inline void mavlink_send_mem(mavlink_channel_t chan, uint8_t *mem, uint16_t num); +#define mavlink_send_msg( a, b ) mavlink_send_uart( a, b ) +#endif + +#endif /* _MAVLINK_PROTOCOL_H_ */ diff --git a/src/apps/mavlinkgen/template/mavlink_types.h b/src/apps/mavlinkgen/template/mavlink_types.h new file mode 100644 index 0000000000000000000000000000000000000000..77b2e24096da17fd97462bb04fb03464696d20ac --- /dev/null +++ b/src/apps/mavlinkgen/template/mavlink_types.h @@ -0,0 +1,120 @@ +/** @file + * @brief MAVLink comm protocol enumerations / structures / constants. + * @see http://qgroundcontrol.org/mavlink/ + * Edited on Monday, August 8 2011 + */ + +#ifndef MAVLINK_TYPES_H_ +#define MAVLINK_TYPES_H_ + +#include "inttypes.h" + +#define MAVLINK_STX 0xD5 ///< Packet start sign +#define MAVLINK_STX_LEN 1 ///< Length of start sign +#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length + +#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte) +#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + MAVLINK_STX_LEN) ///< Length of all header bytes, including core and checksum +#define MAVLINK_NUM_CHECKSUM_BYTES 2 +#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES) +#define MAVLINK_NUM_NON_STX_PAYLOAD_BYTES (MAVLINK_NUM_NON_PAYLOAD_BYTES - MAVLINK_STX_LEN) + +#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length +//#define MAVLINK_MAX_DATA_LEN MAVLINK_MAX_PACKET_LEN - MAVLINK_STX_LEN + +typedef struct __mavlink_system +{ + uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t type; ///< Unused, can be used by user to store the system's type + uint8_t state; ///< Unused, can be used by user to store the system's state + uint8_t mode; ///< Unused, can be used by user to store the system's mode + uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode +} mavlink_system_t; + +typedef struct __mavlink_message +{ + union + { + uint16_t ck; ///< Checksum word + struct + { + uint8_t ck_a; ///< Checksum low byte + uint8_t ck_b; ///< Checksum high byte + }; + }; + uint8_t STX; ///< start of packet marker + uint8_t len; ///< Length of payload + uint8_t seq; ///< Sequence of packet + uint8_t sysid; ///< ID of message sender system/aircraft + uint8_t compid; ///< ID of the message sender component + uint8_t msgid; ///< ID of message in payload + uint8_t payload[MAVLINK_MAX_PAYLOAD_LEN]; ///< Payload data, ALIGNMENT IMPORTANT ON MCU +} mavlink_message_t; + +typedef struct __mavlink_header +{ + union + { + uint16_t ck; ///< Checksum word + struct + { + uint8_t ck_a; ///< Checksum low byte + uint8_t ck_b; ///< Checksum high byte + }; + }; + uint8_t STX; ///< start of packet marker + uint8_t len; ///< Length of payload + uint8_t seq; ///< Sequence of packet + uint8_t sysid; ///< ID of message sender system/aircraft + uint8_t compid; ///< ID of the message sender component + uint8_t msgid; ///< ID of message in payload +} mavlink_header_t; + +typedef enum +{ + MAVLINK_COMM_0, + MAVLINK_COMM_1, + MAVLINK_COMM_2, + MAVLINK_COMM_3, + MAVLINK_COMM_NB, + MAVLINK_COMM_NB_HIGH = 16 +} mavlink_channel_t; + +typedef enum +{ + MAVLINK_PARSE_STATE_UNINIT=0, + MAVLINK_PARSE_STATE_IDLE, + MAVLINK_PARSE_STATE_GOT_STX, + MAVLINK_PARSE_STATE_GOT_SEQ, + MAVLINK_PARSE_STATE_GOT_LENGTH, + MAVLINK_PARSE_STATE_GOT_SYSID, + MAVLINK_PARSE_STATE_GOT_COMPID, + MAVLINK_PARSE_STATE_GOT_MSGID, + MAVLINK_PARSE_STATE_GOT_PAYLOAD, + MAVLINK_PARSE_STATE_GOT_CRC1 +} mavlink_parse_state_t; ///< The state machine for the comm parser + +typedef struct __mavlink_status +{ + union + { + uint16_t ck; ///< Checksum word + struct + { + uint8_t ck_a; ///< Checksum low byte + uint8_t ck_b; ///< Checksum high byte + }; + }; + uint8_t msg_received; ///< Number of received messages + uint8_t buffer_overrun; ///< Number of buffer overruns + uint8_t parse_error; ///< Number of parse errors + mavlink_parse_state_t parse_state; ///< Parsing state machine + uint8_t packet_idx; ///< Index in current packet + uint8_t current_rx_seq; ///< Sequence number of last packet received + uint8_t current_tx_seq; ///< Sequence number of last packet sent + uint16_t packet_rx_success_count; ///< Received packets + uint16_t packet_rx_drop_count; ///< Number of packet drops +} mavlink_status_t; + +#endif /* MAVLINK_TYPES_H_ */ diff --git a/src/apps/mavlinkgen/template/protocol.h b/src/apps/mavlinkgen/template/protocol.h new file mode 100644 index 0000000000000000000000000000000000000000..a45993e692e3777208cf75e8a61b4c4a97c558f1 --- /dev/null +++ b/src/apps/mavlinkgen/template/protocol.h @@ -0,0 +1,439 @@ +#ifndef _MAVLINK_PROTOCOL_H_ +#define _MAVLINK_PROTOCOL_H_ + +#include "string.h" +#include "mavlink_types.h" + +#include "checksum.h" + +/** + * @brief Initialize the communication stack + * + * This function has to be called before using commParseBuffer() to initialize the different status registers. + * + * @return Will initialize the different buffers and status registers. + */ +static void mavlink_parse_state_initialize(mavlink_status_t* initStatus) +{ + if ((initStatus->parse_state <= MAVLINK_PARSE_STATE_UNINIT) || (initStatus->parse_state > MAVLINK_PARSE_STATE_GOT_CRC1)) + { + initStatus->ck_a = 0; + initStatus->ck_b = 0; + initStatus->msg_received = 0; + initStatus->buffer_overrun = 0; + initStatus->parse_error = 0; + initStatus->parse_state = MAVLINK_PARSE_STATE_UNINIT; + initStatus->packet_idx = 0; + initStatus->packet_rx_drop_count = 0; + initStatus->packet_rx_success_count = 0; + initStatus->current_rx_seq = 0; + initStatus->current_tx_seq = 0; + } +} + +static inline mavlink_status_t* mavlink_get_channel_status(uint8_t chan) +{ +#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) + static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH]; +#else + static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB]; +#endif + + return &m_mavlink_status[chan]; +} + +/** + * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel + * + * This function calculates the checksum and sets length and aircraft id correctly. + * It assumes that the message id and the payload are already correctly set. + * + * @warning This function implicitely assumes the message is sent over channel zero. + * if the message is sent over a different channel it will reach the receiver + * without error, BUT the sequence number might be wrong due to the wrong + * channel sequence counter. This will result is wrongly reported excessive + * packet loss. Please use @see mavlink_{pack|encode}_headerless and then + * @see mavlink_finalize_message_chan before sending for a correct channel + * assignment. Please note that the mavlink_msg_xxx_pack and encode functions + * assign channel zero as default and thus induce possible loss counter errors.\ + * They have been left to ensure code compatibility. + * + * @see mavlink_finalize_message_chan + * @param msg Message to finalize + * @param system_id Id of the sending (this) system, 1-127 + * @param length Message length, usually just the counter incremented while packing the message + */ +static inline uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint16_t length) +{ + // This code part is the same for all messages; + uint16_t checksum; + msg->len = length; + msg->sysid = system_id; + msg->compid = component_id; + // One sequence number per component + msg->seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq; + mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq+1; +// checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN); + checksum = crc_calculate_msg(msg, length + MAVLINK_CORE_HEADER_LEN); + msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte + msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte + + return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES; +} + +/** + * @brief Finalize a MAVLink message with channel assignment + * + * This function calculates the checksum and sets length and aircraft id correctly. + * It assumes that the message id and the payload are already correctly set. This function + * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack + * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead. + * + * @param msg Message to finalize + * @param system_id Id of the sending (this) system, 1-127 + * @param length Message length, usually just the counter incremented while packing the message + */ +static inline uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint16_t length) +{ + // This code part is the same for all messages; + uint16_t checksum; + msg->len = length; + msg->sysid = system_id; + msg->compid = component_id; + // One sequence number per component + msg->seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1; +// checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN); + checksum = crc_calculate_msg(msg, length + MAVLINK_CORE_HEADER_LEN); + msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte + msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte + + return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES; +} + +/** + * @brief Pack a message to send it over a serial byte stream + */ +static inline uint16_t mavlink_msg_to_send_buffer(uint8_t* buffer, const mavlink_message_t* msg) +{ + *(buffer+0) = MAVLINK_STX; ///< Start transmit +// memcpy((buffer+1), msg, msg->len + MAVLINK_CORE_HEADER_LEN); ///< Core header plus payload + memcpy((buffer+1), &msg->len, MAVLINK_CORE_HEADER_LEN); ///< Core header + memcpy((buffer+1+MAVLINK_CORE_HEADER_LEN), &msg->payload[0], msg->len); ///< payload + *(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 1) = msg->ck_a; + *(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 2) = msg->ck_b; + return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; +// return 0; +} + +/** + * @brief Get the required buffer size for this message + */ +static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg) +{ + return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + +union checksum_ { + uint16_t s; + uint8_t c[2]; +}; + +union __mavlink_bitfield { + uint8_t uint8; + int8_t int8; + uint16_t uint16; + int16_t int16; + uint32_t uint32; + int32_t int32; +}; + + +static inline void mavlink_start_checksum(mavlink_message_t* msg) +{ + union checksum_ ck; + crc_init(&(ck.s)); + msg->ck_a = ck.c[0]; + msg->ck_b = ck.c[1]; +} + +static inline void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) +{ + union checksum_ ck; + ck.c[0] = msg->ck_a; + ck.c[1] = msg->ck_b; + crc_accumulate(c, &(ck.s)); + msg->ck_a = ck.c[0]; + msg->ck_b = ck.c[1]; +} + +/** + * This is a convenience function which handles the complete MAVLink parsing. + * the function will parse one byte at a time and return the complete packet once + * it could be successfully decoded. Checksum and other failures will be silently + * ignored. + * + * @param chan ID of the current channel. This allows to parse different channels with this function. + * a channel is not a physical message channel like a serial port, but a logic partition of + * the communication streams in this case. COMM_NB is the limit for the number of channels + * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows + * @param c The char to barse + * + * @param returnMsg NULL if no message could be decoded, the message data else + * @return 0 if no message could be decoded, 1 else + * + * A typical use scenario of this function call is: + * + * @code + * #include // For fixed-width uint8_t type + * + * mavlink_message_t msg; + * int chan = 0; + * + * + * while(serial.bytesAvailable > 0) + * { + * uint8_t byte = serial.getNextByte(); + * if (mavlink_parse_char(chan, byte, &msg)) + * { + * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); + * } + * } + * + * + * @endcode + */ +static inline uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +{ +#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) + static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB_HIGH]; +#elif defined(NB_MAVLINK_COMM) + static mavlink_message_t m_mavlink_message[NB_MAVLINK_COMM]; +#else + static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB]; +#endif + // Initializes only once, values keep unchanged after first initialization + mavlink_parse_state_initialize(mavlink_get_channel_status(chan)); + + mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message + mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status + int bufferIndex = 0; + + status->msg_received = 0; + + switch (status->parse_state) + { + case MAVLINK_PARSE_STATE_UNINIT: + case MAVLINK_PARSE_STATE_IDLE: + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + mavlink_start_checksum(rxmsg); + } + break; + + case MAVLINK_PARSE_STATE_GOT_STX: + if (status->msg_received) + { + status->buffer_overrun++; + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + } + else + { + // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 + rxmsg->len = c; + status->packet_idx = 0; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; + } + break; + + case MAVLINK_PARSE_STATE_GOT_LENGTH: + rxmsg->seq = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; + break; + + case MAVLINK_PARSE_STATE_GOT_SEQ: + rxmsg->sysid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; + break; + + case MAVLINK_PARSE_STATE_GOT_SYSID: + rxmsg->compid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; + break; + + case MAVLINK_PARSE_STATE_GOT_COMPID: + rxmsg->msgid = c; + mavlink_update_checksum(rxmsg, c); +#ifdef MAVLINK_CHECK_LENGTH + if (rxmsg->len != mavlink_msg_lengths[c] ) + status->parse_state = MAVLINK_PARSE_STATE_IDLE; // abort, not going to understand it anyway + else ; +#endif + if (rxmsg->len == 0) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID; + } + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID: + rxmsg->payload[status->packet_idx++] = c; + mavlink_update_checksum(rxmsg, c); + if (status->packet_idx == rxmsg->len) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + break; + + case MAVLINK_PARSE_STATE_GOT_PAYLOAD: + if (c != rxmsg->ck_a) + { + // Check first checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + mavlink_start_checksum(rxmsg); + } + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; + } + break; + + case MAVLINK_PARSE_STATE_GOT_CRC1: + if (c != rxmsg->ck_b) + {// Check second checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + mavlink_start_checksum(rxmsg); + } + } + else + { + // Successfully got message + status->msg_received = 1; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if ( r_message != NULL ) + { + memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); + } + } + break; + } + + bufferIndex++; + // If a message has been sucessfully decoded, check index + if (status->msg_received == 1) + { + //while(status->current_seq != rxmsg->seq) + //{ + // status->packet_rx_drop_count++; + // status->current_seq++; + //} + status->current_rx_seq = rxmsg->seq; + // Initial condition: If no packet has been received so far, drop count is undefined + if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; + // Count this packet as received + status->packet_rx_success_count++; + } + + r_mavlink_status->current_rx_seq = status->current_rx_seq+1; + r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; + r_mavlink_status->packet_rx_drop_count = status->parse_error; + status->parse_error = 0; + + // For future use + +// if (status->msg_received == 1) +// { +// if ( r_message != NULL ) +// { +// return r_message; +// } +// else +// { +// return rxmsg; +// } +// } +// else +// { +// return NULL; +// } + return status->msg_received; +} + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +// To make MAVLink work on your MCU, define a similar function + +/* + +#include "mavlink_types.h" + +void comm_send_ch(mavlink_channel_t chan, uint8_t ch) +{ + if (chan == MAVLINK_COMM_0) + { + uart0_transmit(ch); + } + if (chan == MAVLINK_COMM_1) + { + uart1_transmit(ch); + } +} + + +static inline void mavlink_send_msg(mavlink_channel_t chan, mavlink_message_t* msg) +{ + // ARM7 MCU board implementation + // Create pointer on message struct + // Send STX + comm_send_ch(chan, MAVLINK_STX); + comm_send_ch(chan, msg->len); + comm_send_ch(chan, msg->seq); + comm_send_ch(chan, msg->sysid); + comm_send_ch(chan, msg->compid); + comm_send_ch(chan, msg->msgid); + for(uint16_t i = 0; i < msg->len; i++) + { + comm_send_ch(chan, msg->payload[i]); + } + comm_send_ch(chan, msg->ck_a); + comm_send_ch(chan, msg->ck_b); +} + +static inline void mavlink_send_mem(mavlink_channel_t chan, (uint8_t *)mem, uint8_t num) +{ + // ARM7 MCU board implementation + // Create pointer on message struct + // Send STX + for(uint16_t i = 0; i < num; i++) + { + comm_send_ch( chan, mem[i] ); + } +} + */ +static inline void mavlink_send_uart(mavlink_channel_t chan, mavlink_message_t* msg); +static inline void mavlink_send_mem(mavlink_channel_t chan, (uint8_t *)mem, uint8_t num); +#define mavlink_send_msg( a, b ) mavlink_send_uart( a, b ) +#endif + +#endif /* _MAVLINK_PROTOCOL_H_ */ diff --git a/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc b/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc index 82b37be0ed00338355affc9380bc86e9b62f068f..b03d6f78c51559de3f7b5bd0203ce48b393f0149 100644 --- a/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc +++ b/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc @@ -2,6 +2,7 @@ #include #include #include +#include #include "XMLCommProtocolWidget.h" #include "ui_XMLCommProtocolWidget.h" @@ -39,21 +40,26 @@ void XMLCommProtocolWidget::selectXMLFile() dialog.setFilter(tr("MAVLink XML (*.xml)")); dialog.setViewMode(QFileDialog::Detail); QStringList fileNames; - if (dialog.exec()) { + if (dialog.exec()) + { fileNames = dialog.selectedFiles(); } - if (fileNames.size() > 0) { - m_ui->fileNameLabel->setText(fileNames.first()); + if (fileNames.size() > 0) + { QFile file(fileNames.first()); + m_ui->fileNameLabel->setText(file.fileName()); - if (file.open(QIODevice::ReadOnly | QIODevice::Text)) { + if (file.open(QIODevice::ReadOnly | QIODevice::Text)) + { const QString instanceText(QString::fromUtf8(file.readAll())); setXML(instanceText); // Store filename for next time settings.setValue(mavlinkXML, QFileInfo(file).absoluteFilePath()); settings.sync(); - } else { + } + else + { QMessageBox msgBox; msgBox.setText("Could not read XML file. Permission denied"); msgBox.exec(); @@ -71,24 +77,13 @@ void XMLCommProtocolWidget::setXML(const QString& xml) } else { m_ui->validXMLLabel->setText(tr("File is NOT valid XML, please fix in editor")); } - - if (model != NULL) { - m_ui->xmlTreeView->reset(); - //delete model; - } - model = new DomModel(doc, this); - m_ui->xmlTreeView->setModel(model); - // Expand the tree so that message names are visible - m_ui->xmlTreeView->expandToDepth(1); - m_ui->xmlTreeView->hideColumn(2); - m_ui->xmlTreeView->repaint(); } void XMLCommProtocolWidget::selectOutputDirectory() { QSettings settings("MAVLink Consortium", "MAVLink Generator"); const QString mavlinkOutputDir = "MAVLINK_OUTPUT_DIR"; - QString dirPath = settings.value(mavlinkOutputDir, QCoreApplication::applicationDirPath() + "../").toString(); + QString dirPath = settings.value(mavlinkOutputDir, QDesktopServices::DesktopLocation).toString(); QFileDialog dialog; dialog.setDirectory(dirPath); dialog.setFileMode(QFileDialog::Directory); @@ -138,13 +133,13 @@ void XMLCommProtocolWidget::generate() bool result = false; - if (m_ui->versionComboBox->currentIndex() == 0) + if (m_ui->versionComboBox->currentIndex() == 1) { MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed()); connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString))); result = parser->generate(); } - else if (m_ui->versionComboBox->currentIndex() == 1) + else if (m_ui->versionComboBox->currentIndex() == 0) { MAVLinkXMLParserV10* parserV10 = new MAVLinkXMLParserV10(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed()); connect(parserV10, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString))); diff --git a/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h b/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h index 5faecda723b75dc518ed9d814dba6957fb4d0050..0ad3fcc93a7a7260fd467acb47cbda3707cc058a 100644 --- a/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h +++ b/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h @@ -66,6 +66,22 @@ protected: DomModel* model; void changeEvent(QEvent *e); +signals: + void visibilityChanged(bool visible); + +protected: + void showEvent(QShowEvent* event) + { + QWidget::showEvent(event); + emit visibilityChanged(true); + } + + void hideEvent(QHideEvent* event) + { + QWidget::hideEvent(event); + emit visibilityChanged(false); + } + private: Ui::XMLCommProtocolWidget *m_ui; }; diff --git a/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui b/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui index 878d7b39854034bdd465827c254c3df7177a476c..d754517c629622f09ef8dae8ed46077023b83a42 100644 --- a/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui +++ b/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui @@ -13,19 +13,16 @@ Form - - - 6 + + + 8 - - 6 - - - 6 - - + 12 + + 8 + @@ -40,9 +37,6 @@ true - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - @@ -60,8 +54,8 @@ - 400 - 300 + 200 + 100 @@ -75,7 +69,7 @@ - + @@ -102,10 +96,7 @@ - - - - + Compile Output @@ -113,7 +104,11 @@ - + + + 40 + + @@ -140,23 +135,26 @@ - + Select MAVLink Version + + Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft + - MAVLink v0.9 (-Aug'10) + MAVLink v1.0 (Sept'10+) - MAVLink v1.0 (Sept'10+) + MAVLink v0.9 (-Aug'10) diff --git a/src/apps/qgcvideo/QGCVideoMainWindow.cc b/src/apps/qgcvideo/QGCVideoMainWindow.cc index 6aeab61fc0612c1e9300a4f3a74c40b3d9012428..d5458a16b88c75b15d16af18d2d39f159b6f991f 100644 --- a/src/apps/qgcvideo/QGCVideoMainWindow.cc +++ b/src/apps/qgcvideo/QGCVideoMainWindow.cc @@ -37,7 +37,10 @@ QByteArray imageRecBuffer1 = QByteArray(376*240,255); QByteArray imageRecBuffer2 = QByteArray(376*240,255); + QByteArray imageRecBuffer3 = QByteArray(376*240,255); + QByteArray imageRecBuffer4 = QByteArray(376*240,255); static int part = 0; + unsigned char last_id = 0; QGCVideoMainWindow::QGCVideoMainWindow(QWidget *parent) : QMainWindow(parent), @@ -57,6 +60,18 @@ QGCVideoMainWindow::QGCVideoMainWindow(QWidget *parent) : // Open port link.connect(); + + // Show flow // FIXME + int xCount = 16; + int yCount = 5; + + unsigned char flowX[xCount][yCount]; + unsigned char flowY[xCount][yCount]; + + flowX[3][3] = 10; + flowY[3][3] = 5; + + ui->video4Widget->copyFlow((const unsigned char*)flowX, (const unsigned char*)flowY, xCount, yCount); } QGCVideoMainWindow::~QGCVideoMainWindow() @@ -75,6 +90,7 @@ void QGCVideoMainWindow::receiveBytes(LinkInterface* link, QByteArray data) QString bytes; QString index; + QString imageid; QString ascii; @@ -93,90 +109,147 @@ void QGCVideoMainWindow::receiveBytes(LinkInterface* link, QByteArray data) header = header.arg(imgWidth).arg(imgHeight).arg(imgColors); unsigned char i0 = data[0]; + unsigned char id = data[1]; + + index.append(QString().sprintf("%02x", i0)); + imageid.append(QString().sprintf("%02x", id)); + qDebug() << "Received" << data.size() << "bytes"<< " part: " <video1Widget->copyImage(test); - ui->video2Widget->copyImage(image1); - ui->video3Widget->copyImage(image2); - //ui->video4Widget->copyImage(test); + ui->video1Widget->copyImage(image1); + ui->video2Widget->copyImage(image2); + ui->video3Widget->copyImage(image3); + ui->video4Widget->copyImage(image4); part = 0; imageRecBuffer1.clear(); imageRecBuffer2.clear(); + imageRecBuffer3.clear(); + imageRecBuffer4.clear(); + + ui->video4Widget->enableFlow(true); + + int xCount = 16; + int yCount = 5; + + unsigned char flowX[xCount][yCount]; + unsigned char flowY[xCount][yCount]; + + ui->video4Widget->copyFlow((const unsigned char*)flowX, (const unsigned char*)flowY, xCount, yCount); } - index.append(QString().sprintf("%02x ", i0)); - for (int j=0; j 31 && data.at(j) < 127) @@ -240,9 +356,8 @@ void QGCVideoMainWindow::receiveBytes(LinkInterface* link, QByteArray data) ascii.append(219); } - } - qDebug() << "Received" << data.size() << "bytes"; - qDebug() << "index: " <setChecked(videoEnabled); menu.addAction(enableHUDAction); + menu.addAction(enableFlowFieldAction); //menu.addAction(selectQGCVideoWidgetColorAction); // menu.addAction(enableVideoAction); // menu.addAction(selectOfflineDirectoryAction); @@ -238,6 +244,12 @@ void QGCVideoWidget::createActions() enableVideoAction->setStatusTip(tr("Show the video live feed")); enableVideoAction->setCheckable(true); enableVideoAction->setChecked(videoEnabled); + + enableFlowFieldAction = new QAction(tr("Enable Optical Flow Field"), this); + enableFlowFieldAction->setCheckable(true); + enableFlowFieldAction->setChecked(flowEnabled); + connect(enableFlowFieldAction, SIGNAL(triggered(bool)), this, SLOT(enableFlow(bool))); + // connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool))); selectOfflineDirectoryAction = new QAction(tr("Select image log"), this); @@ -430,6 +442,39 @@ void QGCVideoWidget::paintEvent(QPaintEvent *event) Q_UNUSED(event); } +void QGCVideoWidget::copyFlow(const unsigned char* flowX, const unsigned char* flowY, int width, int height) +{ + flowWidth = width; + flowHeight = height; + + delete flowFieldX; + delete flowFieldY; + + flowFieldX = (unsigned char**) malloc(width*height); + flowFieldY = (unsigned char**) malloc(width*height); + + memcpy(flowFieldX, flowX, width*height); + memcpy(flowFieldY, flowY, width*height); +} + +void QGCVideoWidget::paintFlowField(QPainter* painter) +{ + if (width() > 0 && height() > 0) + { + unsigned int sX = (flowWidth+1)/width(); + unsigned int sY = (flowHeight+1)/height(); + for (unsigned int i = 0; i < flowWidth; ++i) + { + for (unsigned int j = 0; j < flowHeight; ++j) + { + // Paint vector + qDebug() << "X" << i << flowFieldX[i][j] << "Y" << j << flowFieldY[i][j]; + //painter->drawLine(QPointF(sX*i, sY*j), QPointF(sX*i+(flowFieldX[i][j]), sY*j+(flowFieldY[i][j]))); + } + } + } +} + void QGCVideoWidget::paintHUD() { if (isVisible()) { @@ -521,6 +566,15 @@ void QGCVideoWidget::paintHUD() // END OF OPENGL PAINTING + if (flowEnabled) { + QPainter painter; + painter.begin(this); + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setRenderHint(QPainter::HighQualityAntialiasing, true); + painter.setPen(Qt::red); + paintFlowField(&painter); + } + if (hudInstrumentsEnabled) { //glEnable(GL_MULTISAMPLE); diff --git a/src/apps/qgcvideo/QGCVideoWidget.h b/src/apps/qgcvideo/QGCVideoWidget.h index ec27bb540d3114ed6ddbd4ac81d40f2da914b0ab..93a44bf69427d666789190ef881ea19b4d5bde57 100644 --- a/src/apps/qgcvideo/QGCVideoWidget.h +++ b/src/apps/qgcvideo/QGCVideoWidget.h @@ -6,6 +6,7 @@ #include #include #include +#include /** @@ -31,6 +32,9 @@ public slots: void copyImage(const QImage& img); void enableHUDInstruments(bool enabled) { hudInstrumentsEnabled = enabled; } void enableVideo(bool enabled) { videoEnabled = enabled; } + void enableFlow(bool enabled) { flowEnabled = enabled; } + /** @brief Copy flow */ + void copyFlow(const unsigned char* flowX, const unsigned char* flowY, int width, int height); protected slots: @@ -42,6 +46,8 @@ protected slots: /** @brief Setup the OpenGL view for drawing a sub-component of the HUD */ void setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight); void paintHUD(); + /** @brief Paint an optical flow field */ + void paintFlowField(QPainter* painter); void paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter); void paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter); @@ -151,14 +157,22 @@ protected: QString nextOfflineImage; bool hudInstrumentsEnabled; bool videoEnabled; + bool flowEnabled; float xImageFactor; float yImageFactor; QAction* enableHUDAction; QAction* enableVideoAction; + QAction* enableFlowFieldAction; QAction* selectOfflineDirectoryAction; QAction* selectVideoChannelAction; void paintEvent(QPaintEvent *event); bool imageRequested; + int flowFieldWidth; + int flowFieldHeight; + unsigned char** flowFieldX; + unsigned char** flowFieldY; + unsigned int flowWidth; + unsigned int flowHeight; }; diff --git a/src/comm/AS4Protocol.cc b/src/comm/AS4Protocol.cc deleted file mode 100644 index 5e0c56002542da02c9adbb0258078f520ff412c6..0000000000000000000000000000000000000000 --- a/src/comm/AS4Protocol.cc +++ /dev/null @@ -1,154 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -This file is part of the QGROUNDCONTROL project - - QGROUNDCONTROL is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - QGROUNDCONTROL is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with QGROUNDCONTROL. If not, see . - -======================================================================*/ - -/** - * @file - * @brief Brief Description - * - * @author Lorenz Meier - * - */ - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "QGC.h" - - -AS4Protocol::AS4Protocol() -{ - - // Start heartbeat timer, emitting a heartbeat at the configured rate - heartbeatRate = 1; ///< SAE AS-4 has a fixed heartbeat rate of 1 hz. -// heartbeatTimer = new QTimer(this); -// connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT()); -// heartbeatTimer->start(1000/heartbeatRate); - /* - // Start the node manager - configData = new FileLoader("nodeManager.conf"); - handler = new MyHandler(); - - try - { - nodeManager = new NodeManager(configData, handler); - qDebug() << "SAE AS-4 NODE MANAGER constructed"; - } - catch(char *exceptionString) - { - printf("%s", exceptionString); - printf("Terminating Program...\n"); - } - catch(...) - { - printf("Node Manager Construction Failed. Terminating Program...\n"); - } - */ - -} - -AS4Protocol::~AS4Protocol() -{ -// delete nodeManager; -// delete handler; -// delete configData; -} - -void AS4Protocol::run() -{ - forever { - QGC::SLEEP::msleep(5000); - } -} - - -/** - * @brief Receive bytes from a communication interface. - * - * The bytes copied by calling the LinkInterface::readBytes() method. - * - * @param link The interface to read from - * @see LinkInterface - **/ -void AS4Protocol::receiveBytes(LinkInterface* link) -{ -// receiveMutex.lock(); - // Prepare buffer - //static const int maxlen = 4096 * 100; - //static char buffer[maxlen]; - - qint64 bytesToRead = link->bytesAvailable(); - - // Get all data at once, let link read the bytes in the buffer array - //link->readBytes(buffer, maxlen); -// -// /* -// // Debug output -// std::cerr << "receive buffer: "; -// for (int i = 0; i < bytesToRead; i++) -// { -// std::cerr << std::hex << static_cast(buffer[i]); -// } -// std::cerr << std::dec << " length: " << bytesToRead; -// */ -// -// qDebug() << __FILE__ << __LINE__ << ": buffer size:" << maxlen << "bytes:" << bytesToRead; -// - - for (int position = 0; position < bytesToRead; position++) { - } -// receiveMutex.unlock(); - -} - - -/** - * @brief Get the human-readable name of this protocol. - * - * @return The name of this protocol - **/ -QString AS4Protocol::getName() -{ - return QString(tr("SAE AS-4")); -} - -void AS4Protocol::setHeartbeatRate(int rate) -{ - heartbeatRate = rate; - heartbeatTimer->setInterval(1000/heartbeatRate); -} - -int AS4Protocol::getHeartbeatRate() -{ - return heartbeatRate; -} diff --git a/src/comm/AS4Protocol.h b/src/comm/AS4Protocol.h deleted file mode 100644 index 00a42df5bf37551d52d77c7f84210f36b699cec1..0000000000000000000000000000000000000000 --- a/src/comm/AS4Protocol.h +++ /dev/null @@ -1,155 +0,0 @@ -/*===================================================================== - -PIXHAWK Micro Air Vehicle Flying Robotics Toolkit - -(c) 2009 PIXHAWK PROJECT - -This file is part of the PIXHAWK project - - PIXHAWK is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - PIXHAWK is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with PIXHAWK. If not, see . - -======================================================================*/ - -/** - * @file - * @brief Brief Description - * - * @author Lorenz Meier - * - */ - -#ifndef AS4PROTOCOL_H_ -#define AS4PROTOCOL_H_ - -#include -#include -#include -#include -#include -#include -#include -#include -/*#include - -class MyHandler : public EventHandler -{ -public: - ~MyHandler() - { - - } - - void handleEvent(NodeManagerEvent *e) - { - SystemTreeEvent *treeEvent; - ErrorEvent *errorEvent; - JausMessageEvent *messageEvent; - DebugEvent *debugEvent; - ConfigurationEvent *configEvent; - - switch(e->getType()) - { - case NodeManagerEvent::SystemTreeEvent: - treeEvent = (SystemTreeEvent *)e; - printf("%s\n", treeEvent->toString().c_str()); - delete e; - break; - - case NodeManagerEvent::ErrorEvent: - errorEvent = (ErrorEvent *)e; - printf("%s\n", errorEvent->toString().c_str()); - delete e; - break; - - case NodeManagerEvent::JausMessageEvent: - messageEvent = (JausMessageEvent *)e; - // If you turn this on, the system gets spam-y this is very useful for debug purposes - if(messageEvent->getJausMessage()->commandCode != JAUS_REPORT_HEARTBEAT_PULSE) - { - //printf("%s\n", messageEvent->toString().c_str()); - } - else - { - //printf("%s\n", messageEvent->toString().c_str()); - } - delete e; - break; - - case NodeManagerEvent::DebugEvent: - debugEvent = (DebugEvent *)e; - //printf("%s\n", debugEvent->toString().c_str()); - delete e; - break; - - case NodeManagerEvent::ConfigurationEvent: - configEvent = (ConfigurationEvent *)e; - printf("%s\n", configEvent->toString().c_str()); - delete e; - break; - - default: - delete e; - break; - } - } -};*/ - -/** - * SAE AS-4 Nodemanager - * - **/ -class AS4Protocol : public ProtocolInterface -{ - Q_OBJECT - -public: - AS4Protocol(); - ~AS4Protocol(); - - void run(); - QString getName(); - int getHeartbeatRate(); - -public slots: - void receiveBytes(LinkInterface* link); - /** - * @brief Set the rate at which heartbeats are emitted - * - * The default rate is 1 Hertz. - * - * @param rate heartbeat rate in hertz (times per second) - */ - void setHeartbeatRate(int rate); - - /** - * @brief Send an extra heartbeat to all connected units - * - * The heartbeat is sent out of order and does not reset the - * periodic heartbeat emission. It will be just sent in addition. - */ -// void sendHeartbeat(); - -protected: - QTimer* heartbeatTimer; - int heartbeatRate; - QMutex receiveMutex; -// NodeManager* nodeManager; -// MyHandler* handler; -// FileLoader* configData; - -signals: - -}; - -#endif // AS4PROTOCOL_H_ diff --git a/src/comm/LinkInterface.cpp b/src/comm/LinkInterface.cpp index 1c30413821196681f62d5afca99134d46f30c3a7..2ddec09e68b8d4680734429efaa85eb627a84a7e 100644 --- a/src/comm/LinkInterface.cpp +++ b/src/comm/LinkInterface.cpp @@ -1,6 +1,6 @@ -#include "LinkInterface.h" +//#include "LinkInterface.h" -LinkInterface::~LinkInterface() -{ - emit this->deleteLink(this); -} \ No newline at end of file +//LinkInterface::~LinkInterface() +//{ + +//} diff --git a/src/comm/LinkInterface.h b/src/comm/LinkInterface.h index b9b88671ce61b1aa3c6b797d3813206d7fd43ae2..4c2e682913595215a90cf4b4a6ebf6f86227f496 100644 --- a/src/comm/LinkInterface.h +++ b/src/comm/LinkInterface.h @@ -44,7 +44,7 @@ class LinkInterface : public QThread Q_OBJECT public: LinkInterface(QObject* parent = 0) : QThread(parent) {} - virtual ~LinkInterface()=0; + virtual ~LinkInterface() { emit this->deleteLink(this); } /* Connection management */ diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc index 043fcb3a6b27ef7fa9a4a80ce5d75b6448901ba4..3a8a18b566b3dd184f6ea2c32265b27719bf0bd8 100644 --- a/src/comm/MAVLinkProtocol.cc +++ b/src/comm/MAVLinkProtocol.cc @@ -147,13 +147,6 @@ MAVLinkProtocol::~MAVLinkProtocol() } } - - -void MAVLinkProtocol::run() -{ - exec(); -} - QString MAVLinkProtocol::getLogfileName() { if (m_logfile) { @@ -173,7 +166,7 @@ QString MAVLinkProtocol::getLogfileName() **/ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) { - receiveMutex.lock(); +// receiveMutex.lock(); mavlink_message_t message; mavlink_status_t status; for (int position = 0; position < b.size(); position++) { @@ -207,6 +200,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) // ORDER MATTERS HERE! // If the matching UAS object does not yet exist, it has to be created // before emitting the packetReceived signal + UASInterface* uas = UASManager::instance()->getUASForId(message.sysid); // Check and (if necessary) create UAS object @@ -321,7 +315,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) } } } - receiveMutex.unlock(); +// receiveMutex.unlock(); } /** @@ -374,7 +368,8 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message // Create buffer uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; // Rewriting header to ensure correct link ID is set - if (link->getId() != 0) mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getId(), message.len); + static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS; + if (link->getId() != 0) mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]); // Write message into buffer, prepending start sign int len = mavlink_msg_to_send_buffer(buffer, &message); // If link is connected @@ -393,7 +388,7 @@ void MAVLinkProtocol::sendHeartbeat() { if (m_heartbeatsEnabled) { mavlink_message_t beat; - mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, OCU, MAV_AUTOPILOT_GENERIC); + mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_GCS, MAV_AUTOPILOT_INVALID, MAV_MODE_MANUAL_ARMED, 0, MAV_STATE_ACTIVE); sendMessage(beat); } if (m_authEnabled) { diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h index b0749856dc9fc79cb1b40d583471cf3fa8a78412..57e80c86614acf30a1b3f2add002afa53587d3cf 100644 --- a/src/comm/MAVLinkProtocol.h +++ b/src/comm/MAVLinkProtocol.h @@ -57,7 +57,6 @@ public: MAVLinkProtocol(); ~MAVLinkProtocol(); - void run(); /** @brief Get the human-friendly name of this protocol */ QString getName(); /** @brief Get the system id of this application */ diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc index 44f338b89837e29511e889ca783d1004a39917ec..91804cd69fde9e96601007bf5e1dc15048496c5d 100644 --- a/src/comm/MAVLinkSimulationLink.cc +++ b/src/comm/MAVLinkSimulationLink.cc @@ -66,10 +66,20 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile onboardParams.insert("PID_ROLL_K_P", 0.5f); onboardParams.insert("PID_PITCH_K_P", 0.5f); onboardParams.insert("PID_YAW_K_P", 0.5f); - onboardParams.insert("PID_XY_K_P", 0.5f); + onboardParams.insert("PID_XY_K_P", 100.0f); onboardParams.insert("PID_ALT_K_P", 0.5f); onboardParams.insert("SYS_TYPE", 1); onboardParams.insert("SYS_ID", systemId); + onboardParams.insert("RC4_REV", 0); + onboardParams.insert("RC5_REV", 1); + onboardParams.insert("HDNG2RLL_P", 0.7f); + onboardParams.insert("HDNG2RLL_I", 0.01f); + onboardParams.insert("HDNG2RLL_D", 0.02f); + onboardParams.insert("HDNG2RLL_IMAX", 500.0f); + onboardParams.insert("RLL2SRV_P", 0.4f); + onboardParams.insert("RLL2SRV_I", 0.0f); + onboardParams.insert("RLL2SRV_D", 0.0f); + onboardParams.insert("RLL2SRV_IMAX", 500.0f); // Comments on the variables can be found in the header file @@ -107,12 +117,12 @@ MAVLinkSimulationLink::~MAVLinkSimulationLink() void MAVLinkSimulationLink::run() { - status.mode = MAV_MODE_UNINIT; - status.status = MAV_STATE_UNINIT; - status.vbat = 0; - status.packet_drop = 0; - + status.voltage_battery = 0; + status.errors_comm = 0; + system.base_mode = MAV_MODE_PREFLIGHT; + system.custom_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_SAFETY_ARMED; + system.system_status = MAV_STATE_UNINIT; forever { @@ -208,14 +218,6 @@ void MAVLinkSimulationLink::mainloop() static int state = 0; if (state == 0) { - // BOOT - // Pack message and get size of encoded byte string - messageSize = mavlink_msg_boot_pack(systemId, componentId, &msg, version); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; state++; } @@ -318,7 +320,7 @@ void MAVLinkSimulationLink::mainloop() // ATTITUDE - attitude.usec = time; + attitude.time_boot_ms = time/1000; // Pack message and get size of encoded byte string mavlink_msg_attitude_encode(systemId, componentId, &msg, &attitude); // Allocate buffer with packet data @@ -328,7 +330,7 @@ void MAVLinkSimulationLink::mainloop() streampointer += bufferlength; // IMU - rawImuValues.usec = time; + rawImuValues.time_usec = time; rawImuValues.xmag = 0; rawImuValues.ymag = 0; rawImuValues.zmag = 0; @@ -385,14 +387,14 @@ void MAVLinkSimulationLink::mainloop() // Send back new setpoint mavlink_message_t ret; - mavlink_msg_local_position_setpoint_pack(systemId, componentId, &ret, spX, spY, spZ, spYaw); + mavlink_msg_local_position_setpoint_pack(systemId, componentId, &ret, MAV_FRAME_LOCAL_NED, spX, spY, spZ, spYaw); // spYaw/180.0*M_PI); bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); //add data into datastream memcpy(stream+streampointer,buffer, bufferlength); streampointer += bufferlength; // Send back new position - mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), xSpeed, ySpeed, zSpeed); + mavlink_msg_local_position_ned_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), xSpeed, ySpeed, zSpeed); bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); //add data into datastream memcpy(stream+streampointer,buffer, bufferlength); @@ -406,7 +408,7 @@ void MAVLinkSimulationLink::mainloop() // streampointer += bufferlength; // GLOBAL POSITION - mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed, ySpeed, zSpeed); + mavlink_msg_global_position_int_pack(systemId, componentId, &ret, 0, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, (z+550.0)*1000.0-1, xSpeed, ySpeed, zSpeed, yaw); bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); //add data into datastream memcpy(stream+streampointer,buffer, bufferlength); @@ -434,6 +436,8 @@ void MAVLinkSimulationLink::mainloop() static int rcCounter = 0; if (rcCounter == 2) { mavlink_rc_channels_raw_t chan; + chan.time_boot_ms = 0; + chan.port = 0; chan.chan1_raw = 1000 + ((int)(fabs(x) * 1000) % 2000); chan.chan2_raw = 1000 + ((int)(fabs(y) * 1000) % 2000); chan.chan3_raw = 1000 + ((int)(fabs(z) * 1000) % 2000); @@ -460,7 +464,7 @@ void MAVLinkSimulationLink::mainloop() // STATE static int statusCounter = 0; if (statusCounter == 100) { - status.mode = (status.mode + 1) % MAV_MODE_TEST3; + system.base_mode = (system.base_mode + 1) % MAV_MODE_ENUM_END; statusCounter = 0; } statusCounter++; @@ -509,7 +513,7 @@ void MAVLinkSimulationLink::mainloop() } detectionCounter++; - status.vbat = voltage * 1000; // millivolts + status.voltage_battery = voltage * 1000; // millivolts status.load = 33 * detectionCounter % 1000; // Pack message and get size of encoded byte string @@ -542,17 +546,21 @@ void MAVLinkSimulationLink::mainloop() static int typeCounter = 0; uint8_t mavType; - if (typeCounter < 10) { - mavType = MAV_QUADROTOR; - } else { - mavType = typeCounter % (OCU); + if (typeCounter < 10) + { + mavType = MAV_TYPE_QUADROTOR; + } + else + { + mavType = typeCounter % (MAV_TYPE_GCS); } typeCounter++; // Pack message and get size of encoded byte string - messageSize = mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_AUTOPILOT_PIXHAWK); + messageSize = mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_AUTOPILOT_PIXHAWK, system.base_mode, system.custom_mode, system.system_status); // Allocate buffer with packet data bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); + //qDebug() << "CRC:" << msg.ck_a << msg.ck_b; //add data into datastream memcpy(stream+streampointer,buffer, bufferlength); streampointer += bufferlength; @@ -560,20 +568,6 @@ void MAVLinkSimulationLink::mainloop() // Send controller states - -#ifdef MAVLINK_ENABLED_PIXHAWK - uint8_t attControl = 1; - uint8_t posXYControl = 1; - uint8_t posZControl = 0; - uint8_t posYawControl = 1; - - uint8_t gpsLock = 2; - uint8_t visLock = 3; - uint8_t ahrsHealth = 200; - uint8_t posLock = qMax(gpsLock, visLock); - messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, ahrsHealth, attControl, posXYControl, posZControl, posYawControl); -#endif - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); memcpy(stream+streampointer, buffer, bufferlength); streampointer += bufferlength; @@ -602,10 +596,11 @@ void MAVLinkSimulationLink::mainloop() // STATUS VEHICLE 2 mavlink_sys_status_t status2; - status2.mode = MAV_MODE_LOCKED; - status2.vbat = voltage; + mavlink_heartbeat_t system2; + system2.base_mode = MAV_MODE_PREFLIGHT; + status2.voltage_battery = voltage; status2.load = 120; - status2.status = MAV_STATE_STANDBY; + system2.system_status = MAV_STATE_STANDBY; // Pack message and get size of encoded byte string messageSize = mavlink_msg_sys_status_encode(54, componentId, &msg, &status); @@ -675,8 +670,10 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) // Output all bytes as hex digits int i; - for (i=0; iid, data[i], &msg, &comm)) { + for (i=0; iid, data[i], &msg, &comm)) + { // MESSAGE RECEIVED! qDebug() << "SIMULATION LINK RECEIVED MESSAGE!"; emit messageReceived(msg); @@ -687,12 +684,12 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) mavlink_set_mode_t mode; mavlink_msg_set_mode_decode(&msg, &mode); // Set mode indepent of mode.target - status.mode = mode.mode; + system.base_mode = mode.base_mode; } break; - case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET: { - mavlink_local_position_setpoint_set_t set; - mavlink_msg_local_position_setpoint_set_decode(&msg, &set); + case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: { + mavlink_set_local_position_setpoint_t set; + mavlink_msg_set_local_position_setpoint_decode(&msg, &set); spX = set.x; spY = set.y; spZ = set.z; @@ -700,7 +697,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) // Send back new setpoint mavlink_message_t ret; - mavlink_msg_local_position_setpoint_pack(systemId, componentId, &ret, spX, spY, spZ, spYaw); + mavlink_msg_local_position_setpoint_pack(systemId, componentId, &ret, MAV_FRAME_LOCAL_NED, spX, spY, spZ, spYaw); bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); //add data into datastream memcpy(stream+streampointer,buffer, bufferlength); @@ -708,37 +705,38 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) } break; // EXECUTE OPERATOR ACTIONS - case MAVLINK_MSG_ID_ACTION: { - mavlink_action_t action; - mavlink_msg_action_decode(&msg, &action); - - qDebug() << "SIM" << "received action" << action.action << "for system" << action.target; - - switch (action.action) { - case MAV_ACTION_LAUNCH: - status.status = MAV_STATE_ACTIVE; - status.mode = MAV_MODE_AUTO; - break; - case MAV_ACTION_RETURN: - status.status = MAV_STATE_ACTIVE; - break; - case MAV_ACTION_MOTORS_START: - status.status = MAV_STATE_ACTIVE; - status.mode = MAV_MODE_LOCKED; - break; - case MAV_ACTION_MOTORS_STOP: - status.status = MAV_STATE_STANDBY; - status.mode = MAV_MODE_LOCKED; - break; - case MAV_ACTION_EMCY_KILL: - status.status = MAV_STATE_EMERGENCY; - status.mode = MAV_MODE_MANUAL; - break; - case MAV_ACTION_SHUTDOWN: - status.status = MAV_STATE_POWEROFF; - status.mode = MAV_MODE_LOCKED; - break; - } + case MAVLINK_MSG_ID_COMMAND_SHORT: { + mavlink_command_short_t action; + mavlink_msg_command_short_decode(&msg, &action); + + qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system; + + // FIXME MAVLINKV10PORTINGNEEDED +// switch (action.action) { +// case MAV_ACTION_LAUNCH: +// status.status = MAV_STATE_ACTIVE; +// status.mode = MAV_MODE_AUTO; +// break; +// case MAV_ACTION_RETURN: +// status.status = MAV_STATE_ACTIVE; +// break; +// case MAV_ACTION_MOTORS_START: +// status.status = MAV_STATE_ACTIVE; +// status.mode = MAV_MODE_LOCKED; +// break; +// case MAV_ACTION_MOTORS_STOP: +// status.status = MAV_STATE_STANDBY; +// status.mode = MAV_MODE_LOCKED; +// break; +// case MAV_ACTION_EMCY_KILL: +// status.status = MAV_STATE_EMERGENCY; +// status.mode = MAV_MODE_MANUAL; +// break; +// case MAV_ACTION_SHUTDOWN: +// status.status = MAV_STATE_POWEROFF; +// status.mode = MAV_MODE_LOCKED; +// break; +// } } break; #ifdef MAVLINK_ENABLED_PIXHAWK @@ -763,7 +761,7 @@ 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, (int8_t*)i.key().toStdString().c_str(), i.value(), 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 @@ -791,7 +789,7 @@ 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, (int8_t*)key.toStdString().c_str(), set.param_value, 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 @@ -812,7 +810,7 @@ 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, (int8_t*)key.toStdString().c_str(), paramValue, 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 @@ -824,7 +822,7 @@ 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, (int8_t*)key.toStdString().c_str(), paramValue, 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 @@ -850,7 +848,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) readyBufferMutex.unlock(); // Update comm status - status.packet_drop = comm.packet_rx_drop_count; + status.errors_comm = comm.packet_rx_drop_count; } diff --git a/src/comm/MAVLinkSimulationLink.h b/src/comm/MAVLinkSimulationLink.h index e4c541e31102fc1525b3a6087038069a58241abf..5ac86fabb6e59d06157b366bbfe7a6b2dcd1f0a1 100644 --- a/src/comm/MAVLinkSimulationLink.h +++ b/src/comm/MAVLinkSimulationLink.h @@ -128,6 +128,7 @@ protected: QString name; qint64 timeOffset; mavlink_sys_status_t status; + mavlink_heartbeat_t system; QMap onboardParams; void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg); diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc index ea03225e9271d96734957f90a77b3e6871340904..27a9d136805251676e8677682291e3763b76bbab 100644 --- a/src/comm/MAVLinkSimulationMAV.cc +++ b/src/comm/MAVLinkSimulationMAV.cc @@ -21,6 +21,9 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy roll(0.0), pitch(0.0), yaw(0.0), + rollspeed(0.0), + pitchspeed(0.0), + yawspeed(0.0), globalNavigation(true), firstWP(false), // previousSPX(8.548056), @@ -38,9 +41,9 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy nextSPY(122.282883), nextSPZ(550), nextSPYaw(0.0), - sys_mode(MAV_MODE_READY), + sys_mode(MAV_MODE_PREFLIGHT), sys_state(MAV_STATE_STANDBY), - nav_mode(MAV_NAV_GROUNDED), + nav_mode(0), flying(false), mavlink_version(version) { @@ -61,18 +64,19 @@ void MAVLinkSimulationMAV::mainloop() if (flying) { sys_state = MAV_STATE_ACTIVE; - sys_mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_WAYPOINT; + sys_mode = MAV_MODE_AUTO_ARMED; + nav_mode = 0; } // 1 Hz execution if (timer1Hz <= 0) { mavlink_message_t msg; - mavlink_msg_heartbeat_pack_version_free(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, mavlink_version); + mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE); link->sendMAVLinkMessage(&msg); planner.handleMessage(msg); mavlink_servo_output_raw_t servos; + servos.time_usec = 0; servos.servo1_raw = 1000; servos.servo2_raw = 1250; servos.servo3_raw = 1400; @@ -97,42 +101,50 @@ void MAVLinkSimulationMAV::mainloop() float zsign = (zm < 0) ? -1.0f : 1.0f; - if (!firstWP) { - //float trueyaw = atan2f(xm, ym); + if (!(sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL)) + { + if (!firstWP) { + //float trueyaw = atan2f(xm, ym); - float newYaw = atan2f(ym, xm); + float newYaw = atan2f(ym, xm); - if (fabs(yaw - newYaw) < 90) { - yaw = yaw*0.7 + 0.3*newYaw; - } else { - yaw = newYaw; - } + if (fabs(yaw - newYaw) < 90) { + yaw = yaw*0.7 + 0.3*newYaw; + } else { + yaw = newYaw; + } + + //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw; - //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw; + //if (sqrt(xm*xm+ym*ym) > 0.0000001) + if (flying) { + x += cos(yaw)*radPer100ms; + y += sin(yaw)*radPer100ms; + z += altPer100ms*zsign; + } - //if (sqrt(xm*xm+ym*ym) > 0.0000001) - if (flying) { - x += cos(yaw)*radPer100ms; - y += sin(yaw)*radPer100ms; - z += altPer100ms*zsign; + //if (xm < 0.001) xm + } else { + x = nextSPX; + y = nextSPY; + z = nextSPZ; + firstWP = false; + qDebug() << "INIT STEP"; } + } + else + { + // FIXME Implement heading and altitude controller - //if (xm < 0.001) xm - } else { - x = nextSPX; - y = nextSPY; - z = nextSPZ; - firstWP = false; - qDebug() << "INIT STEP"; } // GLOBAL POSITION mavlink_message_t msg; mavlink_global_position_int_t pos; - pos.alt = z*1000.0; - pos.lat = x*1E7; - pos.lon = y*1E7; + pos.alt = altitude*1000.0; + pos.lat = longitude*1E7; + pos.lon = longitude*1E7; pos.vx = sin(yaw)*10.0f*100.0f; pos.vy = 0; pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f; @@ -142,13 +154,13 @@ void MAVLinkSimulationMAV::mainloop() // ATTITUDE mavlink_attitude_t attitude; - attitude.usec = 0; - attitude.roll = 0.0f; - attitude.pitch = 0.0f; + attitude.time_boot_ms = 0; + attitude.roll = roll; + attitude.pitch = pitch; attitude.yaw = yaw; - attitude.rollspeed = 0.0f; - attitude.pitchspeed = 0.0f; - attitude.yawspeed = 0.0f; + attitude.rollspeed = rollspeed; + attitude.pitchspeed = pitchspeed; + attitude.yawspeed = yawspeed; mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude); link->sendMAVLinkMessage(&msg); @@ -156,12 +168,12 @@ void MAVLinkSimulationMAV::mainloop() // SYSTEM STATUS mavlink_sys_status_t status; status.load = 300; - status.mode = sys_mode; - status.nav_mode = nav_mode; - status.packet_drop = 0; - status.vbat = 10500; - status.status = sys_state; - status.battery_remaining = 912; + // status.mode = sys_mode; + // status.nav_mode = nav_mode; + status.errors_comm = 0; + status.voltage_battery = 10500; + // status.status = sys_state; + status.battery_remaining = 90; mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status); link->sendMAVLinkMessage(&msg); timer10Hz = 5; @@ -170,7 +182,7 @@ void MAVLinkSimulationMAV::mainloop() mavlink_vfr_hud_t hud; hud.airspeed = pos.vx/100.0f; hud.groundspeed = pos.vx/100.0f; - hud.alt = z; + hud.alt = altitude; hud.heading = static_cast((yaw/M_PI)*180.0f+180.0f) % 360; hud.climb = pos.vz/100.0f; hud.throttle = 90; @@ -196,7 +208,7 @@ void MAVLinkSimulationMAV::mainloop() pressure.press_diff1 = 2000; pressure.press_diff2 = 5000; pressure.temperature = 18150; // 18.15 deg Celsius - pressure.usec = 0; // Works also with zero timestamp + pressure.time_usec = 0; // Works also with zero timestamp mavlink_msg_raw_pressure_encode(systemid, MAV_COMP_ID_IMU, &msg, &pressure); link->sendMAVLinkMessage(&msg); } @@ -206,30 +218,28 @@ void MAVLinkSimulationMAV::mainloop() // The message container to be used for sending mavlink_message_t ret; -#ifdef MAVLINK_ENABLED_PIXHAWK - // Send which controllers are active - mavlink_control_status_t control_status; - control_status.control_att = 1; - control_status.control_pos_xy = 1; - control_status.control_pos_yaw = 1; - control_status.control_pos_z = 1; - control_status.gps_fix = 2; // 2D GPS fix - control_status.position_fix = 3; // 3D fix from GPS + barometric pressure - control_status.vision_fix = 0; // no fix from vision system - control_status.ahrs_health = 230; - mavlink_msg_control_status_encode(systemid, MAV_COMP_ID_IMU, &ret, &control_status); - link->sendMAVLinkMessage(&ret); -#endif //MAVLINK_ENABLED_PIXHAWK + if (sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL) + { + mavlink_hil_controls_t hil; + hil.roll_ailerons = 0.0; + hil.pitch_elevator = 0.05; + hil.yaw_rudder = 0.05; + hil.throttle = 0.6; + // Encode the data (adding header and checksums, etc.) + mavlink_msg_hil_controls_encode(systemid, MAV_COMP_ID_IMU, &ret, &hil); + // And send it + link->sendMAVLinkMessage(&ret); + } // Send actual controller outputs // This message just shows the direction // and magnitude of the control output -// mavlink_position_controller_output_t pos; -// pos.x = sin(yaw)*127.0f; -// pos.y = cos(yaw)*127.0f; -// pos.z = 0; -// mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos); -// link->sendMAVLinkMessage(&ret); + // mavlink_position_controller_output_t pos; + // pos.x = sin(yaw)*127.0f; + // pos.y = cos(yaw)*127.0f; + // pos.z = 0; + // mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos); + // link->sendMAVLinkMessage(&ret); // Send a named value with name "FLOAT" and 0.5f as value @@ -293,9 +303,99 @@ void MAVLinkSimulationMAV::mainloop() timer25Hz--; } +static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS]; + +static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS; +static unsigned error_count; + +static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO; + +static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx) +{ +#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def) + switch (f->type) { + case MAVLINK_TYPE_CHAR: + qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1)); + break; + case MAVLINK_TYPE_UINT8_T: + qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1)); + break; + case MAVLINK_TYPE_INT8_T: + qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1)); + break; + case MAVLINK_TYPE_UINT16_T: + qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2)); + break; + case MAVLINK_TYPE_INT16_T: + qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2)); + break; + case MAVLINK_TYPE_UINT32_T: + qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4)); + break; + case MAVLINK_TYPE_INT32_T: + qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4)); + break; + case MAVLINK_TYPE_UINT64_T: + qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8)); + break; + case MAVLINK_TYPE_INT64_T: + qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8)); + break; + case MAVLINK_TYPE_FLOAT: + qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4)); + break; + case MAVLINK_TYPE_DOUBLE: + qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8)); + break; + } +} + +static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f) +{ + qDebug("%s: ", f->name); + if (f->array_length == 0) { + print_one_field(msg, f, 0); + qDebug(" "); + } else { + unsigned i; + /* print an array */ + if (f->type == MAVLINK_TYPE_CHAR) { + qDebug("'%.*s'", f->array_length, + f->wire_offset+(const char *)_MAV_PAYLOAD(msg)); + + } else { + qDebug("[ "); + for (i=0; iarray_length; i++) { + print_one_field(msg, f, i); + if (i < f->array_length) { + qDebug(", "); + } + } + qDebug("]"); + } + } + qDebug(" "); +} + +static void print_message(const mavlink_message_t *msg) +{ + const mavlink_message_info_t *m = &message_info[msg->msgid]; + const mavlink_field_info_t *f = m->fields; + unsigned i; + qDebug("%s { ", m->name); + for (i=0; inum_fields; i++) { + print_field(msg, &f[i]); + } + qDebug("}\n"); +} + void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg) { - //qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid; + if (msg.sysid != systemid) + { + print_message(&msg); + qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid; + } switch(msg.msgid) { case MAVLINK_MSG_ID_ATTITUDE: @@ -303,39 +403,55 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg) case MAVLINK_MSG_ID_SET_MODE: { mavlink_set_mode_t mode; mavlink_msg_set_mode_decode(&msg, &mode); - if (systemid == mode.target) sys_mode = mode.mode; + if (systemid == mode.target_system) sys_mode = mode.base_mode; } break; - case MAVLINK_MSG_ID_ACTION: { - mavlink_action_t action; - mavlink_msg_action_decode(&msg, &action); - if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) { - mavlink_action_ack_t ack; - ack.action = action.action; - switch (action.action) { - case MAV_ACTION_TAKEOFF: - flying = true; - nav_mode = MAV_NAV_LIFTOFF; - ack.result = 1; - break; - default: { - ack.result = 0; - } - break; - } - - // Give feedback about action - mavlink_message_t r_msg; - mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack); - link->sendMAVLinkMessage(&r_msg); - } + case MAVLINK_MSG_ID_HIL_STATE: + { + mavlink_hil_state_t state; + mavlink_msg_hil_state_decode(&msg, &state); + roll = state.roll; + pitch = state.pitch; + yaw = state.yaw; + rollspeed = state.rollspeed; + pitchspeed = state.pitchspeed; + yawspeed = state.yawspeed; + latitude = state.lat; + longitude = state.lon; + altitude = state.alt; } break; - case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET: { - mavlink_local_position_setpoint_set_t sp; - mavlink_msg_local_position_setpoint_set_decode(&msg, &sp); + // FIXME MAVLINKV10PORTINGNEEDED + // case MAVLINK_MSG_ID_ACTION: { + // mavlink_action_t action; + // mavlink_msg_action_decode(&msg, &action); + // if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) { + // mavlink_action_ack_t ack; + // ack.action = action.action; + //// switch (action.action) { + //// case MAV_ACTION_TAKEOFF: + //// flying = true; + //// nav_mode = MAV_NAV_LIFTOFF; + //// ack.result = 1; + //// break; + //// default: { + //// ack.result = 0; + //// } + //// break; + //// } + + // // Give feedback about action + // mavlink_message_t r_msg; + // mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack); + // link->sendMAVLinkMessage(&r_msg); + // } + // } + break; + case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: { + mavlink_set_local_position_setpoint_t sp; + mavlink_msg_set_local_position_setpoint_decode(&msg, &sp); if (sp.target_system == this->systemid) { - nav_mode = MAV_NAV_WAYPOINT; + nav_mode = 0; previousSPX = nextSPX; previousSPY = nextSPY; previousSPZ = nextSPZ; diff --git a/src/comm/MAVLinkSimulationMAV.h b/src/comm/MAVLinkSimulationMAV.h index 4f24eb7c52771434a9b9aff1cbe16d48c3679085..3b7bea63e3fcb4ffa62e8d4d94f716aae8e57cff 100644 --- a/src/comm/MAVLinkSimulationMAV.h +++ b/src/comm/MAVLinkSimulationMAV.h @@ -36,6 +36,9 @@ protected: double roll; double pitch; double yaw; + double rollspeed; + double pitchspeed; + double yawspeed; bool globalNavigation; bool firstWP; @@ -55,16 +58,17 @@ protected: bool flying; int mavlink_version; - static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + // FIXME MAVLINKV10PORTINGNEEDED +// static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) { +// uint16_t i = 0; +// msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; - i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version +// i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) +// i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM +// i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version - return mavlink_finalize_message(msg, system_id, component_id, i); - } +// return mavlink_finalize_message(msg, system_id, component_id, i); +// } }; diff --git a/src/comm/MAVLinkSimulationWaypointPlanner.cc b/src/comm/MAVLinkSimulationWaypointPlanner.cc index 55b87625582a78b0da151ae2a1832f6ea1ae7d6c..e1b794a3583807f788106b55427a5afe2bc373c7 100644 --- a/src/comm/MAVLinkSimulationWaypointPlanner.cc +++ b/src/comm/MAVLinkSimulationWaypointPlanner.cc @@ -449,8 +449,8 @@ MAVLinkSimulationWaypointPlanner::MAVLinkSimulationWaypointPlanner(MAVLinkSimula protocol_timeout(1000), timestamp_last_send_setpoint(0), systemid(sysid), - compid(MAV_COMP_ID_WAYPOINTPLANNER), - setpointDelay(1000), + compid(MAV_COMP_ID_MISSIONPLANNER), + setpointDelay(10), yawTolerance(0.4f), verbose(true), debug(false), @@ -468,13 +468,13 @@ MAVLinkSimulationWaypointPlanner::MAVLinkSimulationWaypointPlanner(MAVLinkSimula void MAVLinkSimulationWaypointPlanner::send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type) { mavlink_message_t msg; - mavlink_waypoint_ack_t wpa; + mavlink_mission_ack_t wpa; wpa.target_system = target_systemid; wpa.target_component = target_compid; wpa.type = type; - mavlink_msg_waypoint_ack_encode(systemid, compid, &msg, &wpa); + mavlink_msg_mission_ack_encode(systemid, compid, &msg, &wpa); link->sendMAVLinkMessage(&msg); @@ -494,14 +494,14 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint_ack(uint8_t target_systemid void MAVLinkSimulationWaypointPlanner::send_waypoint_current(uint16_t seq) { if(seq < waypoints->size()) { - mavlink_waypoint_t *cur = waypoints->at(seq); + mavlink_mission_item_t *cur = waypoints->at(seq); mavlink_message_t msg; - mavlink_waypoint_current_t wpc; + mavlink_mission_current_t wpc; wpc.seq = cur->seq; - mavlink_msg_waypoint_current_encode(systemid, compid, &msg, &wpc); + mavlink_msg_mission_current_encode(systemid, compid, &msg, &wpc); link->sendMAVLinkMessage(&msg); @@ -521,10 +521,10 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint_current(uint16_t seq) void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq) { if(seq < waypoints->size()) { - mavlink_waypoint_t *cur = waypoints->at(seq); + mavlink_mission_item_t *cur = waypoints->at(seq); mavlink_message_t msg; - mavlink_local_position_setpoint_set_t PControlSetPoint; + mavlink_set_local_position_setpoint_t PControlSetPoint; // send new set point to local IMU if (cur->frame == 1) { @@ -535,7 +535,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq) PControlSetPoint.z = cur->z; PControlSetPoint.yaw = cur->param4; - mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint); + mavlink_msg_set_local_position_setpoint_encode(systemid, compid, &msg, &PControlSetPoint); link->sendMAVLinkMessage(&msg); @@ -548,7 +548,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq) PControlSetPoint.z = cur->z; PControlSetPoint.yaw = cur->param4; - mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint); + mavlink_msg_set_local_position_setpoint_encode(systemid, compid, &msg, &PControlSetPoint); link->sendMAVLinkMessage(&msg); emit messageSent(msg); } @@ -561,13 +561,13 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq) void MAVLinkSimulationWaypointPlanner::send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count) { mavlink_message_t msg; - mavlink_waypoint_count_t wpc; + mavlink_mission_count_t wpc; wpc.target_system = target_systemid; wpc.target_component = target_compid; wpc.count = count; - mavlink_msg_waypoint_count_encode(systemid, compid, &msg, &wpc); + mavlink_msg_mission_count_encode(systemid, compid, &msg, &wpc); link->sendMAVLinkMessage(&msg); if (verbose) qDebug("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); @@ -579,13 +579,13 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, ui { if (seq < waypoints->size()) { mavlink_message_t msg; - mavlink_waypoint_t *wp = waypoints->at(seq); + mavlink_mission_item_t *wp = waypoints->at(seq); wp->target_system = target_systemid; wp->target_component = target_compid; if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->command, wp->param3, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue); - mavlink_msg_waypoint_encode(systemid, compid, &msg, wp); + mavlink_msg_mission_item_encode(systemid, compid, &msg, wp); link->sendMAVLinkMessage(&msg); if (verbose) qDebug("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); @@ -598,11 +598,11 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, ui void MAVLinkSimulationWaypointPlanner::send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq) { mavlink_message_t msg; - mavlink_waypoint_request_t wpr; + mavlink_mission_request_t wpr; wpr.target_system = target_systemid; wpr.target_component = target_compid; wpr.seq = seq; - mavlink_msg_waypoint_request_encode(systemid, compid, &msg, &wpr); + mavlink_msg_mission_request_encode(systemid, compid, &msg, &wpr); link->sendMAVLinkMessage(&msg); if (verbose) qDebug("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); @@ -619,11 +619,11 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint_request(uint8_t target_syst void MAVLinkSimulationWaypointPlanner::send_waypoint_reached(uint16_t seq) { mavlink_message_t msg; - mavlink_waypoint_reached_t wp_reached; + mavlink_mission_item_reached_t wp_reached; wp_reached.seq = seq; - mavlink_msg_waypoint_reached_encode(systemid, compid, &msg, &wp_reached); + mavlink_msg_mission_item_reached_encode(systemid, compid, &msg, &wp_reached); link->sendMAVLinkMessage(&msg); if (verbose) qDebug("Sent waypoint %u reached message\n", wp_reached.seq); @@ -634,14 +634,14 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint_reached(uint16_t seq) float MAVLinkSimulationWaypointPlanner::distanceToSegment(uint16_t seq, float x, float y, float z) { if (seq < waypoints->size()) { - mavlink_waypoint_t *cur = waypoints->at(seq); + mavlink_mission_item_t *cur = waypoints->at(seq); const PxVector3 A(cur->x, cur->y, cur->z); const PxVector3 C(x, y, z); // seq not the second last waypoint if ((uint16_t)(seq+1) < waypoints->size()) { - mavlink_waypoint_t *next = waypoints->at(seq+1); + mavlink_mission_item_t *next = waypoints->at(seq+1); const PxVector3 B(next->x, next->y, next->z); const float r = (B-A).dot(C-A) / (B-A).lengthSquared(); if (r >= 0 && r <= 1) { @@ -662,7 +662,7 @@ float MAVLinkSimulationWaypointPlanner::distanceToSegment(uint16_t seq, float x, float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y, float z) { if (seq < waypoints->size()) { - mavlink_waypoint_t *cur = waypoints->at(seq); + mavlink_mission_item_t *cur = waypoints->at(seq); const PxVector3 A(cur->x, cur->y, cur->z); const PxVector3 C(x, y, z); @@ -675,7 +675,7 @@ float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, f float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y) { if (seq < waypoints->size()) { - mavlink_waypoint_t *cur = waypoints->at(seq); + mavlink_mission_item_t *cur = waypoints->at(seq); const PxVector3 A(cur->x, cur->y, 0); const PxVector3 C(x, y, 0); @@ -720,7 +720,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* switch(msg->msgid) { case MAVLINK_MSG_ID_ATTITUDE: { if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) { - mavlink_waypoint_t *wp = waypoints->at(current_active_wp_id); + mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id); if(wp->frame == 1) { mavlink_attitude_t att; mavlink_msg_attitude_decode(msg, &att); @@ -747,13 +747,13 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* break; } - case MAVLINK_MSG_ID_LOCAL_POSITION: { + case MAVLINK_MSG_ID_LOCAL_POSITION_NED: { if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) { - mavlink_waypoint_t *wp = waypoints->at(current_active_wp_id); + mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id); if(wp->frame == 1) { - mavlink_local_position_t pos; - mavlink_msg_local_position_decode(msg, &pos); + mavlink_local_position_ned_t pos; + mavlink_msg_local_position_ned_decode(msg, &pos); //qDebug() << "Received new position: x:" << pos.x << "| y:" << pos.y << "| z:" << pos.z; posReached = false; @@ -778,7 +778,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) { - mavlink_waypoint_t *wp = waypoints->at(current_active_wp_id); + mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id); if(wp->frame == 0) { mavlink_global_position_int_t pos; @@ -815,11 +815,12 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* break; } - case MAVLINK_MSG_ID_ACTION: { // special action from ground station - mavlink_action_t action; - mavlink_msg_action_decode(msg, &action); - if(action.target == systemid) { - if (verbose) qDebug("Waypoint: received message with action %d\n", action.action); + case MAVLINK_MSG_ID_COMMAND_SHORT: + { // special action from ground station + mavlink_command_short_t action; + mavlink_msg_command_short_decode(msg, &action); + if(action.target_system == systemid) { + if (verbose) qDebug("Waypoint: received message with action %d\n", action.command); // switch (action.action) { // case MAV_ACTION_LAUNCH: // if (verbose) std::cerr << "Launch received" << std::endl; @@ -852,9 +853,9 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* break; } - case MAVLINK_MSG_ID_WAYPOINT_ACK: { - mavlink_waypoint_ack_t wpa; - mavlink_msg_waypoint_ack_decode(msg, &wpa); + case MAVLINK_MSG_ID_MISSION_ACK: { + mavlink_mission_ack_t wpa; + mavlink_msg_mission_ack_decode(msg, &wpa); if((msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && (wpa.target_system == systemid && wpa.target_component == compid)) { protocol_timestamp_lastaction = now; @@ -870,16 +871,16 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* break; } - case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: { - mavlink_waypoint_set_current_t wpc; - mavlink_msg_waypoint_set_current_decode(msg, &wpc); + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { + mavlink_mission_set_current_t wpc; + mavlink_msg_mission_set_current_decode(msg, &wpc); if(wpc.target_system == systemid && wpc.target_component == compid) { protocol_timestamp_lastaction = now; if (current_state == PX_WPP_IDLE) { if (wpc.seq < waypoints->size()) { - if (verbose) qDebug("Received MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT\n"); + if (verbose) qDebug("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); current_active_wp_id = wpc.seq; uint32_t i; for(i = 0; i < waypoints->size(); i++) { @@ -896,7 +897,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* send_setpoint(current_active_wp_id); timestamp_firstinside_orbit = 0; } else { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: Index out of bounds\n"); + if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n"); } } } else { @@ -905,45 +906,45 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* break; } - case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: { - mavlink_waypoint_request_list_t wprl; - mavlink_msg_waypoint_request_list_decode(msg, &wprl); + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { + mavlink_mission_request_list_t wprl; + mavlink_msg_mission_request_list_decode(msg, &wprl); if(wprl.target_system == systemid && wprl.target_component == compid) { protocol_timestamp_lastaction = now; if (current_state == PX_WPP_IDLE || current_state == PX_WPP_SENDLIST) { if (waypoints->size() > 0) { - if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST from %u changing state to PX_WPP_SENDLIST\n", msg->sysid); - if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST again from %u staying in state PX_WPP_SENDLIST\n", msg->sysid); + if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to PX_WPP_SENDLIST\n", msg->sysid); + if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state PX_WPP_SENDLIST\n", msg->sysid); current_state = PX_WPP_SENDLIST; protocol_current_wp_id = 0; protocol_current_partner_systemid = msg->sysid; protocol_current_partner_compid = msg->compid; } else { - if (verbose) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); + if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); } protocol_current_count = waypoints->size(); send_waypoint_count(msg->sysid,msg->compid, protocol_current_count); } else { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST because i'm doing something else already (state=%i).\n", current_state); + if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", current_state); } } else { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST because not my systemid or compid.\n"); + if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because not my systemid or compid.\n"); } break; } - case MAVLINK_MSG_ID_WAYPOINT_REQUEST: { - mavlink_waypoint_request_t wpr; - mavlink_msg_waypoint_request_decode(msg, &wpr); + case MAVLINK_MSG_ID_MISSION_REQUEST: { + mavlink_mission_request_t wpr; + mavlink_msg_mission_request_decode(msg, &wpr); if(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid && wpr.target_system == systemid && wpr.target_component == compid) { protocol_timestamp_lastaction = now; //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) if ((current_state == PX_WPP_SENDLIST && wpr.seq == 0) || (current_state == PX_WPP_SENDLIST_SENDWPS && (wpr.seq == protocol_current_wp_id || wpr.seq == protocol_current_wp_id + 1) && wpr.seq < waypoints->size())) { - if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u changing state to PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id + 1) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u (again) from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id + 1) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); current_state = PX_WPP_SENDLIST_SENDWPS; protocol_current_wp_id = wpr.seq; @@ -951,35 +952,35 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* } else { if (verbose) { if (!(current_state == PX_WPP_SENDLIST || current_state == PX_WPP_SENDLIST_SENDWPS)) { - qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because i'm doing something else already (state=%i).\n", current_state); + qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", current_state); break; } else if (current_state == PX_WPP_SENDLIST) { - if (wpr.seq != 0) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); + if (wpr.seq != 0) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); } else if (current_state == PX_WPP_SENDLIST_SENDWPS) { - if (wpr.seq != protocol_current_wp_id && wpr.seq != protocol_current_wp_id + 1) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, protocol_current_wp_id, protocol_current_wp_id+1); - else if (wpr.seq >= waypoints->size()) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); - } else qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST - FIXME: missed error description\n"); + if (wpr.seq != protocol_current_wp_id && wpr.seq != protocol_current_wp_id + 1) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, protocol_current_wp_id, protocol_current_wp_id+1); + else if (wpr.seq >= waypoints->size()) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); + } else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); } } } else { //we we're target but already communicating with someone else if((wpr.target_system == systemid && wpr.target_component == compid) && !(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid)) { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, protocol_current_partner_systemid); + if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, protocol_current_partner_systemid); } } break; } - case MAVLINK_MSG_ID_WAYPOINT_COUNT: { - mavlink_waypoint_count_t wpc; - mavlink_msg_waypoint_count_decode(msg, &wpc); + case MAVLINK_MSG_ID_MISSION_COUNT: { + mavlink_mission_count_t wpc; + mavlink_msg_mission_count_decode(msg, &wpc); if(wpc.target_system == systemid && wpc.target_component == compid) { protocol_timestamp_lastaction = now; if (current_state == PX_WPP_IDLE || (current_state == PX_WPP_GETLIST && protocol_current_wp_id == 0)) { if (wpc.count > 0) { - if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) from %u changing state to PX_WPP_GETLIST\n", wpc.count, msg->sysid); - if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) again from %u\n", wpc.count, msg->sysid); + if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_MISSION_COUNT (%u) from %u changing state to PX_WPP_GETLIST\n", wpc.count, msg->sysid); + if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_COUNT (%u) again from %u\n", wpc.count, msg->sysid); current_state = PX_WPP_GETLIST; protocol_current_wp_id = 0; @@ -995,34 +996,34 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* send_waypoint_request(protocol_current_partner_systemid, protocol_current_partner_compid, protocol_current_wp_id); } else { - if (verbose) qDebug("Ignoring MAVLINK_MSG_ID_WAYPOINT_COUNT from %u with count of %u\n", msg->sysid, wpc.count); + if (verbose) qDebug("Ignoring MAVLINK_MSG_ID_MISSION_COUNT from %u with count of %u\n", msg->sysid, wpc.count); } } else { - if (verbose && !(current_state == PX_WPP_IDLE || current_state == PX_WPP_GETLIST)) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm doing something else already (state=%i).\n", current_state); - else if (verbose && current_state == PX_WPP_GETLIST && protocol_current_wp_id != 0) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm already receiving waypoint %u.\n", protocol_current_wp_id); - else qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT - FIXME: missed error description\n"); + if (verbose && !(current_state == PX_WPP_IDLE || current_state == PX_WPP_GETLIST)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT because i'm doing something else already (state=%i).\n", current_state); + else if (verbose && current_state == PX_WPP_GETLIST && protocol_current_wp_id != 0) qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT because i'm already receiving waypoint %u.\n", protocol_current_wp_id); + else qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT - FIXME: missed error description\n"); } } break; } - case MAVLINK_MSG_ID_WAYPOINT: { - mavlink_waypoint_t wp; - mavlink_msg_waypoint_decode(msg, &wp); + case MAVLINK_MSG_ID_MISSION_ITEM: { + mavlink_mission_item_t wp; + mavlink_msg_mission_item_decode(msg, &wp); if((msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && (wp.target_system == systemid && wp.target_component == compid)) { protocol_timestamp_lastaction = now; //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids if ((current_state == PX_WPP_GETLIST && wp.seq == 0) || (current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id && wp.seq < protocol_current_count)) { - if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_WAYPOINT %u from %u changing state to PX_WPP_GETLIST_GETWPS\n", wp.seq, msg->sysid); - if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_WAYPOINT %u from %u\n", wp.seq, msg->sysid); - if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq-1 == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_WAYPOINT %u (again) from %u\n", wp.seq, msg->sysid); + if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to PX_WPP_GETLIST_GETWPS\n", wp.seq, msg->sysid); + if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); + if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq-1 == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); current_state = PX_WPP_GETLIST_GETWPS; protocol_current_wp_id = wp.seq + 1; - mavlink_waypoint_t* newwp = new mavlink_waypoint_t; - memcpy(newwp, &wp, sizeof(mavlink_waypoint_t)); + mavlink_mission_item_t* newwp = new mavlink_mission_item_t; + memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); waypoints_receive_buffer->push_back(newwp); if(protocol_current_wp_id == protocol_current_count && current_state == PX_WPP_GETLIST_GETWPS) { @@ -1035,7 +1036,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* } // switch the waypoints list - std::vector* waypoints_temp = waypoints; + std::vector* waypoints_temp = waypoints; waypoints = waypoints_receive_buffer; waypoints_receive_buffer = waypoints_temp; @@ -1069,48 +1070,48 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* if (current_state == PX_WPP_IDLE) { //we're done receiving waypoints, answer with ack. send_waypoint_ack(protocol_current_partner_systemid, protocol_current_partner_compid, 0); - qDebug("Received MAVLINK_MSG_ID_WAYPOINT while state=PX_WPP_IDLE, answered with WAYPOINT_ACK.\n"); + qDebug("Received MAVLINK_MSG_ID_MISSION_ITEM while state=PX_WPP_IDLE, answered with WAYPOINT_ACK.\n"); } if (verbose) { if (!(current_state == PX_WPP_GETLIST || current_state == PX_WPP_GETLIST_GETWPS)) { - qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT %u because i'm doing something else already (state=%i).\n", wp.seq, current_state); + qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, current_state); break; } else if (current_state == PX_WPP_GETLIST) { - if(!(wp.seq == 0)) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT because the first waypoint ID (%u) was not 0.\n", wp.seq); - else qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq); + if(!(wp.seq == 0)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); + else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } else if (current_state == PX_WPP_GETLIST_GETWPS) { - if (!(wp.seq == protocol_current_wp_id)) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT because the waypoint ID (%u) was not the expected %u.\n", wp.seq, protocol_current_wp_id); - else if (!(wp.seq < protocol_current_count)) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT because the waypoint ID (%u) was out of bounds.\n", wp.seq); - else qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq); - } else qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq); + if (!(wp.seq == protocol_current_wp_id)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, protocol_current_wp_id); + else if (!(wp.seq < protocol_current_count)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); + else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); + } else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } } else { // We're target but already communicating with someone else if((wp.target_system == systemid && wp.target_component == compid) && !(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && current_state != PX_WPP_IDLE) { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, protocol_current_partner_systemid); + if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, protocol_current_partner_systemid); } else if(wp.target_system == systemid && wp.target_component == compid) { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); + if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); } } break; } - case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: { - mavlink_waypoint_clear_all_t wpca; - mavlink_msg_waypoint_clear_all_decode(msg, &wpca); + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { + mavlink_mission_clear_all_t wpca; + mavlink_msg_mission_clear_all_decode(msg, &wpca); if(wpca.target_system == systemid && wpca.target_component == compid && current_state == PX_WPP_IDLE) { protocol_timestamp_lastaction = now; - if (verbose) qDebug("Got MAVLINK_MSG_ID_WAYPOINT_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); + if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); while(waypoints->size() > 0) { delete waypoints->back(); waypoints->pop_back(); } current_active_wp_id = -1; } else if (wpca.target_system == systemid && wpca.target_component == compid && current_state != PX_WPP_IDLE) { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_WAYPOINT_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, current_state); + if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, current_state); } break; } @@ -1124,7 +1125,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* //check if the current waypoint was reached if ((posReached && /*yawReached &&*/ !idle)) { if (current_active_wp_id < waypoints->size()) { - mavlink_waypoint_t *cur_wp = waypoints->at(current_active_wp_id); + mavlink_mission_item_t *cur_wp = waypoints->at(current_active_wp_id); if (timestamp_firstinside_orbit == 0) { // Announce that last waypoint was reached diff --git a/src/comm/MAVLinkSimulationWaypointPlanner.h b/src/comm/MAVLinkSimulationWaypointPlanner.h index 18b7702ce06a32021e74b23a48ff9db18593eb00..03ba4490909b5c23a698466918348b77a5ff7c24 100644 --- a/src/comm/MAVLinkSimulationWaypointPlanner.h +++ b/src/comm/MAVLinkSimulationWaypointPlanner.h @@ -37,11 +37,11 @@ protected: uint64_t timestamp_lastoutside_orbit;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value uint64_t timestamp_firstinside_orbit;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value - std::vector waypoints1; ///< vector1 that holds the waypoints - std::vector waypoints2; ///< vector2 that holds the waypoints + std::vector waypoints1; ///< vector1 that holds the waypoints + std::vector waypoints2; ///< vector2 that holds the waypoints - std::vector* waypoints; ///< pointer to the currently active waypoint vector - std::vector* waypoints_receive_buffer; ///< pointer to the receive buffer waypoint vector + std::vector* waypoints; ///< pointer to the currently active waypoint vector + std::vector* waypoints_receive_buffer; ///< pointer to the receive buffer waypoint vector PX_WAYPOINTPLANNER_STATES current_state; uint16_t protocol_current_wp_id; uint16_t protocol_current_count; diff --git a/src/comm/ProtocolInterface.h b/src/comm/ProtocolInterface.h index 070c6755ef9eb54bd67005a4a189c4cfff407f4d..6f0e5839d86949900690d48948caeb98f258f5e7 100644 --- a/src/comm/ProtocolInterface.h +++ b/src/comm/ProtocolInterface.h @@ -46,7 +46,7 @@ This file is part of the PIXHAWK project * @see LinkManager. * **/ -class ProtocolInterface : public QThread +class ProtocolInterface : public QObject { Q_OBJECT public: diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc index 83e2088df1614b56cbe2d94f75035bb1424fad29..be3d3774df8d68ffdf9c544bfe8982c0b86bf4e8 100644 --- a/src/comm/QGCFlightGearLink.cc +++ b/src/comm/QGCFlightGearLink.cc @@ -24,6 +24,7 @@ This file is part of the QGROUNDCONTROL project /** * @file * @brief Definition of UDP connection (server) for unmanned vehicles + * @see Flightgear Manual http://mapserver.flightgear.org/getstart.pdf * @author Lorenz Meier * */ @@ -36,24 +37,24 @@ This file is part of the QGROUNDCONTROL project #include "QGCFlightGearLink.h" #include "QGC.h" #include +#include "MainWindow.h" -QGCFlightGearLink::QGCFlightGearLink(QString remoteHost, QHostAddress host, quint16 port) +QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port) : + process(NULL), + terraSync(NULL) { this->host = host; - this->port = port; + this->port = port+mav->getUASID(); this->connectState = false; - this->currentPort = 49000; - - // Set unique ID and add link to the list of links + this->currentPort = 49000+mav->getUASID(); + this->mav = mav; this->name = tr("FlightGear Link (port:%1)").arg(port); setRemoteHost(remoteHost); - connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate())); - refreshTimer.start(20); // 50 Hz UAV -> Simulation update rate } QGCFlightGearLink::~QGCFlightGearLink() { - disconnect(); + disconnectSimulation(); } /** @@ -62,10 +63,6 @@ QGCFlightGearLink::~QGCFlightGearLink() **/ void QGCFlightGearLink::run() { -// forever -// { -// QGC::SLEEP::msleep(5000); -// } exec(); } @@ -76,12 +73,37 @@ void QGCFlightGearLink::setPort(int port) connectSimulation(); } +void QGCFlightGearLink::processError(QProcess::ProcessError err) +{ + switch(err) + { + case QProcess::FailedToStart: + MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Please check if the path and command is correct")); + break; + case QProcess::Crashed: + MainWindow::instance()->showCriticalMessage(tr("FlightGear Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear")); + break; + case QProcess::Timedout: + MainWindow::instance()->showCriticalMessage(tr("FlightGear Start Timed Out"), tr("Please check if the path and command is correct")); + break; + case QProcess::WriteError: + MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct")); + break; + case QProcess::ReadError: + MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct")); + break; + case QProcess::UnknownError: + default: + MainWindow::instance()->showCriticalMessage(tr("FlightGear Error"), tr("Please check if the path and command is correct.")); + break; + } +} + /** * @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551 */ void QGCFlightGearLink::setRemoteHost(const QString& host) { - //qDebug() << "UDP:" << "ADDING HOST:" << host; if (host.contains(":")) { //qDebug() << "HOST: " << host.split(":").first(); @@ -116,51 +138,45 @@ void QGCFlightGearLink::setRemoteHost(const QString& host) } } -void QGCFlightGearLink::updateGlobalPosition(quint64 time, double lat, double lon, double alt) -{ - -} - -void QGCFlightGearLink::sendUAVUpdate() +void QGCFlightGearLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode) { - // 37.613548,-122.357246,-9999.000000,0.000000,0.424000,297.899994,0.000000\n // magnetos,aileron,elevator,rudder,throttle\n - float magnetos = 3.0f; - float aileron = 0.0f; - float elevator = 0.0f; - float rudder = 0.0f; - float throttle = 90.0f; + //float magnetos = 3.0f; + Q_UNUSED(time); + Q_UNUSED(systemMode); + Q_UNUSED(navMode); - QString state("%1,%2,%3,%4,%5\n"); - state = state.arg(magnetos).arg(aileron).arg(elevator).arg(rudder).arg(throttle); + QString state("%1\t%2\t%3\t%4\t%5\n"); + state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle); writeBytes(state.toAscii().constData(), state.length()); + //qDebug() << "Updated controls" << state; } void QGCFlightGearLink::writeBytes(const char* data, qint64 size) { -//#define QGCFlightGearLink_DEBUG + //#define QGCFlightGearLink_DEBUG #ifdef QGCFlightGearLink_DEBUG - QString bytes; - QString ascii; - for (int i=0; i 31 && data[i] < 127) { - unsigned char v = data[i]; - bytes.append(QString().sprintf("%02x ", v)); - if (data[i] > 31 && data[i] < 127) - { - ascii.append(data[i]); - } - else - { - ascii.append(219); - } + ascii.append(data[i]); } - qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:"; - qDebug() << bytes; - qDebug() << "ASCII:" << ascii; + else + { + ascii.append(219); + } + } + qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:"; + qDebug() << bytes; + qDebug() << "ASCII:" << ascii; #endif - socket->writeDatagram(data, size, currentHost, currentPort); + if (connectState && socket) socket->writeDatagram(data, size, currentHost, currentPort); } /** @@ -180,22 +196,64 @@ void QGCFlightGearLink::readBytes() if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl; socket->readDatagram(data, maxLength, &sender, &senderPort); - // FIXME TODO Check if this method is better than retrieving the data by individual processes QByteArray b(data, s); - //emit bytesReceived(this, b); - - // Print string - qDebug() << "FG LINK GOT:" << QString(b); - -// // Echo data for debugging purposes -// std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl; -// int i; -// for (i=0; iclose(); + delete process; + process = NULL; + } + if (terraSync) + { + terraSync->close(); + delete terraSync; + terraSync = NULL; + } + if (socket) + { + socket->close(); + delete socket; + socket = NULL; + } connectState = false; @@ -233,55 +312,175 @@ bool QGCFlightGearLink::disconnectSimulation() **/ bool QGCFlightGearLink::connectSimulation() { + if (!mav) return false; socket = new QUdpSocket(this); - - //Check if we are using a multicast-address -// bool multicast = false; -// if (host.isInSubnet(QHostAddress("224.0.0.0"),4)) -// { -// multicast = true; -// connectState = socket->bind(port, QUdpSocket::ShareAddress); -// } -// else -// { connectState = socket->bind(host, port); -// } - //Provides Multicast functionality to UdpSocket - /* not working yet - if (multicast) + QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes())); + + process = new QProcess(this); + terraSync = new QProcess(this); + + connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t))); + connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t))); + + //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate())); + // Catch process error + QObject::connect( process, SIGNAL(error(QProcess::ProcessError)), + this, SLOT(processError(QProcess::ProcessError))); + QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)), + this, SLOT(processError(QProcess::ProcessError))); + // Start Flightgear + QStringList processCall; + QString processFgfs; + QString processTerraSync; + QString fgRoot; + QString fgScenery; + QString aircraft; + + if (mav->getSystemType() == MAV_TYPE_FIXED_WING) + { + aircraft = "Rascal110-JSBSim"; + } + else if (mav->getSystemType() == MAV_TYPE_QUADROTOR) + { + aircraft = "arducopter"; + } + else + { + aircraft = "Rascal110-JSBSim"; + } + +#ifdef Q_OS_MACX + processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs"; + processTerraSync = "/Applications/FlightGear.app/Contents/Resources/terrasync"; + fgRoot = "/Applications/FlightGear.app/Contents/Resources/data"; + //fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery"; + fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync"; + // /Applications/FlightGear.app/Contents/Resources/data/Scenery: +#endif + +#ifdef Q_OS_WIN32 + processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs"; + fgRoot = "C:\\Program Files (x86)\\FlightGear\\data"; + fgScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery-Terrasync"; +#endif + +#ifdef Q_OS_LINUX + processFgfs = "fgfs"; + fgRoot = "/usr/share/flightgear/data"; + fgScenery = "/usr/share/flightgear/data/Scenery-Terrasync"; +#endif + + // Sanity checks + bool sane = true; + QFileInfo executable(processFgfs); + if (!executable.isExecutable()) { - int sendingFd = socket->socketDescriptor(); + MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear was not found at %1").arg(processFgfs)); + sane = false; + } - if (sendingFd != -1) - { - // set up destination address - struct sockaddr_in sendAddr; - memset(&sendAddr,0,sizeof(sendAddr)); - sendAddr.sin_family=AF_INET; - sendAddr.sin_addr.s_addr=inet_addr(HELLO_GROUP); - sendAddr.sin_port=htons(port); - - // set TTL - unsigned int ttl = 1; // restricted to the same subnet - if (setsockopt(sendingFd, IPPROTO_IP, IP_MULTICAST_TTL, (unsigned int*)&ttl, sizeof(ttl) ) < 0) - { - std::cout << "TTL failed\n"; - } - } + QFileInfo root(fgRoot); + if (!root.isDir()) + { + MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear data directory was not found at %1").arg(fgRoot)); + sane = false; } - */ - //QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams())); - QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes())); + QFileInfo scenery(fgScenery); + if (!scenery.isDir()) + { + MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear scenery directory was not found at %1").arg(fgScenery)); + sane = false; + } + + if (!sane) return false; + + // --atlas=socket,out,1,localhost,5505,udp + // terrasync -p 5505 -S -d /usr/local/share/TerraSync + + processCall << QString("--fg-root=%1").arg(fgRoot); + processCall << QString("--fg-scenery=%1").arg(fgScenery); + if (mav->getSystemType() == MAV_TYPE_QUADROTOR) + { + // FIXME ADD QUAD-Specific protocol here + processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port); + processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort); + } + else + { + processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port); + processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort); + } + processCall << "--atlas=socket,out,1,localhost,5505,udp"; + processCall << "--in-air"; + processCall << "--roll=0"; + processCall << "--pitch=0"; + processCall << "--vc=90"; + processCall << "--heading=300"; + processCall << "--timeofday=noon"; + processCall << "--disable-hud-3d"; + processCall << "--disable-fullscreen"; + processCall << "--geometry=400x300"; + processCall << "--disable-anti-alias-hud"; + processCall << "--wind=0@0"; + processCall << "--turbulence=0.0"; + processCall << "--prop:/sim/frame-rate-throttle-hz=30"; + processCall << "--control=mouse"; + processCall << "--disable-intro-music"; + processCall << "--disable-sound"; + processCall << "--disable-random-objects"; + processCall << "--disable-ai-models"; + processCall << "--shading-flat"; + processCall << "--fog-disable"; + processCall << "--disable-specular-highlight"; + //processCall << "--disable-skyblend"; + processCall << "--disable-random-objects"; + processCall << "--disable-panel"; + //processCall << "--disable-horizon-effect"; + processCall << "--disable-clouds"; + processCall << "--fdm=jsb"; + processCall << "--units-meters"; + if (mav->getSystemType() == MAV_TYPE_QUADROTOR) + { + // Start all engines of the quad + processCall << "--prop:/engines/engine[0]/running=true"; + processCall << "--prop:/engines/engine[1]/running=true"; + processCall << "--prop:/engines/engine[2]/running=true"; + processCall << "--prop:/engines/engine[3]/running=true"; + } + else + { + processCall << "--prop:/engines/engine/running=true"; + } + 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); + + + QStringList terraSyncArguments; + terraSyncArguments << "-p 5505"; + terraSyncArguments << "-S"; + terraSyncArguments << QString("-d=%1").arg(fgScenery); + + terraSync->start(processTerraSync, terraSyncArguments); + process->start(processFgfs, processCall); + + emit flightGearConnected(connectState); if (connectState) { emit flightGearConnected(); connectionStartTime = QGC::groundTimeUsecs()/1000; } + qDebug() << "STARTING SIM"; + + qDebug() << "STARTING: " << processFgfs << processCall; - start(HighPriority); + start(LowPriority); return connectState; } @@ -303,5 +502,5 @@ QString QGCFlightGearLink::getName() void QGCFlightGearLink::setName(QString name) { this->name = name; -// emit nameChanged(this->name); + // emit nameChanged(this->name); } diff --git a/src/comm/QGCFlightGearLink.h b/src/comm/QGCFlightGearLink.h index 8b23a31fcc0f967de345bef5eb5740b31556e0fa..b2445deadd7745dc1ed471658eccbe9cc6aea62b 100644 --- a/src/comm/QGCFlightGearLink.h +++ b/src/comm/QGCFlightGearLink.h @@ -37,8 +37,10 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#include #include #include +#include "UASInterface.h" class QGCFlightGearLink : public QThread { @@ -46,7 +48,7 @@ class QGCFlightGearLink : public QThread //Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface) public: - QGCFlightGearLink(QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005); + QGCFlightGearLink(UASInterface* mav, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005); ~QGCFlightGearLink(); bool isConnected(); @@ -67,11 +69,12 @@ public slots: void setPort(int port); /** @brief Add a new host to broadcast messages to */ void setRemoteHost(const QString& host); - void updateGlobalPosition(quint64 time, double lat, double lon, double alt); - void sendUAVUpdate(); + /** @brief Send new control states to the simulation */ + void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode); // /** @brief Remove a host from broadcasting messages to */ // void removeHost(const QString& host); // void readPendingDatagrams(); + void processError(QProcess::ProcessError err); void readBytes(); /** @@ -104,6 +107,9 @@ protected: QMutex statisticsMutex; QMutex dataMutex; QTimer refreshTimer; + UASInterface* mav; + QProcess* process; + QProcess* terraSync; void setName(QString name); @@ -123,6 +129,11 @@ signals: **/ void flightGearConnected(bool connected); + /** @brief State update from FlightGear */ + void hilStateChanged(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed, + float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, + int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc); + }; diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc index 35abe372633c33f670dafa39e4880f48cb7109c0..364f3240b703958ba61cbdb1fa5debd24704d5cf 100644 --- a/src/comm/SerialLink.cc +++ b/src/comm/SerialLink.cc @@ -21,16 +21,207 @@ #include "windows.h" #endif -using namespace TNX; +#ifdef _WIN32 +#include +#endif +#if defined (__APPLE__) && defined (__MACH__) +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef __MWERKS__ +#define __CF_USE_FRAMEWORK_INCLUDES__ +#endif + + +#include + +#include +#include +#if defined(MAC_OS_X_VERSION_10_3) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_3) +#include +#endif +#include + +// Apple internal modems default to local echo being on. If your modem has local echo disabled, +// undefine the following macro. +#define LOCAL_ECHO + +#define kATCommandString "AT\r" + +#ifdef LOCAL_ECHO +#define kOKResponseString "AT\r\r\nOK\r\n" +#else +#define kOKResponseString "\r\nOK\r\n" +#endif +#endif + + +// Some helper functions for serial port enumeration +#if defined (__APPLE__) && defined (__MACH__) + +enum { + kNumRetries = 3 +}; + +// Function prototypes +static kern_return_t FindModems(io_iterator_t *matchingServices); +static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize); + +// Returns an iterator across all known modems. Caller is responsible for +// releasing the iterator when iteration is complete. +static kern_return_t FindModems(io_iterator_t *matchingServices) +{ + kern_return_t kernResult; + CFMutableDictionaryRef classesToMatch; + + /*! @function IOServiceMatching + @abstract Create a matching dictionary that specifies an IOService class match. + @discussion A very common matching criteria for IOService is based on its class. IOServiceMatching will create a matching dictionary that specifies any IOService of a class, or its subclasses. The class is specified by C-string name. + @param name The class name, as a const C-string. Class matching is successful on IOService's of this class or any subclass. + @result The matching dictionary created, is returned on success, or zero on failure. The dictionary is commonly passed to IOServiceGetMatchingServices or IOServiceAddNotification which will consume a reference, otherwise it should be released with CFRelease by the caller. */ + + // Serial devices are instances of class IOSerialBSDClient + classesToMatch = IOServiceMatching(kIOSerialBSDServiceValue); + if (classesToMatch == NULL) { + printf("IOServiceMatching returned a NULL dictionary.\n"); + } else { + /*! + @function CFDictionarySetValue + Sets the value of the key in the dictionary. + @param theDict The dictionary to which the value is to be set. If this + parameter is not a valid mutable CFDictionary, the behavior is + undefined. If the dictionary is a fixed-capacity dictionary and + it is full before this operation, and the key does not exist in + the dictionary, the behavior is undefined. + @param key The key of the value to set into the dictionary. If a key + which matches this key is already present in the dictionary, only + the value is changed ("add if absent, replace if present"). If + no key matches the given key, the key-value pair is added to the + dictionary. If added, the key is retained by the dictionary, + using the retain callback provided + when the dictionary was created. If the key is not of the sort + expected by the key retain callback, the behavior is undefined. + @param value The value to add to or replace into the dictionary. The value + is retained by the dictionary using the retain callback provided + when the dictionary was created, and the previous value if any is + released. If the value is not of the sort expected by the + retain or release callbacks, the behavior is undefined. + */ + CFDictionarySetValue(classesToMatch, + CFSTR(kIOSerialBSDTypeKey), + CFSTR(kIOSerialBSDModemType)); + + // Each serial device object has a property with key + // kIOSerialBSDTypeKey and a value that is one of kIOSerialBSDAllTypes, + // kIOSerialBSDModemType, or kIOSerialBSDRS232Type. You can experiment with the + // matching by changing the last parameter in the above call to CFDictionarySetValue. + + // As shipped, this sample is only interested in modems, + // so add this property to the CFDictionary we're matching on. + // This will find devices that advertise themselves as modems, + // such as built-in and USB modems. However, this match won't find serial modems. + } + + /*! @function IOServiceGetMatchingServices + @abstract Look up registered IOService objects that match a matching dictionary. + @discussion This is the preferred method of finding IOService objects currently registered by IOKit. IOServiceAddNotification can also supply this information and install a notification of new IOServices. The matching information used in the matching dictionary may vary depending on the class of service being looked up. + @param masterPort The master port obtained from IOMasterPort(). + @param matching A CF dictionary containing matching information, of which one reference is consumed by this function. IOKitLib can contruct matching dictionaries for common criteria with helper functions such as IOServiceMatching, IOOpenFirmwarePathMatching. + @param existing An iterator handle is returned on success, and should be released by the caller when the iteration is finished. + @result A kern_return_t error code. */ + + kernResult = IOServiceGetMatchingServices(kIOMasterPortDefault, classesToMatch, matchingServices); + if (KERN_SUCCESS != kernResult) { + printf("IOServiceGetMatchingServices returned %d\n", kernResult); + goto exit; + } + +exit: + return kernResult; +} + +/** Given an iterator across a set of modems, return the BSD path to the first one. + * If no modems are found the path name is set to an empty string. + */ +static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize) +{ + io_object_t modemService; + kern_return_t kernResult = KERN_FAILURE; + Boolean modemFound = false; + + // Initialize the returned path + *bsdPath = '\0'; + + // Iterate across all modems found. In this example, we bail after finding the first modem. + + while ((modemService = IOIteratorNext(serialPortIterator)) && !modemFound) { + CFTypeRef bsdPathAsCFString; + + // Get the callout device's path (/dev/cu.xxxxx). The callout device should almost always be + // used: the dialin device (/dev/tty.xxxxx) would be used when monitoring a serial port for + // incoming calls, e.g. a fax listener. + + bsdPathAsCFString = IORegistryEntryCreateCFProperty(modemService, + CFSTR(kIOCalloutDeviceKey), + kCFAllocatorDefault, + 0); + if (bsdPathAsCFString) { + Boolean result; + + // Convert the path from a CFString to a C (NUL-terminated) string for use + // with the POSIX open() call. + + result = CFStringGetCString((CFStringRef)bsdPathAsCFString, + bsdPath, + maxPathSize, + kCFStringEncodingUTF8); + CFRelease(bsdPathAsCFString); + + if (result) { + //printf("Modem found with BSD path: %s", bsdPath); + modemFound = true; + kernResult = KERN_SUCCESS; + } + } + + printf("\n"); + + // Release the io_service_t now that we are done with it. + + (void) IOObjectRelease(modemService); + } + + return kernResult; +} +#endif -//#define USE_QEXTSERIAL // this allows us to revert to old serial library during transition +using namespace TNX; SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity, int dataBits, int stopBits) : - port(NULL), m_stopp(false) + port(NULL), m_stopp(false), + ports(new QVector()) { // Setup settings this->porthandle = portname.trimmed(); + + if (this->porthandle == "" && getCurrentPorts()->size() > 0) + { + this->porthandle = getCurrentPorts()->first().trimmed(); + } + #ifdef _WIN32 // Port names above 20 need the network path format - if the port name is not already in this format // catch this special case @@ -79,6 +270,86 @@ SerialLink::~SerialLink() disconnect(); if(port) delete port; port = NULL; + if (ports) delete ports; + ports = NULL; +} + +QVector* SerialLink::getCurrentPorts() +{ + ports->clear(); +#ifdef __linux + + // TODO Linux has no standard way of enumerating serial ports + // However the device files are only present when the physical + // device is connected, therefore listing the files should be + // sufficient. + + QString devdir = "/dev"; + QDir dir(devdir); + dir.setFilter(QDir::System); + + QFileInfoList list = dir.entryInfoList(); + for (int i = 0; i < list.size(); ++i) { + QFileInfo fileInfo = list.at(i); + if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("ttyACM"))) + { + ports->append(fileInfo.canonicalFilePath()); + } + } +#endif + +#if defined (__APPLE__) && defined (__MACH__) + + // Enumerate serial ports + kern_return_t kernResult; // on PowerPC this is an int (4 bytes) + io_iterator_t serialPortIterator; + char bsdPath[MAXPATHLEN]; + kernResult = FindModems(&serialPortIterator); + kernResult = GetModemPath(serialPortIterator, bsdPath, sizeof(bsdPath)); + IOObjectRelease(serialPortIterator); // Release the iterator. + + // Add found modems + if (bsdPath[0]) + { + ports->append(QString(bsdPath)); + } + + // Add USB serial port adapters + // TODO Strangely usb serial port adapters are not enumerated, even when connected + QString devdir = "/dev"; + QDir dir(devdir); + dir.setFilter(QDir::System); + + QFileInfoList list = dir.entryInfoList(); + for (int i = list.size() - 1; i >= 0; i--) { + QFileInfo fileInfo = list.at(i); + if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("tty.usbserial")) || fileInfo.fileName().contains(QString("ttyACM"))) + { + ports->append(fileInfo.canonicalFilePath()); + } + } +#endif + +#ifdef _WIN32 + // Get the ports available on this system + QList ports = QextSerialEnumerator::getPorts(); + + // Add the ports in reverse order, because we prepend them to the list + for (int i = ports.size() - 1; i >= 0; i--) + { + QextPortInfo portInfo = ports.at(i); + QString portString = QString(portInfo.portName.toLocal8Bit().constData()) + " - " + QString(ports.at(i).friendName.toLocal8Bit().constData()).split("(").first(); + // Prepend newly found port to the list + ports.append(portString); + } + + //printf("port name: %s\n", ports.at(i).portName.toLocal8Bit().constData()); + //printf("friendly name: %s\n", ports.at(i).friendName.toLocal8Bit().constData()); + //printf("physical name: %s\n", ports.at(i).physName.toLocal8Bit().constData()); + //printf("enumerator name: %s\n", ports.at(i).enumName.toLocal8Bit().constData()); + //printf("===================================\n\n"); +#endif + return ports; } void SerialLink::loadSettings() @@ -86,7 +357,8 @@ void SerialLink::loadSettings() // Load defaults from settings QSettings settings(QGC::COMPANYNAME, QGC::APPNAME); settings.sync(); - if (settings.contains("SERIALLINK_COMM_PORT")) { + if (settings.contains("SERIALLINK_COMM_PORT")) + { if (porthandle == "") setPortName(settings.value("SERIALLINK_COMM_PORT").toString()); setBaudRateType(settings.value("SERIALLINK_COMM_BAUD").toInt()); setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt()); @@ -120,7 +392,8 @@ void SerialLink::run() hardwareConnect(); // Qt way to make clear what a while(1) loop does - forever { + forever + { { QMutexLocker locker(&this->m_stoppMutex); if(this->m_stopp) @@ -149,16 +422,21 @@ void SerialLink::run() void SerialLink::checkForBytes() { /* Check if bytes are available */ - if(port && port->isOpen() && port->isWritable()) { + if(port && port->isOpen() && port->isWritable()) + { dataMutex.lock(); qint64 available = port->bytesAvailable(); dataMutex.unlock(); - if(available > 0) { + if(available > 0) + { readBytes(); } - } else { + } + else + { emit disconnected(); + emit connected(false); } } @@ -261,13 +539,11 @@ bool SerialLink::disconnect() //#if !defined _WIN32 || !defined _WIN64 /* Block the thread until it returns from run() */ //#endif -// dataMutex.lock(); // port->flushInBuffer(); // port->flushOutBuffer(); // port->close(); // delete port; // port = NULL; -// dataMutex.unlock(); // if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect diff --git a/src/comm/SerialLink.h b/src/comm/SerialLink.h index ca7b98c76d1145b51684b13337d0e8d0c3486500..8844d8ce509081b0b6c6fbe7acab806fd7d5e46d 100644 --- a/src/comm/SerialLink.h +++ b/src/comm/SerialLink.h @@ -68,6 +68,9 @@ public: static const int poll_interval = SERIAL_POLL_INTERVAL; ///< Polling interval, defined in configuration.h + /** @brief Get a list of the currently available ports */ + QVector* getCurrentPorts(); + bool isConnected(); qint64 bytesAvailable(); @@ -163,6 +166,7 @@ protected: quint64 connectionStartTime; QMutex statisticsMutex; QMutex dataMutex; + QVector* ports; private: volatile bool m_stopp; diff --git a/src/comm/SerialLinkInterface.h b/src/comm/SerialLinkInterface.h index bf566372fde21dbe6bb20bdd5e1e7d294274ca39..cc190b38316064db1ced470d122e408e4974e2ad 100644 --- a/src/comm/SerialLinkInterface.h +++ b/src/comm/SerialLinkInterface.h @@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project #include #include +#include #include class SerialLinkInterface : public LinkInterface @@ -41,6 +42,7 @@ class SerialLinkInterface : public LinkInterface Q_OBJECT public: + virtual QVector* getCurrentPorts() = 0; virtual QString getPortName() = 0; virtual int getBaudRate() = 0; virtual int getDataBits() = 0; diff --git a/src/comm/SerialSimulationLink.cc b/src/comm/SerialSimulationLink.cc deleted file mode 100644 index 2f53affaef16fdeac315679d46845bed4e9a1404..0000000000000000000000000000000000000000 --- a/src/comm/SerialSimulationLink.cc +++ /dev/null @@ -1,496 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -This file is part of the QGROUNDCONTROL project - - QGROUNDCONTROL is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - QGROUNDCONTROL is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with QGROUNDCONTROL. If not, see . - -======================================================================*/ -/** - * @file - * @brief Brief Description - * - * @author Lorenz Meier - * - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include "QGC.h" - -/** - * Create a simulated link. This link is connected to an input and output file. - * The link sends one line at a time at the specified sendrate. The timing of - * the sendrate is free of drift, which means it is stable on the long run. - * However, small deviations are mixed in which vary the sendrate slightly - * in order to simulate disturbances on a real communication link. - * - * @param readFile The file with the messages to read (must be in ASCII format, line breaks can be Unix or Windows style) - * @param writeFile The received messages are written to that file - * @param sendrate The rate at which the messages are sent (in intervals of milliseconds) - **/ -SerialSimulationLink::SerialSimulationLink(QFile* readFile, QFile* writeFile, int sendrate) -{ - // If a non-empty portname is supplied, the serial simulation link should attempt loopback simulation - loopBack = NULL; - - /* Comments on the variables can be found in the header file */ - - lineBuffer = QByteArray(); - lineBuffer.clear(); - readyBuffer = QByteArray(); - readyBuffer.clear(); - simulationFile = readFile; - receiveFile = writeFile; - lastSent = MG::TIME::getGroundTimeNow(); - - /* Initialize the pseudo-random number generator */ - srand(QTime::currentTime().msec()); - maxTimeNoise = 0; - - timer = new QTimer(this); - QObject::connect(timer, SIGNAL(timeout()), this, SLOT(readLine())); - _isConnected = false; - rate = sendrate; -} - -SerialSimulationLink::~SerialSimulationLink() -{ - //TODO Check destructor - fileStream->flush(); - outStream->flush(); -} - -void SerialSimulationLink::run() -{ - /* - forever { - quint64 currentTime = OG::TIME::getGroundTimeNow(); - if(currentTime - lastSent >= rate) { - lastSent = currentTime; - readLine(); - } - - msleep(rate); - }*/ - forever { - QGC::SLEEP::msleep(5000); - } -} - -void SerialSimulationLink::enableLoopBackMode(SerialLinkInterface* loop) -{ - // Lock the data - readyBufferMutex.lock(); - // Disconnect this link - disconnect(); - - // Delete previous loopback link if exists - if(loopBack != NULL) { - delete loopBack; - loopBack = NULL; - } - - // Set new loopback link - loopBack = loop; - // Connect signals - QObject::connect(loopBack, SIGNAL(connected()), this, SIGNAL(connected())); - QObject::connect(loopBack, SIGNAL(disconnected()), this, SIGNAL(disconnected())); - QObject::connect(loopBack, SIGNAL(connected(bool)), this, SIGNAL(connected(bool))); - QObject::connect(loopBack, SIGNAL(bytesReady(LinkInterface*)), this, SIGNAL(bytesReady(LinkInterface*))); - readyBufferMutex.unlock(); - -} - - -qint64 SerialSimulationLink::bytesAvailable() -{ - readyBufferMutex.lock(); - qint64 size = 0; - if(loopBack == 0) { - size = readyBuffer.size(); - } else { - size = loopBack->bytesAvailable(); - } - readyBufferMutex.unlock(); - - return size; -} - -void SerialSimulationLink::writeBytes(char* data, qint64 length) -{ - /* Write bytes to one line */ - for(qint64 i = 0; i < length; i++) { - outStream->operator <<(data[i]); - outStream->flush(); - } - -} - - -void SerialSimulationLink::readBytes() -{ - const qint64 maxLength = 2048; - char data[maxLength]; - /* Lock concurrent resource readyBuffer */ - readyBufferMutex.lock(); - if(loopBack == NULL) { - // FIXME Maxlength has no meaning here - /* copy leftmost maxLength bytes and remove them from buffer */ - qstrncpy(data, readyBuffer.left(maxLength).data(), maxLength); - readyBuffer.remove(0, maxLength); - } else { - //loopBack->readBytes(data, maxLength); - } - readyBufferMutex.unlock(); -} - -/** - * @brief Reads a line at a time of the simulation data file and sends it. - * - * The data is read binary, which means that the file doesn't have to contain - * only ASCII characters. The line break (independent of operating system) is - * NOT read. The line gets sent as a whole. Because the next line is buffered, - * the line gets sent instantly when the function is called. - * - * @bug The time noise addition is commented out because it adds some delay - * which leads to a drift in the timer. This can be fixed by multithreading. - **/ -void SerialSimulationLink::readLine() -{ - - if(_isConnected) { - /* The order of operations in this method is arranged to - * minimize the impact of slow file read operations on the - * message emit timing. The functions should be kept in this order - */ - - /* (1) Add noise for next iteration (noise is always 0 for maxTimeNoise = 0) */ - addTimeNoise(); - - /* (2) Save content of line buffer in readyBuffer (has to be lock for thread safety)*/ - readyBufferMutex.lock(); - if(loopBack == NULL) { - readyBuffer.append(lineBuffer); - //qDebug() << "readLine readyBuffer: " << readyBuffer; - } else { - loopBack->writeBytes(lineBuffer.data(), lineBuffer.size()); - } - readyBufferMutex.unlock(); - - if(loopBack == NULL) { - readBytes(); - } - - /* (4) Read one line and save it in line buffer */ - lineBuffer.clear(); - - // Remove whitespaces, tabs and line breaks - QString readString = fileStream->readLine().trimmed(); - readString.remove(" "); - readString.remove("\t"); - readString.remove("\n"); - readString.remove("\v"); - readString.remove("\r"); - lineBuffer.append(readString.toAscii()); - - //qDebug() << "SerialSimulationLink::readLine()" << readString.size() << readString; - - /* Check if end of file has been reached, start from the beginning if necessary - * This has to be done after the last read, otherwise the timer is out of sync */ - if (fileStream->atEnd()) { - simulationFile->reset(); - } - - } - -} - -/** - * Set the maximum time deviation noise. This amount (in milliseconds) is - * the maximum time offset (+/-) from the specified message send rate. - * - * @param milliseconds The maximum time offset (in milliseconds) - * - * @bug The current implementation might induce one milliseconds additional - * discrepancy, this will be fixed by multithreading - **/ -void SerialSimulationLink::setMaximumTimeNoise(int milliseconds) -{ - maxTimeNoise = milliseconds; -} - - -/** - * Add or subtract a pseudo random time offset. The maximum time offset is - * defined by setMaximumTimeNoise(). - * - * @see setMaximumTimeNoise() - **/ -void SerialSimulationLink::addTimeNoise() -{ - /* Calculate the time deviation */ - if(maxTimeNoise == 0) { - /* Don't do expensive calculations if no noise is desired */ - timer->setInterval(rate); - } else { - /* Calculate random time noise (gauss distribution): - * - * (1) (2 * rand()) / RAND_MAX: Number between 0 and 2 - * (induces numerical noise through floating point representation, - * ignored here) - * - * (2) ((2 * rand()) / RAND_MAX) - 1: Number between -1 and 1 - * - * (3) Complete term: Number between -maxTimeNoise and +maxTimeNoise - */ - double timeDeviation = (((2 * rand()) / RAND_MAX) - 1) * maxTimeNoise; - timer->setInterval(static_cast(rate + floor(timeDeviation))); - } - -} - -/** - * Disconnect the connection. - * - * @return True if connection has been disconnected, false if connection - * couldn't be disconnected. - **/ -bool SerialSimulationLink::disconnect() -{ - - if(isConnected()) { - timer->stop(); - - fileStream->flush(); - outStream->flush(); - - simulationFile->close(); - receiveFile->close(); - - _isConnected = false; - - if(loopBack == NULL) { - emit disconnected(); - } else { - loopBack->disconnect(); - } - - exit(); - } - - return true; -} - -/** - * Connect the link. - * - * @return True if connection has been established, false if connection - * couldn't be established. - **/ -bool SerialSimulationLink::connect() -{ - /* Open files */ - //@TODO Add check if file can be read - simulationFile->open(QIODevice::ReadOnly); - - /* Create or replace output file */ - if(receiveFile->exists()) receiveFile->remove(); //TODO Read return value if file has been removed - receiveFile->open(QIODevice::WriteOnly); - - fileStream = new QTextStream(simulationFile); - outStream = new QTextStream(receiveFile); - - /* Initialize line buffer */ - lineBuffer.clear(); - lineBuffer.append(fileStream->readLine().toAscii()); - - _isConnected = true; - - if(loopBack == NULL) { - emit connected(); - } else { - loopBack->connect(); - } - - start(LowPriority); - timer->start(rate); - return true; -} - -/** - * Check if connection is active. - * - * @return True if link is connected, false otherwise. - **/ -bool SerialSimulationLink::isConnected() -{ - return _isConnected; -} - -qint64 SerialSimulationLink::getNominalDataRate() -{ - /* 100 Mbit is reasonable fast and sufficient for all embedded applications */ - return 100000000; -} - -qint64 SerialSimulationLink::getTotalUpstream() -{ - return 0; - //TODO Add functionality here - // @todo Add functionality here -} - -qint64 SerialSimulationLink::getShortTermUpstream() -{ - return 0; -} - -qint64 SerialSimulationLink::getCurrentUpstream() -{ - return 0; -} - -qint64 SerialSimulationLink::getMaxUpstream() -{ - return 0; -} - -qint64 SerialSimulationLink::getBitsSent() -{ - return 0; -} - -qint64 SerialSimulationLink::getBitsReceived() -{ - return 0; -} - -qint64 SerialSimulationLink::getTotalDownstream() -{ - return 0; -} - -qint64 SerialSimulationLink::getShortTermDownstream() -{ - return 0; -} - -qint64 SerialSimulationLink::getCurrentDownstream() -{ - return 0; -} - -qint64 SerialSimulationLink::getMaxDownstream() -{ - return 0; -} - -bool SerialSimulationLink::isFullDuplex() -{ - /* Full duplex is no problem when running in pure software, but this is a serial simulation */ - return false; -} - -int SerialSimulationLink::getLinkQuality() -{ - /* The Link quality is always perfect when running in software */ - return 100; -} - -bool SerialSimulationLink::setPortName(QString portName) -{ - Q_UNUSED(portName); - return true; -} - -bool SerialSimulationLink::setBaudRate(int rate) -{ - Q_UNUSED(rate); - return true; -} - -bool SerialSimulationLink::setFlowType(int type) -{ - Q_UNUSED(type); - return true; -} - -bool SerialSimulationLink::setParityType(int type) -{ - Q_UNUSED(type); - return true; -} - -bool SerialSimulationLink::setDataBitsType(int type) -{ - Q_UNUSED(type); - return true; -} - -bool SerialSimulationLink::setStopBitsType(int type) -{ - Q_UNUSED(type) - return true; -} - -QString SerialSimulationLink::getPortName() -{ - return tr("simulated/port"); -} - -int SerialSimulationLink::getBaudRate() -{ - return 115200; -} - -int SerialSimulationLink::getBaudRateType() -{ - return 19; -} - -int SerialSimulationLink::getFlowType() -{ - return 0; -} - -int SerialSimulationLink::getParityType() -{ - return 0; -} - -int SerialSimulationLink::getDataBitsType() -{ - return 8; -} - -int SerialSimulationLink::getStopBitsType() -{ - return 2; -} - -bool SerialSimulationLink::setBaudRateType(int rateIndex) -{ - Q_UNUSED(rateIndex); - return true; -} diff --git a/src/comm/SerialSimulationLink.h b/src/comm/SerialSimulationLink.h deleted file mode 100644 index 6f641a5d06a4072308973bb834b68b0622903664..0000000000000000000000000000000000000000 --- a/src/comm/SerialSimulationLink.h +++ /dev/null @@ -1,134 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009 - 2011 QGROUNDCONTROL PROJECT - -This file is part of the QGROUNDCONTROL project - - QGROUNDCONTROL is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - QGROUNDCONTROL is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with QGROUNDCONTROL. If not, see . - -======================================================================*/ - -/** - * @file - * @brief Brief Description - * - * @author Lorenz Meier - * - */ - -#ifndef _SERIALSIMULATIONLINK_H_ -#define _SERIALSIMULATIONLINK_H_ - -#include -#include -#include -#include -#include -#include -#include - -/** - * The serial simulation link class simulates a robot connected to the groundstation. - * It can be either file-based by reading telemetry messages from a file or realtime - * by communicating with a simulation. - * - **/ -class SerialSimulationLink : public SerialLinkInterface -{ - Q_OBJECT - -public: - SerialSimulationLink(QFile* inputFile=NULL, QFile* outputFile=NULL, int sendrate=20); - ~SerialSimulationLink(); - - bool isConnected(); - qint64 bytesAvailable(); - - void run(); - - /* Extensive statistics for scientific purposes */ - qint64 getNominalDataRate(); - qint64 getTotalUpstream(); - qint64 getShortTermUpstream(); - qint64 getCurrentUpstream(); - qint64 getMaxUpstream(); - qint64 getTotalDownstream(); - qint64 getShortTermDownstream(); - qint64 getCurrentDownstream(); - qint64 getMaxDownstream(); - qint64 getBitsSent(); - qint64 getBitsReceived(); - - void enableLoopBackMode(SerialLinkInterface * loop); - QString getPortName(); - int getBaudRate(); - int getBaudRateType(); - int getFlowType(); - int getParityType(); - int getDataBitsType(); - int getStopBitsType(); - - int getLinkQuality(); - bool isFullDuplex(); - -public slots: - bool setPortName(QString portName); - bool setBaudRateType(int rateIndex); - bool setBaudRate(int rate); - bool setFlowType(int flow); - bool setParityType(int parity); - bool setDataBitsType(int dataBits); - bool setStopBitsType(int stopBits); - - void readLine(); - void writeBytes(char *bytes, qint64 length); - void readBytes(); - - bool connect(); - bool disconnect(); - - void setMaximumTimeNoise(int milliseconds); - -protected: - QTimer* timer; - SerialLinkInterface* loopBack; - /** File which contains the input data (simulated robot messages) **/ - QFile* simulationFile; - /** File where the commands sent by the groundstation are stored **/ - QFile* receiveFile; - QTextStream stream; - QTextStream* fileStream; - QTextStream* outStream; - /** Buffer for next line. The next line is read ahead */ - QByteArray lineBuffer; - /** Buffer which can be read from connected protocols through readBytes(). **/ - QByteArray readyBuffer; - QMutex readyBufferMutex; - bool _isConnected; - quint64 rate; - int maxTimeNoise; - quint64 lastSent; - - void addTimeNoise(); - -signals: - //void connected(); - //void disconnected(); - //void bytesReady(LinkInterface *link); - -}; - -#endif // _SERIALSIMULATIONLINK_H_ diff --git a/src/configuration.h b/src/configuration.h index 59ef6a327e8beb05bc09a4752ebd679a9ed07746..cbcbf80829a6cbc727602406c808c29618bbb054 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -12,14 +12,14 @@ #define WITH_TEXT_TO_SPEECH 1 #define QGC_APPLICATION_NAME "QGroundControl" -#define QGC_APPLICATION_VERSION "v. 0.9.0 (Alpha RC1)" +#define QGC_APPLICATION_VERSION "v. 1.0.0 (Alpha RC18)" namespace QGC { const QString APPNAME = "QGROUNDCONTROL"; const QString COMPANYNAME = "QGROUNDCONTROL"; -const int APPLICATIONVERSION = 90; // 0.9.0 +const int APPLICATIONVERSION = 100; // 1.0.0 } #endif // QGC_CONFIGURATION_H diff --git a/src/libs/opmapcontrol/src/core/pureimagecache.cpp b/src/libs/opmapcontrol/src/core/pureimagecache.cpp index be38fcbfa1a84a55d4d8173ee27b0fdf79b2d793..de648fb276cf0f97acca787819ec63452daaa717 100644 --- a/src/libs/opmapcontrol/src/core/pureimagecache.cpp +++ b/src/libs/opmapcontrol/src/core/pureimagecache.cpp @@ -226,31 +226,25 @@ namespace core { qDebug()<<"Cache dir="<(status.control_att)); - emit positionXYControlEnabled(static_cast(status.control_pos_xy)); - emit positionZControlEnabled(static_cast(status.control_pos_z)); - emit positionYawControlEnabled(static_cast(status.control_pos_yaw)); - - // Emit localization status vector - emit localizationChanged(this, status.position_fix); - emit visionLocalizationChanged(this, status.vision_fix); - emit gpsLocalizationChanged(this, status.gps_fix); - } - break; - case MAVLINK_MSG_ID_VISUAL_ODOMETRY: - { - mavlink_visual_odometry_t pos; - mavlink_msg_visual_odometry_decode(&message, &pos); - quint64 time = getUnixTime(pos.frame1_time_us); - //emit valueChanged(uasId, "vis. time", pos.usec, time); - emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time); - emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time); - emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time); - emit valueChanged(uasId, "vis-o. x", "m", pos.x, time); - emit valueChanged(uasId, "vis-o. y", "m", pos.y, time); - emit valueChanged(uasId, "vis-o. z", "m", pos.z, time); - } - break; - case MAVLINK_MSG_ID_AUX_STATUS: { - mavlink_aux_status_t status; - mavlink_msg_aux_status_decode(&message, &status); - emit loadChanged(this, status.load/10.0f); - emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count); - emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count); - emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count); - emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count); - emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count); - emit valueChanged(uasId, "Load", "%", ((float)status.load)/10.0f, getUnixTime()); - } - break; +// case MAVLINK_MSG_ID_CONTROL_STATUS: +// { +// mavlink_control_status_t status; +// mavlink_msg_control_status_decode(&message, &status); +// // Emit control status vector +// emit attitudeControlEnabled(static_cast(status.control_att)); +// emit positionXYControlEnabled(static_cast(status.control_pos_xy)); +// emit positionZControlEnabled(static_cast(status.control_pos_z)); +// emit positionYawControlEnabled(static_cast(status.control_pos_yaw)); + +// // Emit localization status vector +// emit localizationChanged(this, status.position_fix); +// emit visionLocalizationChanged(this, status.vision_fix); +// emit gpsLocalizationChanged(this, status.gps_fix); +// } +// break; +// case MAVLINK_MSG_ID_VISUAL_ODOMETRY: +// { +// mavlink_visual_odometry_t pos; +// mavlink_msg_visual_odometry_decode(&message, &pos); +// quint64 time = getUnixTime(pos.frame1_time_us); +// //emit valueChanged(uasId, "vis. time", pos.usec, time); +// emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time); +// emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time); +// emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time); +// emit valueChanged(uasId, "vis-o. x", "m", pos.x, time); +// emit valueChanged(uasId, "vis-o. y", "m", pos.y, time); +// emit valueChanged(uasId, "vis-o. z", "m", pos.z, time); +// } +// break; +// case MAVLINK_MSG_ID_AUX_STATUS: { +// mavlink_aux_status_t status; +// mavlink_msg_aux_status_decode(&message, &status); +// emit loadChanged(this, status.load/10.0f); +// emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count); +// emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count); +// emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count); +// emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count); +// emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count); +// emit valueChanged(uasId, "Load", "%", ((float)status.load)/10.0f, getUnixTime()); +// } +// break; default: // Let UAS handle the default message set UAS::receiveMessage(link, message); diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc index 29fd74add96db0458d7f1146678de54d48091c23..e17cb00d2004b8b42adc20c1bec53519f5a66af7 100644 --- a/src/uas/QGCMAVLinkUASFactory.cc +++ b/src/uas/QGCMAVLinkUASFactory.cc @@ -10,16 +10,21 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte { QPointer p; - if (parent != NULL) { + if (parent != NULL) + { p = parent; - } else { + } + else + { p = mavlink; } UASInterface* uas; - switch (heartbeat->autopilot) { - case MAV_AUTOPILOT_GENERIC: { + switch (heartbeat->autopilot) + { + case MAV_AUTOPILOT_GENERIC: + { UAS* mav = new UAS(mavlink, sysid); // Set the system type mav->setSystemType((int)heartbeat->type); @@ -28,7 +33,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte uas = mav; } break; - case MAV_AUTOPILOT_PIXHAWK: { + case MAV_AUTOPILOT_PIXHAWK: + { PxQuadMAV* mav = new PxQuadMAV(mavlink, sysid); // Set the system type mav->setSystemType((int)heartbeat->type); @@ -40,7 +46,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte uas = mav; } break; - case MAV_AUTOPILOT_SLUGS: { + case MAV_AUTOPILOT_SLUGS: + { SlugsMAV* mav = new SlugsMAV(mavlink, sysid); // Set the system type mav->setSystemType((int)heartbeat->type); @@ -52,7 +59,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte uas = mav; } break; - case MAV_AUTOPILOT_ARDUPILOTMEGA: { + case MAV_AUTOPILOT_ARDUPILOTMEGA: + { ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, sysid); // Set the system type mav->setSystemType((int)heartbeat->type); @@ -72,7 +80,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte uas = mav; break; } - default: { + default: + { UAS* mav = new UAS(mavlink, sysid); mav->setSystemType((int)heartbeat->type); // Connect this robot to the UAS object diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h index 8fdbae2e1d9623e3b230d30aa62e12029fa3cf06..db991dcb7c6e32941643df0898e996921489095e 100644 --- a/src/uas/QGCUASParamManager.h +++ b/src/uas/QGCUASParamManager.h @@ -4,6 +4,7 @@ #include #include #include +#include class UASInterface; @@ -16,36 +17,43 @@ public: QList getParameterNames(int component) const { return parameters.value(component)->keys(); } - QList getParameterValues(int component) const { + QList getParameterValues(int component) const { return parameters.value(component)->values(); } - float getParameterValue(int component, const QString& parameter) const { + QVariant getParameterValue(int component, const QString& parameter) const { return parameters.value(component)->value(parameter); } + virtual bool isParamMinKnown(const QString& param) = 0; + virtual bool isParamMaxKnown(const QString& param) = 0; + virtual bool isParamDefaultKnown(const QString& param) = 0; + virtual double getParamMin(const QString& param) = 0; + virtual double getParamMax(const QString& param) = 0; + virtual double getParamDefault(const QString& param) = 0; + /** @brief Request an update for the parameter list */ void requestParameterListUpdate(int component = 0); /** @brief Request an update for this specific parameter */ virtual void requestParameterUpdate(int component, const QString& parameter) = 0; signals: - void parameterChanged(int component, QString parameter, float value); - void parameterChanged(int component, int parameterIndex, float value); + void parameterChanged(int component, QString parameter, QVariant value); + void parameterChanged(int component, int parameterIndex, QVariant value); void parameterListUpToDate(int component); public slots: /** @brief Write one parameter to the MAV */ - virtual void setParameter(int component, QString parameterName, float value) = 0; + virtual void setParameter(int component, QString parameterName, QVariant value) = 0; /** @brief Request list of parameters from MAV */ virtual void requestParameterList() = 0; protected: UASInterface* mav; ///< The MAV this widget is controlling - QMap* > changedValues; ///< Changed values - QMap* > parameters; ///< All parameters + QMap* > changedValues; ///< Changed values + QMap* > parameters; ///< All parameters QVector received; ///< Successfully received parameters QMap* > transmissionMissingPackets; ///< Missing packets - QMap* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets + QMap* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets bool transmissionListMode; ///< Currently requesting list QMap transmissionListSizeKnown; ///< List size initialized? bool transmissionActive; ///< Missing packets, working on list? diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 984456a9a359db90e33ce1ebfd892b49c2bd2c70..50a2bd0fb176821094f086a5aa70fb2216787c3e 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -28,62 +28,70 @@ #include "SerialLink.h" UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), -uasId(id), -startTime(QGC::groundTimeMilliseconds()), -commStatus(COMM_DISCONNECTED), -name(""), -autopilot(-1), -links(new QList()), -unknownPackets(), -mavlink(protocol), -waypointManager(*this), -thrustSum(0), -thrustMax(10), -startVoltage(0), -warnVoltage(9.5f), -warnLevelPercent(20.0f), -currentVoltage(12.0f), -lpVoltage(12.0f), -batteryRemainingEstimateEnabled(false), -mode(-1), -status(-1), -navMode(-1), -onboardTimeOffset(0), -controlRollManual(true), -controlPitchManual(true), -controlYawManual(true), -controlThrustManual(true), -manualRollAngle(0), -manualPitchAngle(0), -manualYawAngle(0), -manualThrust(0), -receiveDropRate(0), -sendDropRate(0), -lowBattAlarm(false), -positionLock(false), -localX(0.0), -localY(0.0), -localZ(0.0), -latitude(0.0), -longitude(0.0), -altitude(0.0), -roll(0.0), -pitch(0.0), -yaw(0.0), -statusTimeout(new QTimer(this)), -paramsOnceRequested(false), -airframe(0), -attitudeKnown(false), -paramManager(NULL), -attitudeStamped(false), -lastAttitude(0) + uasId(id), + startTime(QGC::groundTimeMilliseconds()), + commStatus(COMM_DISCONNECTED), + name(""), + autopilot(-1), + links(new QList()), + unknownPackets(), + mavlink(protocol), + waypointManager(this), + thrustSum(0), + thrustMax(10), + startVoltage(0), + warnVoltage(9.5f), + warnLevelPercent(20.0f), + currentVoltage(12.0f), + lpVoltage(12.0f), + batteryRemainingEstimateEnabled(true), + mode(-1), + status(-1), + navMode(-1), + onboardTimeOffset(0), + controlRollManual(true), + controlPitchManual(true), + controlYawManual(true), + controlThrustManual(true), + manualRollAngle(0), + manualPitchAngle(0), + manualYawAngle(0), + manualThrust(0), + receiveDropRate(0), + sendDropRate(0), + lowBattAlarm(false), + positionLock(false), + localX(0.0), + localY(0.0), + localZ(0.0), + latitude(0.0), + longitude(0.0), + altitude(0.0), + roll(0.0), + pitch(0.0), + yaw(0.0), + statusTimeout(new QTimer(this)), + paramsOnceRequested(false), + airframe(QGC_AIRFRAME_EASYSTAR), + attitudeKnown(false), + paramManager(NULL), + attitudeStamped(false), + lastAttitude(0), + simulation(new QGCFlightGearLink(this)), + isLocalPositionKnown(false), + isGlobalPositionKnown(false), + systemIsArmed(false) { color = UASInterface::getNextColor(); - setBattery(LIPOLY, 3); + setBatterySpecs(QString("9V,9.5V,12.6V")); connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState())); connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings())); statusTimeout->start(500); readSettings(); + + // Initial signals + emit disarmed(); + emit armingChanged(false); } UAS::~UAS() @@ -127,17 +135,22 @@ void UAS::updateState() { // Check if heartbeat timed out quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat; - if (heartbeatInterval > timeoutIntervalHeartbeat) { + if (heartbeatInterval > timeoutIntervalHeartbeat) + { emit heartbeatTimeout(heartbeatInterval); emit heartbeatTimeout(); } // Position lock is set by the MAVLink message handler // if no position lock is available, indicate an error - if (positionLock) { + if (positionLock) + { positionLock = false; - } else { - if (mode > (uint8_t)MAV_MODE_LOCKED && positionLock) { + } + else + { + if (((mode&MAV_MODE_FLAG_DECODE_POSITION_AUTO) || (mode&MAV_MODE_FLAG_DECODE_POSITION_GUIDED)) && positionLock) + { GAudioOutput::instance()->notifyNegative(); } } @@ -200,20 +213,23 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) switch (message.msgid) { case MAVLINK_MSG_ID_HEARTBEAT: + { lastHeartbeat = QGC::groundTimeUsecs(); emit heartbeat(this); + mavlink_heartbeat_t state; + mavlink_msg_heartbeat_decode(&message, &state); // Set new type if it has changed - if (this->type != mavlink_msg_heartbeat_get_type(&message)) + if (this->type != state.type) { - this->type = mavlink_msg_heartbeat_get_type(&message); + this->type = state.type; if (airframe == 0) { switch (type) { - case MAV_FIXED_WING: + case MAV_TYPE_FIXED_WING: setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR); break; - case MAV_QUADROTOR: + case MAV_TYPE_QUADROTOR: setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH); break; default: @@ -221,135 +237,121 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) break; } } - this->autopilot = mavlink_msg_heartbeat_get_autopilot(&message); + this->autopilot = state.autopilot; emit systemTypeSet(this, type); } - break; - case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: - case MAVLINK_MSG_ID_NAMED_VALUE_INT: - // Receive named value message - receiveMessageNamedValue(message); - break; - case MAVLINK_MSG_ID_BOOT: - getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription); - emit statusChanged(this, uasState, stateDescription); - onboardTimeOffset = 0; // Reset offset measurement - break; - case MAVLINK_MSG_ID_SYS_STATUS: - { - mavlink_sys_status_t state; - mavlink_msg_sys_status_decode(&message, &state); + bool currentlyArmed = state.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY; - // FIXME - //qDebug() << "1 SYSTEM STATUS:" << state.status; + if (systemIsArmed != currentlyArmed) + { + systemIsArmed = currentlyArmed; + emit armingChanged(systemIsArmed); + if (systemIsArmed) + { + emit armed(); + } + else + { + emit disarmed(); + } + } - QString audiostring = "System " + getUASName(); - QString stateAudio = ""; - QString modeAudio = ""; - bool statechanged = false; - bool modechanged = false; + QString audiostring = "System " + getUASName(); + QString stateAudio = ""; + QString modeAudio = ""; + QString navModeAudio = ""; + bool statechanged = false; + bool modechanged = false; - if (state.status != this->status) - { - statechanged = true; - this->status = state.status; - getStatusForCode((int)state.status, uasState, stateDescription); - emit statusChanged(this, uasState, stateDescription); - emit statusChanged(this->status); - shortStateText = uasState; + if (state.system_status != this->status) + { + statechanged = true; + this->status = state.system_status; + getStatusForCode((int)state.system_status, uasState, stateDescription); + emit statusChanged(this, uasState, stateDescription); + emit statusChanged(this->status); - stateAudio = " changed status to " + uasState; - } + shortStateText = uasState; - if (navMode != state.nav_mode) - { - emit navModeChanged(uasId, state.nav_mode, getNavModeText(state.nav_mode)); - navMode = state.nav_mode; - } + stateAudio = tr(" changed status to ") + uasState; + } - emit loadChanged(this,state.load/10.0f); - //emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime()); + if (this->mode != static_cast(state.base_mode)) + { + modechanged = true; + this->mode = static_cast(state.base_mode); + shortModeText = getShortModeTextFor(this->mode); - if (this->mode != static_cast(state.mode)) - { - modechanged = true; - this->mode = static_cast(state.mode); - QString mode; + emit modeChanged(this->getUASID(), shortModeText, ""); - switch (state.mode) { - case (uint8_t)MAV_MODE_LOCKED: - mode = "LOCKED MODE"; - break; - case (uint8_t)MAV_MODE_MANUAL: - mode = "MANUAL MODE"; - break; + modeAudio = " is now in " + shortModeText; + } -#ifdef MAVLINK_ENABLED_SLUGS - case (uint8_t)MAV_MODE_AUTO: - mode = "WAYPOINT MODE"; - break; - case (uint8_t)MAV_MODE_GUIDED: - mode = "MID-L CMDS MODE"; - break; + if (navMode != state.custom_mode) + { + emit navModeChanged(uasId, state.custom_mode, getNavModeText(state.custom_mode)); + navMode = state.custom_mode; + navModeAudio = tr(" changed nav mode to ") + tr("FIXME"); + } - case (uint8_t)MAV_MODE_TEST1: - mode = "PASST MODE"; - break; - case (uint8_t)MAV_MODE_TEST2: - mode = "SEL PT MODE"; - break; -#else - case (uint8_t)MAV_MODE_AUTO: - mode = "AUTO MODE"; - break; - case (uint8_t)MAV_MODE_GUIDED: - mode = "GUIDED MODE"; - break; + // AUDIO + if (modechanged && statechanged) + { + // Output both messages + audiostring += modeAudio + " and " + stateAudio; + } + else if (modechanged || statechanged) + { + // Output the one message + audiostring += modeAudio + stateAudio + navModeAudio; + } - case (uint8_t)MAV_MODE_TEST1: - mode = "TEST1 MODE"; - break; - case (uint8_t)MAV_MODE_TEST2: - mode = "TEST2 MODE"; - break; -#endif - case (uint8_t)MAV_MODE_READY: - mode = "READY MODE"; - break; + if ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY) + { + GAudioOutput::instance()->startEmergency(); + } + else if (modechanged || statechanged) + { + GAudioOutput::instance()->stopEmergency(); + GAudioOutput::instance()->say(audiostring.toLower()); + } - case (uint8_t)MAV_MODE_TEST3: - mode = "TEST3 MODE"; - break; +// if (state.system_status == MAV_STATE_POWEROFF) +// { +// emit systemRemoved(this); +// emit systemRemoved(); +// } +} - case (uint8_t)MAV_MODE_RC_TRAINING: - mode = "RC TRAINING MODE"; - break; - default: - mode = "UNINIT MODE"; - break; - } + break; + case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: + case MAVLINK_MSG_ID_NAMED_VALUE_INT: + // Receive named value message + receiveMessageNamedValue(message); + break; + case MAVLINK_MSG_ID_SYS_STATUS: + { + mavlink_sys_status_t state; + mavlink_msg_sys_status_decode(&message, &state); - shortModeText = mode; + emit loadChanged(this,state.load/10.0f); - emit modeChanged(this->getUASID(), mode, ""); - //qDebug() << "2 SYSTEM MODE:" << mode; - modeAudio = " is now in " + mode; - } - currentVoltage = state.vbat/1000.0f; + currentVoltage = state.voltage_battery/1000.0f; lpVoltage = filterVoltage(currentVoltage); + if (startVoltage == 0) startVoltage = currentVoltage; timeRemaining = calculateTimeRemaining(); - if (!batteryRemainingEstimateEnabled) + if (!batteryRemainingEstimateEnabled && chargeLevel != -1) { - chargeLevel = state.battery_remaining/10.0f; + chargeLevel = state.battery_remaining; } //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining; emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining); - emit voltageChanged(message.sysid, state.vbat/1000.0f); + emit voltageChanged(message.sysid, state.voltage_battery/1000); // LOW BATTERY ALARM if (lpVoltage < warnVoltage) @@ -362,131 +364,55 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) } // COMMUNICATIONS DROP RATE - emit dropRateChanged(this->getUASID(), state.packet_drop/1000.0f); - - - //add for development - //emit remoteControlRSSIChanged(state.packet_drop/1000.0f); - - //float en = state.packet_drop/1000.0f; - //emit remoteControlChannelRawChanged(0, en);//MAVLINK_MSG_ID_RC_CHANNELS_RAW - //emit remoteControlChannelScaledChanged(0, en/100.0f);//MAVLINK_MSG_ID_RC_CHANNELS_SCALED - - - //qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop; - - // AUDIO - if (modechanged && statechanged) - { - // Output both messages - audiostring += modeAudio + " and " + stateAudio; - } - else - { - // Output the one message - audiostring += modeAudio + stateAudio; - } - if ((int)state.status == (int)MAV_STATE_CRITICAL || state.status == (int)MAV_STATE_EMERGENCY) - { - GAudioOutput::instance()->startEmergency(); - } - else if (modechanged || statechanged) - { - GAudioOutput::instance()->stopEmergency(); - GAudioOutput::instance()->say(audiostring); - } - - if (state.status == MAV_STATE_POWEROFF) - { - emit systemRemoved(this); - emit systemRemoved(); - } - } - break; - case MAVLINK_MSG_ID_RAW_IMU: - { - mavlink_raw_imu_t raw; - mavlink_msg_raw_imu_decode(&message, &raw); - quint64 time = getUnixTime(raw.usec); - - emit valueChanged(uasId, "accel x", "raw", static_cast(raw.xacc), time); - emit valueChanged(uasId, "accel y", "raw", static_cast(raw.yacc), time); - emit valueChanged(uasId, "accel z", "raw", static_cast(raw.zacc), time); - emit valueChanged(uasId, "gyro roll", "raw", static_cast(raw.xgyro), time); - emit valueChanged(uasId, "gyro pitch", "raw", static_cast(raw.ygyro), time); - emit valueChanged(uasId, "gyro yaw", "raw", static_cast(raw.zgyro), time); - emit valueChanged(uasId, "mag x", "raw", static_cast(raw.xmag), time); - emit valueChanged(uasId, "mag y", "raw", static_cast(raw.ymag), time); - emit valueChanged(uasId, "mag z", "raw", static_cast(raw.zmag), time); - } - break; - case MAVLINK_MSG_ID_SCALED_IMU: - { - mavlink_scaled_imu_t scaled; - mavlink_msg_scaled_imu_decode(&message, &scaled); - quint64 time = getUnixTime(scaled.usec); - - emit valueChanged(uasId, "accel x", "g", scaled.xacc/1000.0f, time); - emit valueChanged(uasId, "accel y", "g", scaled.yacc/1000.0f, time); - emit valueChanged(uasId, "accel z", "g", scaled.zacc/1000.0f, time); - emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time); - emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time); - emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time); - emit valueChanged(uasId, "mag x", "uTesla", scaled.xmag/100.0f, time); - emit valueChanged(uasId, "mag y", "uTesla", scaled.ymag/100.0f, time); - emit valueChanged(uasId, "mag z", "uTesla", scaled.zmag/100.0f, time); + // FIXME + emit dropRateChanged(this->getUASID(), state.drop_rate_comm/10000.0f); } break; case MAVLINK_MSG_ID_ATTITUDE: { mavlink_attitude_t attitude; mavlink_msg_attitude_decode(&message, &attitude); - quint64 time = getUnixReferenceTime(attitude.usec); + quint64 time = getUnixReferenceTime(attitude.time_boot_ms); lastAttitude = time; roll = QGC::limitAngleToPMPIf(attitude.roll); pitch = QGC::limitAngleToPMPIf(attitude.pitch); yaw = QGC::limitAngleToPMPIf(attitude.yaw); - emit valueChanged(uasId, "roll", "rad", roll, time); - emit valueChanged(uasId, "pitch", "rad", pitch, time); - emit valueChanged(uasId, "yaw", "rad", yaw, time); - emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time); - emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time); - emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time); - - // Emit in angles - - // Convert yaw angle to compass value - // in 0 - 360 deg range - float compass = (yaw/M_PI)*180.0+360.0f; - while (compass > 360.0f) { - compass -= 360.0f; - } - attitudeKnown = true; +// // Emit in angles - emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time); - emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time); - emit valueChanged(uasId, "heading deg", "deg", compass, time); - emit valueChanged(uasId, "rollspeed d/s", "deg/s", (attitude.rollspeed/M_PI)*180.0, time); - emit valueChanged(uasId, "pitchspeed d/s", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time); - emit valueChanged(uasId, "yawspeed d/s", "deg/s", (attitude.yawspeed/M_PI)*180.0, time); +// // Convert yaw angle to compass value +// // in 0 - 360 deg range +// float compass = (yaw/M_PI)*180.0+360.0f; +// if (compass > -10000 && compass < 10000) +// { +// while (compass > 360.0f) { +// compass -= 360.0f; +// } +// } +// else +// { +// // Set to 0, since it is an invalid value +// compass = 0.0f; +// } + attitudeKnown = true; emit attitudeChanged(this, roll, pitch, yaw, time); emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time); } break; + case MAVLINK_MSG_ID_HIL_CONTROLS: + { + mavlink_hil_controls_t hil; + mavlink_msg_hil_controls_decode(&message, &hil); + emit hilControlsChanged(hil.time_usec, hil.roll_ailerons, hil.pitch_elevator, hil.yaw_rudder, hil.throttle, hil.mode, hil.nav_mode); + } + break; case MAVLINK_MSG_ID_VFR_HUD: { mavlink_vfr_hud_t hud; mavlink_msg_vfr_hud_decode(&message, &hud); quint64 time = getUnixTime(); // Display updated values - emit valueChanged(uasId, "airspeed", "m/s", hud.airspeed, time); - emit valueChanged(uasId, "groundspeed", "m/s", hud.groundspeed, time); - emit valueChanged(uasId, "altitude", "m", hud.alt, time); - emit valueChanged(uasId, "heading", "deg", hud.heading, time); - emit valueChanged(uasId, "climbrate", "m/s", hud.climb, time); - emit valueChanged(uasId, "throttle", "%", hud.throttle, time); emit thrustChanged(this, hud.throttle/100.0); if (!attitudeKnown) @@ -496,55 +422,29 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) } emit altitudeChanged(uasId, hud.alt); - //yaw = (hud.heading-180.0f/360.0f)*M_PI; emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, time); } break; - case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: - { - mavlink_nav_controller_output_t nav; - mavlink_msg_nav_controller_output_decode(&message, &nav); - quint64 time = getUnixTime(); - // Update UI - emit valueChanged(uasId, "nav roll", "deg", nav.nav_roll, time); - emit valueChanged(uasId, "nav pitch", "deg", nav.nav_pitch, time); - emit valueChanged(uasId, "nav bearing", "deg", nav.nav_bearing, time); - emit valueChanged(uasId, "target bearing", "deg", nav.target_bearing, time); - emit valueChanged(uasId, "wp dist", "m", nav.wp_dist, time); - emit valueChanged(uasId, "alt err", "m", nav.alt_error, time); - emit valueChanged(uasId, "airspeed err", "m/s", nav.alt_error, time); - emit valueChanged(uasId, "xtrack err", "m", nav.xtrack_error, time); - } - break; - case MAVLINK_MSG_ID_LOCAL_POSITION: + case MAVLINK_MSG_ID_LOCAL_POSITION_NED: //std::cerr << std::endl; //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl; { - mavlink_local_position_t pos; - mavlink_msg_local_position_decode(&message, &pos); - quint64 time = getUnixTime(pos.usec); + mavlink_local_position_ned_t pos; + mavlink_msg_local_position_ned_decode(&message, &pos); + quint64 time = getUnixTime(pos.time_boot_ms); localX = pos.x; localY = pos.y; localZ = pos.z; - emit valueChanged(uasId, "x", "m", pos.x, time); - emit valueChanged(uasId, "y", "m", pos.y, time); - emit valueChanged(uasId, "z", "m", pos.z, time); - emit valueChanged(uasId, "x speed", "m/s", pos.vx, time); - emit valueChanged(uasId, "y speed", "m/s", pos.vy, time); - emit valueChanged(uasId, "z speed", "m/s", pos.vz, time); emit localPositionChanged(this, pos.x, pos.y, pos.z, time); emit speedChanged(this, pos.vx, pos.vy, pos.vz, time); - // qDebug()<<"Local Position = "<notifyPositive(); } positionLock = true; + isLocalPositionKnown = true; } break; case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: @@ -560,39 +460,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) speedX = pos.vx/100.0; speedY = pos.vy/100.0; speedZ = pos.vz/100.0; - emit valueChanged(uasId, "latitude", "deg", latitude, time); - emit valueChanged(uasId, "longitude", "deg", longitude, time); - emit valueChanged(uasId, "altitude", "m", altitude, time); - double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ); - emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time); - emit globalPositionChanged(this, latitude, longitude, altitude, time); - emit speedChanged(this, speedX, speedY, speedZ, time); - // Set internal state - if (!positionLock) { - // If position was not locked before, notify positive - GAudioOutput::instance()->notifyPositive(); - } - positionLock = true; - //TODO fix this hack for forwarding of global position for patch antenna tracking - forwardMessage(message); - } - break; - case MAVLINK_MSG_ID_GLOBAL_POSITION: - { - mavlink_global_position_t pos; - mavlink_msg_global_position_decode(&message, &pos); - quint64 time = getUnixTime(); - latitude = pos.lat; - longitude = pos.lon; - altitude = pos.alt; - speedX = pos.vx; - speedY = pos.vy; - speedZ = pos.vz; - emit valueChanged(uasId, "latitude", "deg", latitude, time); - emit valueChanged(uasId, "longitude", "deg", longitude, time); - emit valueChanged(uasId, "altitude", "m", altitude, time); - double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ); - emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time); emit globalPositionChanged(this, latitude, longitude, altitude, time); emit speedChanged(this, speedX, speedY, speedZ, time); // Set internal state @@ -601,50 +468,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) GAudioOutput::instance()->notifyPositive(); } positionLock = true; + isGlobalPositionKnown = true; //TODO fix this hack for forwarding of global position for patch antenna tracking forwardMessage(message); } break; - case MAVLINK_MSG_ID_GPS_RAW: - //std::cerr << std::endl; - //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl; - { - mavlink_gps_raw_t pos; - mavlink_msg_gps_raw_decode(&message, &pos); - - // SANITY CHECK - // only accept values in a realistic range - // quint64 time = getUnixTime(pos.usec); - quint64 time = getUnixTime(); - - emit valueChanged(uasId, "latitude", "deg", pos.lat, time); - emit valueChanged(uasId, "longitude", "deg", pos.lon, time); - - if (pos.fix_type > 0) { - emit valueChanged(uasId, "gps speed", "m/s", pos.v, time); - latitude = pos.lat; - longitude = pos.lon; - altitude = pos.alt; - positionLock = true; - - // Check for NaN - int alt = pos.alt; - if (alt != alt) { - alt = 0; - emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE"); - } - emit valueChanged(uasId, "altitude", "m", pos.alt, time); - // Smaller than threshold and not NaN - if (pos.v < 1000000 && pos.v == pos.v) { - emit valueChanged(uasId, "speed", "m/s", pos.v, time); - //qDebug() << "GOT GPS RAW"; - // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time); - } else { - emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v)); - } - } - } - break; case MAVLINK_MSG_ID_GPS_RAW_INT: { mavlink_gps_raw_int_t pos; @@ -652,15 +480,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) // SANITY CHECK // only accept values in a realistic range - // quint64 time = getUnixTime(pos.usec); - quint64 time = getUnixTime(); + // quint64 time = getUnixTime(pos.time_usec); + quint64 time = getUnixTime(pos.time_usec); - emit valueChanged(uasId, "latitude", "deg", pos.lat/(double)1E7, time); - emit valueChanged(uasId, "longitude", "deg", pos.lon/(double)1E7, time); - - if (pos.fix_type > 0) { + if (pos.fix_type > 2) { emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time); - emit valueChanged(uasId, "gps speed", "m/s", pos.v, time); latitude = pos.lat/(double)1E7; longitude = pos.lon/(double)1E7; altitude = pos.alt/1000.0; @@ -672,14 +496,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) alt = 0; emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE"); } - emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time); + // FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time); // Smaller than threshold and not NaN - if (pos.v < 1000000 && pos.v == pos.v) { - emit valueChanged(uasId, "speed", "m/s", pos.v, time); + + float vel = pos.vel/100.0f; + + if (vel < 1000000 && !isnan(vel) && !isinf(vel)) { + // FIXME REMOVE LATER emit valueChanged(uasId, "speed", "m/s", vel, time); //qDebug() << "GOT GPS RAW"; // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time); } else { - emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v)); + emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel)); } } } @@ -694,36 +521,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) } } break; - case MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET: + case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN: { - mavlink_gps_local_origin_set_t pos; - mavlink_msg_gps_local_origin_set_decode(&message, &pos); + mavlink_gps_global_origin_t pos; + mavlink_msg_gps_global_origin_decode(&message, &pos); emit homePositionChanged(uasId, pos.latitude, pos.longitude, pos.altitude); } break; - case MAVLINK_MSG_ID_RAW_PRESSURE: - { - mavlink_raw_pressure_t pressure; - mavlink_msg_raw_pressure_decode(&message, &pressure); - quint64 time = this->getUnixTime(pressure.usec); - emit valueChanged(uasId, "abs pressure", "raw", pressure.press_abs, time); - emit valueChanged(uasId, "diff pressure 1", "raw", pressure.press_diff1, time); - emit valueChanged(uasId, "diff pressure 2", "raw", pressure.press_diff2, time); - emit valueChanged(uasId, "temperature", "raw", pressure.temperature, time); - } - break; - - case MAVLINK_MSG_ID_SCALED_PRESSURE: - { - mavlink_scaled_pressure_t pressure; - mavlink_msg_scaled_pressure_decode(&message, &pressure); - quint64 time = this->getUnixTime(pressure.usec); - emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time); - emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time); - emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time); - } - break; - case MAVLINK_MSG_ID_RC_CHANNELS_RAW: { mavlink_rc_channels_raw_t channels; @@ -737,15 +541,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) emit remoteControlChannelRawChanged(5, channels.chan6_raw); emit remoteControlChannelRawChanged(6, channels.chan7_raw); emit remoteControlChannelRawChanged(7, channels.chan8_raw); - quint64 time = getUnixTime(); - emit valueChanged(uasId, "rc in #1", "us", channels.chan1_raw, time); - emit valueChanged(uasId, "rc in #2", "us", channels.chan2_raw, time); - emit valueChanged(uasId, "rc in #3", "us", channels.chan3_raw, time); - emit valueChanged(uasId, "rc in #4", "us", channels.chan4_raw, time); - emit valueChanged(uasId, "rc in #5", "us", channels.chan5_raw, time); - emit valueChanged(uasId, "rc in #6", "us", channels.chan6_raw, time); - emit valueChanged(uasId, "rc in #7", "us", channels.chan7_raw, time); - emit valueChanged(uasId, "rc in #8", "us", channels.chan8_raw, time); } break; case MAVLINK_MSG_ID_RC_CHANNELS_SCALED: @@ -767,80 +562,118 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) { mavlink_param_value_t value; mavlink_msg_param_value_decode(&message, &value); - QByteArray bytes((char*)value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + QByteArray bytes(value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); QString parameterName = QString(bytes); int component = message.compid; - float val = value.param_value; + mavlink_param_union_t val; + val.param_float = value.param_value; + val.type = value.param_type; // Insert component if necessary if (!parameters.contains(component)) { - parameters.insert(component, new QMap()); + parameters.insert(component, new QMap()); } // Insert parameter into registry if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName); - parameters.value(component)->insert(parameterName, val); - // Emit change - emit parameterChanged(uasId, message.compid, parameterName, val); - emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val); + // Insert with correct type + switch (value.param_type) + { + case MAVLINK_TYPE_FLOAT: + { + // Variant + QVariant param(val.param_float); + parameters.value(component)->insert(parameterName, param); + // Emit change + 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: + { + // Variant + QVariant param(val.param_uint32); + parameters.value(component)->insert(parameterName, param); + // Emit change + 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: + { + // Variant + QVariant param(val.param_int32); + parameters.value(component)->insert(parameterName, param); + // Emit change + 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; + } } break; - case MAVLINK_MSG_ID_ACTION_ACK: - mavlink_action_ack_t ack; - mavlink_msg_action_ack_decode(&message, &ack); + case MAVLINK_MSG_ID_COMMAND_ACK: + mavlink_command_ack_t ack; + mavlink_msg_command_ack_decode(&message, &ack); if (ack.result == 1) { - emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed action: %1").arg(ack.action)); + emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed CMD: %1").arg(ack.command)); } else { - emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected action: %1").arg(ack.action)); + emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected CMD: %1").arg(ack.command)); } break; - case MAVLINK_MSG_ID_DEBUG: - emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow()); - break; case MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT: { mavlink_roll_pitch_yaw_thrust_setpoint_t out; mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&message, &out); - quint64 time = getUnixTime(out.time_us); + quint64 time = getUnixTimeFromMs(out.time_boot_ms); emit attitudeThrustSetPointChanged(this, out.roll, out.pitch, out.yaw, out.thrust, time); - emit valueChanged(uasId, "att control roll", "rad", out.roll, time); - emit valueChanged(uasId, "att control pitch", "rad", out.pitch, time); - emit valueChanged(uasId, "att control yaw", "rad", out.yaw, time); - emit valueChanged(uasId, "att control thrust", "0-1", out.thrust, time); } break; - case MAVLINK_MSG_ID_WAYPOINT_COUNT: + case MAVLINK_MSG_ID_MISSION_COUNT: { - mavlink_waypoint_count_t wpc; - mavlink_msg_waypoint_count_decode(&message, &wpc); - if (wpc.target_system == mavlink->getSystemId() && wpc.target_component == mavlink->getComponentId()) + mavlink_mission_count_t wpc; + mavlink_msg_mission_count_decode(&message, &wpc); + if (wpc.target_system == mavlink->getSystemId()) { waypointManager.handleWaypointCount(message.sysid, message.compid, wpc.count); } + else + { + qDebug() << "Got waypoint message, but was not for me"; + } } break; - case MAVLINK_MSG_ID_WAYPOINT: + case MAVLINK_MSG_ID_MISSION_ITEM: { - mavlink_waypoint_t wp; - mavlink_msg_waypoint_decode(&message, &wp); + mavlink_mission_item_t wp; + mavlink_msg_mission_item_decode(&message, &wp); //qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z; - if(wp.target_system == mavlink->getSystemId() && wp.target_component == mavlink->getComponentId()) + if(wp.target_system == mavlink->getSystemId()) { waypointManager.handleWaypoint(message.sysid, message.compid, &wp); } + else + { + qDebug() << "Got waypoint message, but was not for me"; + } } break; - case MAVLINK_MSG_ID_WAYPOINT_ACK: + case MAVLINK_MSG_ID_MISSION_ACK: { - mavlink_waypoint_ack_t wpa; - mavlink_msg_waypoint_ack_decode(&message, &wpa); + mavlink_mission_ack_t wpa; + mavlink_msg_mission_ack_decode(&message, &wpa); if(wpa.target_system == mavlink->getSystemId() && wpa.target_component == mavlink->getComponentId()) { waypointManager.handleWaypointAck(message.sysid, message.compid, &wpa); @@ -848,21 +681,25 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) } break; - case MAVLINK_MSG_ID_WAYPOINT_REQUEST: + case MAVLINK_MSG_ID_MISSION_REQUEST: { - mavlink_waypoint_request_t wpr; - mavlink_msg_waypoint_request_decode(&message, &wpr); - if(wpr.target_system == mavlink->getSystemId() && wpr.target_component == mavlink->getComponentId()) + mavlink_mission_request_t wpr; + mavlink_msg_mission_request_decode(&message, &wpr); + if(wpr.target_system == mavlink->getSystemId()) { waypointManager.handleWaypointRequest(message.sysid, message.compid, &wpr); } + else + { + qDebug() << "Got waypoint message, but was not for me"; + } } break; - case MAVLINK_MSG_ID_WAYPOINT_REACHED: + case MAVLINK_MSG_ID_MISSION_ITEM_REACHED: { - mavlink_waypoint_reached_t wpr; - mavlink_msg_waypoint_reached_decode(&message, &wpr); + mavlink_mission_item_reached_t wpr; + mavlink_msg_mission_item_reached_decode(&message, &wpr); waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr); QString text = QString("System %1 reached waypoint %2").arg(getUASName()).arg(wpr.seq); GAudioOutput::instance()->say(text); @@ -870,10 +707,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) } break; - case MAVLINK_MSG_ID_WAYPOINT_CURRENT: + case MAVLINK_MSG_ID_MISSION_CURRENT: { - mavlink_waypoint_current_t wpc; - mavlink_msg_waypoint_current_decode(&message, &wpc); + mavlink_mission_current_t wpc; + mavlink_msg_mission_current_decode(&message, &wpc); waypointManager.handleWaypointCurrent(message.sysid, message.compid, &wpc); } break; @@ -885,39 +722,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs()); } break; - case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: - { - mavlink_servo_output_raw_t servos; - mavlink_msg_servo_output_raw_decode(&message, &servos); - quint64 time = getUnixTime(); - emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time); - emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time); - emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time); - emit valueChanged(uasId, "servo #4", "us", servos.servo4_raw, time); - emit valueChanged(uasId, "servo #5", "us", servos.servo5_raw, time); - emit valueChanged(uasId, "servo #6", "us", servos.servo6_raw, time); - emit valueChanged(uasId, "servo #7", "us", servos.servo7_raw, time); - emit valueChanged(uasId, "servo #8", "us", servos.servo8_raw, time); - } - break; - - case MAVLINK_MSG_ID_OPTICAL_FLOW: - { - mavlink_optical_flow_t flow; - mavlink_msg_optical_flow_decode(&message, &flow); - quint64 time = getUnixTime(flow.time); - - emit valueChanged(uasId, QString("opt_flow_%1.x").arg(flow.sensor_id), "Pixel", flow.flow_x, time); - emit valueChanged(uasId, QString("opt_flow_%1.y").arg(flow.sensor_id), "Pixel", flow.flow_y, time); - emit valueChanged(uasId, QString("opt_flow_%1.qual").arg(flow.sensor_id), "0-255", flow.quality, time); - emit valueChanged(uasId, QString("opt_flow_%1.dist").arg(flow.sensor_id), "m", flow.ground_distance, time); - } - break; case MAVLINK_MSG_ID_STATUSTEXT: { QByteArray b; b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN); - mavlink_msg_statustext_get_text(&message, (int8_t*)b.data()); + mavlink_msg_statustext_get_text(&message, b.data()); //b.append('\0'); QString text = QString(b); int severity = mavlink_msg_statustext_get_severity(&message); @@ -977,25 +786,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) } break; #endif - case MAVLINK_MSG_ID_DEBUG_VECT: - { - mavlink_debug_vect_t vect; - mavlink_msg_debug_vect_decode(&message, &vect); - QString str((const char*)vect.name); - quint64 time = getUnixTime(vect.usec); - emit valueChanged(uasId, str+".x", "raw", vect.x, time); - emit valueChanged(uasId, str+".y", "raw", vect.y, time); - emit valueChanged(uasId, str+".z", "raw", vect.z, time); - } - break; - case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT: - { - mavlink_object_detection_event_t event; - mavlink_msg_object_detection_event_decode(&message, &event); - QString str(event.name); - emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance); - } - break; +// case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT: +// { +// mavlink_object_detection_event_t event; +// mavlink_msg_object_detection_event_decode(&message, &event); +// QString str(event.name); +// emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance); +// } +// break; // WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET // case MAVLINK_MSG_ID_MEMORY_VECT: // { @@ -1015,31 +813,31 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) // default: // case 0: // for (int i = 0; i < 16; i++) -// emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time); +// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time); // break; // case 1: // for (int i = 0; i < 16; i++) -// emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time); +// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time); // break; // case 2: // for (int i = 0; i < 16; i++) -// emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time); +// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time); // break; // case 3: // for (int i = 0; i < 16; i++) -// emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time); +// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time); // break; // case 4: // for (int i = 0; i < 8; i++) -// emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time); +// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time); // break; // case 5: // for (int i = 0; i < 8; i++) -// emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time); +// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time); // break; // case 6: // for (int i = 0; i < 8; i++) -// emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time); +// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time); // break; // } // } @@ -1051,12 +849,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) mavlink_nav_filter_bias_t bias; mavlink_msg_nav_filter_bias_decode(&message, &bias); quint64 time = getUnixTime(); - emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time); - emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time); - emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time); - emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time); - emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time); - emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time); + // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time); + // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time); + // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time); + // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time); + // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time); + // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time); } break; case MAVLINK_MSG_ID_RADIO_CALIBRATION: @@ -1091,7 +889,28 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) #endif // Messages to ignore - case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET: + case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: + case MAVLINK_MSG_ID_RAW_IMU: + case MAVLINK_MSG_ID_SCALED_IMU: + case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: + case MAVLINK_MSG_ID_RAW_PRESSURE: + case MAVLINK_MSG_ID_SCALED_PRESSURE: + case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: + case MAVLINK_MSG_ID_OPTICAL_FLOW: + break; + case MAVLINK_MSG_ID_DEBUG_VECT: + { + mavlink_debug_vect_t debug; + mavlink_msg_debug_vect_decode(&message, &debug); + debug.name[MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN-1] = '\0'; + QString name(debug.name); + quint64 time = getUnixTime(debug.time_usec); + emit valueChanged(uasId, name+".x", "raw", debug.x, time); + emit valueChanged(uasId, name+".y", "raw", debug.y, time); + emit valueChanged(uasId, name+".z", "raw", debug.z, time); + } + break; + case MAVLINK_MSG_ID_DEBUG: break; default: { @@ -1112,22 +931,43 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) void UAS::setHomePosition(double lat, double lon, double alt) { - // Send new home position to UAS - mavlink_gps_set_global_origin_t home; - home.target_system = uasId; - home.target_component = 0; // ALL components - home.latitude = lat*1E7; - home.longitude = lon*1E7; - home.altitude = alt*1000; - qDebug() << "lat:" << home.latitude << " lon:" << home.longitude; - mavlink_message_t msg; - mavlink_msg_gps_set_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home); - sendMessage(msg); + QMessageBox msgBox; + msgBox.setIcon(QMessageBox::Warning); + msgBox.setText("Setting new World Coordinate Frame Origin"); + msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location"); + msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); + msgBox.setDefaultButton(QMessageBox::Cancel); + int ret = msgBox.exec(); + + // Close the message box shortly after the click to prevent accidental clicks + QTimer::singleShot(5000, &msgBox, SLOT(reject())); + + + if (ret == QMessageBox::Yes) + { + mavlink_message_t msg; + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 0, 0, 0, 0, lat, lon, alt); + // Send message twice to increase chance that it reaches its goal + sendMessage(msg); + // Wait 15 ms + QGC::SLEEP::usleep(15000); + // Send again + sendMessage(msg); + + // Send new home position to UAS + mavlink_set_gps_global_origin_t home; + home.target_system = uasId; + home.latitude = lat*1E7; + home.longitude = lon*1E7; + home.altitude = alt*1000; + qDebug() << "lat:" << home.latitude << " lon:" << home.longitude; + mavlink_msg_set_gps_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home); + sendMessage(msg); + } } void UAS::setLocalOriginAtCurrentGPSPosition() { - bool result = false; QMessageBox msgBox; msgBox.setIcon(QMessageBox::Warning); msgBox.setText("Setting new World Coordinate Frame Origin"); @@ -1143,14 +983,13 @@ void UAS::setLocalOriginAtCurrentGPSPosition() if (ret == QMessageBox::Yes) { mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN); + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 1, 0, 0, 0, 0, 0, 0); // Send message twice to increase chance that it reaches its goal sendMessage(msg); - // Wait 5 ms - MG::SLEEP::usleep(5000); + // Wait 15 ms + QGC::SLEEP::usleep(15000); // Send again sendMessage(msg); - result = true; } } @@ -1158,7 +997,7 @@ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw) { #ifdef MAVLINK_ENABLED_PIXHAWK mavlink_message_t msg; - mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw); + mavlink_msg_set_local_position_setpoint_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_FRAME_LOCAL_NED, x, y, z, yaw/M_PI*180.0); sendMessage(msg); #else Q_UNUSED(x); @@ -1172,7 +1011,7 @@ void UAS::setLocalPositionOffset(float x, float y, float z, float yaw) { #ifdef MAVLINK_ENABLED_PIXHAWK mavlink_message_t msg; - mavlink_msg_position_control_offset_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw); + mavlink_msg_set_position_control_offset_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw); sendMessage(msg); #else Q_UNUSED(x); @@ -1185,49 +1024,46 @@ void UAS::setLocalPositionOffset(float x, float y, float z, float yaw) void UAS::startRadioControlCalibration() { mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_RC); + // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 1, 0, 0, 0); sendMessage(msg); } void UAS::startDataRecording() { mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_START); - sendMessage(msg); -} - -void UAS::pauseDataRecording() -{ - mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_PAUSE); + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 2, 0, 0, 0); sendMessage(msg); } void UAS::stopDataRecording() { mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_STOP); + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 0, 0, 0, 0); sendMessage(msg); } void UAS::startMagnetometerCalibration() { mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_MAG); + // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 1, 0, 0, 0, 0, 0); sendMessage(msg); } void UAS::startGyroscopeCalibration() { mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_GYRO); + // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1, 0, 0, 0, 0, 0, 0); sendMessage(msg); } void UAS::startPressureCalibration() { mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_PRESSURE); + // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 1, 0, 0, 0, 0); sendMessage(msg); } @@ -1276,6 +1112,19 @@ quint64 UAS::getUnixReferenceTime(quint64 time) } } +/** + * @warning If attitudeStamped is enabled, this function will not actually return the precise time stamp + * of this measurement augmented to UNIX time, but will MOVE the timestamp IN TIME to match + * the last measured attitude. There is no reason why one would want this, except for + * system setups where the onboard clock is not present or broken and datasets should + * be collected that are still roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED + * RUINS THE SCIENTIFIC NATURE OF THE CORRECT LOGGING FUNCTIONS OF QGROUNDCONTROL! + */ +quint64 UAS::getUnixTimeFromMs(quint64 time) +{ + return getUnixTime(time*1000); +} + /** * @warning If attitudeStamped is enabled, this function will not actually return the precise time stamp * of this measurement augmented to UNIX time, but will MOVE the timestamp IN TIME to match @@ -1352,18 +1201,11 @@ QList UAS::getComponentIds() void UAS::setMode(int mode) { - if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING) - { - //this->mode = mode; //no call assignament, update receive message from UAS - mavlink_message_t msg; - mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode); - sendMessage(msg); - qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode; - } - else - { - qDebug() << "uas Mode not assign: " << mode; - } + //this->mode = mode; //no call assignament, update receive message from UAS + mavlink_message_t msg; + mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode, (uint16_t)navMode); + sendMessage(msg); + qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode; } void UAS::sendMessage(mavlink_message_t message) @@ -1415,7 +1257,8 @@ void UAS::sendMessage(LinkInterface* link, mavlink_message_t message) uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; // Write message into buffer, prepending start sign int len = mavlink_msg_to_send_buffer(buffer, &message); - mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len); + static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS; + mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]); // If link is connected if (link->isConnected()) { @@ -1434,38 +1277,27 @@ float UAS::filterVoltage(float value) const QString UAS::getNavModeText(int mode) { + if (autopilot == MAV_AUTOPILOT_PIXHAWK) + { switch (mode) { - case MAV_NAV_GROUNDED: - return QString("GROUNDED"); - break; - case MAV_NAV_HOLD: - return QString("HOLD"); - break; - case MAV_NAV_LANDING: - return QString("LANDING"); - break; - case MAV_NAV_LIFTOFF: - return QString("LIFTOFF"); - break; - case MAV_NAV_LOITER: - return QString("LOITER"); - break; - case MAV_NAV_LOST: - return QString("LOST"); - break; - case MAV_NAV_RETURNING: - return QString("RETURNING"); - break; - case MAV_NAV_VECTOR: - return QString("VECTOR"); - break; - case MAV_NAV_WAYPOINT: - return QString("WAYPOINT"); + case 0: + return QString("PREFLIGHT"); break; default: return QString("UNKNOWN"); } + } + else if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA) + { + return QString("UNKNOWN"); + } + else if (autopilot == MAV_AUTOPILOT_OPENPILOT) + { + return QString("UNKNOWN"); + } + // If nothing matches, return unknown + return QString("UNKNOWN"); } void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDescription) @@ -1620,24 +1452,20 @@ void UAS::requestParameters() { mavlink_message_t msg; mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 25); - // Send message twice to increase chance of reception sendMessage(msg); } void UAS::writeParametersToStorage() { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_STORAGE_WRITE); - //mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_STORAGE_WRITE); + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0); sendMessage(msg); } void UAS::readParametersFromStorage() { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(uint8_t)MAV_ACTION_STORAGE_READ); + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 0, -1, -1, -1, 0, 0, 0); sendMessage(msg); } @@ -1877,16 +1705,40 @@ void UAS::enableExtra3Transmission(int rate) * @param id Name of the parameter * @param value Parameter value */ -void UAS::setParameter(const int component, const QString& id, const float value) +void UAS::setParameter(const int component, const QString& id, const QVariant& value) { if (!id.isNull()) { mavlink_message_t msg; mavlink_param_set_t p; - p.param_value = value; + mavlink_param_union_t union_value; + + // Assign correct value based on QVariant + switch (value.type()) + { + case QVariant::Int: + union_value.param_int32 = value.toInt(); + p.param_type = MAVLINK_TYPE_INT32_T; + break; + case QVariant::UInt: + union_value.param_uint32 = value.toUInt(); + p.param_type = MAVLINK_TYPE_UINT32_T; + break; + case QMetaType::Float: + union_value.param_float = value.toFloat(); + p.param_type = MAVLINK_TYPE_FLOAT; + break; + default: + qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE"; + return; + } + + p.param_value = union_value.param_float; 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++) { @@ -1911,16 +1763,38 @@ void UAS::setParameter(const int component, const QString& id, const float value } } -void UAS::requestParameter(int component, int parameter) +void UAS::requestParameter(int component, int id) +{ + // Request parameter, use parameter name to request it + mavlink_message_t msg; + mavlink_param_request_read_t read; + read.param_index = id; + read.param_id[0] = '\0'; // Enforce null termination + read.target_system = uasId; + read.target_component = component; + mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read); + sendMessage(msg); + qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id; +} + +void UAS::requestParameter(int component, const QString& parameter) { + // Request parameter, use parameter name to request it mavlink_message_t msg; mavlink_param_request_read_t read; - read.param_index = parameter; + read.param_index = -1; + // Copy full param name or maximum max field size + if (parameter.length() > MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN) + { + emit textMessageReceived(uasId, 0, 255, QString("QGC WARNING: Parameter name %1 is more than %2 bytes long. This might lead to errors and mishaps!").arg(parameter).arg(MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN-1)); + } + memcpy(read.param_id, parameter.toStdString().c_str(), qMax(parameter.length(), MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN)); + read.param_id[15] = '\0'; // Enforce null termination read.target_system = uasId; read.target_component = component; mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read); sendMessage(msg); - qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << parameter; + qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM NAME" << parameter; } void UAS::setSystemType(int systemType) @@ -1931,10 +1805,10 @@ void UAS::setSystemType(int systemType) { switch (systemType) { - case MAV_FIXED_WING: + case MAV_TYPE_FIXED_WING: airframe = QGC_AIRFRAME_EASYSTAR; break; - case MAV_QUADROTOR: + case MAV_TYPE_QUADROTOR: airframe = QGC_AIRFRAME_MIKROKOPTER; break; } @@ -1944,54 +1818,69 @@ void UAS::setSystemType(int systemType) void UAS::setUASName(const QString& name) { - this->name = name; - writeSettings(); - emit nameChanged(name); - emit systemSpecsChanged(uasId); + if (name != "") + { + this->name = name; + writeSettings(); + emit nameChanged(name); + emit systemSpecsChanged(uasId); + } } void UAS::executeCommand(MAV_CMD command) { mavlink_message_t msg; - mavlink_command_t cmd; + mavlink_command_long_t cmd; cmd.command = (uint8_t)command; cmd.confirmation = 0; cmd.param1 = 0.0f; cmd.param2 = 0.0f; cmd.param3 = 0.0f; cmd.param4 = 0.0f; + cmd.param5 = 0.0f; + cmd.param6 = 0.0f; + cmd.param7 = 0.0f; cmd.target_system = uasId; cmd.target_component = 0; - mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); + mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); sendMessage(msg); } void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component) { mavlink_message_t msg; - mavlink_command_t cmd; + mavlink_command_long_t cmd; cmd.command = (uint8_t)command; cmd.confirmation = confirmation; cmd.param1 = param1; cmd.param2 = param2; cmd.param3 = param3; cmd.param4 = param4; + cmd.param5 = 0.0f; + cmd.param6 = 0.0f; + cmd.param7 = 0.0f; cmd.target_system = uasId; cmd.target_component = component; - mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); + mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); sendMessage(msg); } -/** - * Sets an action - * - **/ -void UAS::setAction(MAV_ACTION action) +void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component) { mavlink_message_t msg; - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, action); - // Send message twice to increase chance that it reaches its goal - sendMessage(msg); + mavlink_command_long_t cmd; + cmd.command = (uint8_t)command; + cmd.confirmation = confirmation; + cmd.param1 = param1; + cmd.param2 = param2; + cmd.param3 = param3; + cmd.param4 = param4; + cmd.param5 = param5; + cmd.param6 = param6; + cmd.param7 = param7; + cmd.target_system = uasId; + cmd.target_component = component; + mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); sendMessage(msg); } @@ -2002,10 +1891,7 @@ void UAS::setAction(MAV_ACTION action) void UAS::launch() { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_TAKEOFF); - // Send message twice to increase chance of reception - sendMessage(msg); + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_NAV_TAKEOFF, 1, 0, 0, 0, 0, 0, 0, 0); sendMessage(msg); } @@ -2013,13 +1899,10 @@ void UAS::launch() * Depending on the UAS, this might make the rotors of a helicopter spinning * **/ -void UAS::enable_motors() +void UAS::armSystem() { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START); - // Send message twice to increase chance of reception - sendMessage(msg); + mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode, navMode | MAV_MODE_FLAG_SAFETY_ARMED); sendMessage(msg); } @@ -2027,13 +1910,10 @@ void UAS::enable_motors() * @warning Depending on the UAS, this might completely stop all motors. * **/ -void UAS::disable_motors() +void UAS::disarmSystem() { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP); - // Send message twice to increase chance of reception - sendMessage(msg); + mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode, navMode & !MAV_MODE_FLAG_SAFETY_ARMED); sendMessage(msg); } @@ -2049,7 +1929,8 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double manualYawAngle = yaw * yawScaling; manualThrust = thrust * thrustScaling; - if(mode == (int)MAV_MODE_MANUAL) + // If system has manual inputs enabled and is armed + if((mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) { mavlink_message_t message; mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual); @@ -2088,83 +1969,17 @@ void UAS::receiveButton(int buttonIndex) } -/*void UAS::requestWaypoints() -{ -// mavlink_message_t msg; -// mavlink_msg_waypoint_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 25); -// // Send message twice to increase chance of reception -// sendMessage(msg); - waypointManager.requestWaypoints(); - qDebug() << "UAS Request WPs"; -} - -void UAS::setWaypoint(Waypoint* wp) -{ -// mavlink_message_t msg; -// mavlink_waypoint_set_t set; -// set.id = wp->id; -// //QString name = wp->name; -// // FIXME Check if this works properly -// //name.truncate(MAVLINK_MSG_WAYPOINT_SET_FIELD_NAME_LEN); -// //strcpy((char*)set.name, name.toStdString().c_str()); -// set.autocontinue = wp->autocontinue; -// set.target_component = 25; // FIXME -// set.target_system = uasId; -// set.active = wp->current; -// set.x = wp->x; -// set.y = wp->y; -// set.z = wp->z; -// set.yaw = wp->yaw; -// mavlink_msg_waypoint_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &set); -// // Send message twice to increase chance of reception -// sendMessage(msg); -} - -void UAS::setWaypointActive(int id) -{ -// mavlink_message_t msg; -// mavlink_waypoint_set_active_t active; -// active.id = id; -// active.target_system = uasId; -// active.target_component = 25; // FIXME -// mavlink_msg_waypoint_set_active_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &active); -// // Send message twice to increase chance of reception -// sendMessage(msg); -// sendMessage(msg); -// // TODO This should be not directly emitted, but rather being fed back from the UAS -// emit waypointSelected(getUASID(), id); -} - -void UAS::clearWaypointList() -{ -// mavlink_message_t msg; -// // FIXME -// mavlink_waypoint_clear_list_t clist; -// clist.target_system = uasId; -// clist.target_component = 25; // FIXME -// mavlink_msg_waypoint_clear_list_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &clist); -// sendMessage(msg); -// qDebug() << "UAS clears Waypoints!"; -}*/ - - void UAS::halt() { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HALT); - // Send message twice to increase chance of reception - sendMessage(msg); + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_HOLD, MAV_GOTO_HOLD_AT_CURRENT_POSITION, 0, 0, 0, 0, 0); sendMessage(msg); } void UAS::go() { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_CONTINUE); - // Send message twice to increase chance of reception - sendMessage(msg); + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, 0, 0, 0, 0, 0); sendMessage(msg); } @@ -2172,10 +1987,13 @@ void UAS::go() void UAS::home() { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_RETURN); - // Send message twice to increase chance of reception - sendMessage(msg); + + double latitude = UASManager::instance()->getHomeLatitude(); + double longitude = UASManager::instance()->getHomeLongitude(); + double altitude = UASManager::instance()->getHomeAltitude(); + int frame = UASManager::instance()->getHomeFrame(); + + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, frame, 0, latitude, longitude, altitude); sendMessage(msg); } @@ -2185,65 +2003,102 @@ void UAS::home() */ void UAS::emergencySTOP() { - mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_LAND); - // Send message twice to increase chance of reception - sendMessage(msg); - sendMessage(msg); + // FIXME MAVLINKV10PORTINGNEEDED + halt(); } /** - * All systems are immediately shut down (e.g. the main power line is cut). + * Shut down this mav - All onboard systems are immediately shut down (e.g. the main power line is cut). * @warning This might lead to a crash * * The command will not be executed until emergencyKILLConfirm is issues immediately afterwards */ bool UAS::emergencyKILL() { - bool result = false; - QMessageBox msgBox; - msgBox.setIcon(QMessageBox::Critical); - msgBox.setText("EMERGENCY: KILL ALL MOTORS ON UAS"); - msgBox.setInformativeText("Do you want to cut power on all systems?"); - msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); - msgBox.setDefaultButton(QMessageBox::Cancel); - int ret = msgBox.exec(); - - // Close the message box shortly after the click to prevent accidental clicks - QTimer::singleShot(5000, &msgBox, SLOT(reject())); - - - if (ret == QMessageBox::Yes) + halt(); + // FIXME MAVLINKV10PORTINGNEEDED +// bool result = false; +// QMessageBox msgBox; +// msgBox.setIcon(QMessageBox::Critical); +// msgBox.setText("EMERGENCY: KILL ALL MOTORS ON UAS"); +// msgBox.setInformativeText("Do you want to cut power on all systems?"); +// msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); +// msgBox.setDefaultButton(QMessageBox::Cancel); +// int ret = msgBox.exec(); + +// // Close the message box shortly after the click to prevent accidental clicks +// QTimer::singleShot(5000, &msgBox, SLOT(reject())); + + +// if (ret == QMessageBox::Yes) +// { +// mavlink_message_t msg; +// // TODO Replace MG System ID with static function call and allow to change ID in GUI +// mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL); +// // Send message twice to increase chance of reception +// sendMessage(msg); +// sendMessage(msg); +// result = true; +// } +// return result; + return false; +} + +void UAS::enableHil(bool enable) +{ + // Connect Flight Gear Link + if (enable) { - mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL); - // Send message twice to increase chance of reception - sendMessage(msg); - sendMessage(msg); - result = true; + startHil(); + } + else + { + stopHil(); } - return result; } -void UAS::startHil() +/** +* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) +* @param roll Roll angle (rad) +* @param pitch Pitch angle (rad) +* @param yaw Yaw angle (rad) +* @param rollspeed Roll angular speed (rad/s) +* @param pitchspeed Pitch angular speed (rad/s) +* @param yawspeed Yaw angular speed (rad/s) +* @param lat Latitude, expressed as * 1E7 +* @param lon Longitude, expressed as * 1E7 +* @param alt Altitude in meters, expressed as * 1000 (millimeters) +* @param vx Ground X Speed (Latitude), expressed as m/s * 100 +* @param vy Ground Y Speed (Longitude), expressed as m/s * 100 +* @param vz Ground Z Speed (Altitude), expressed as m/s * 100 +* @param xacc X acceleration (mg) +* @param yacc Y acceleration (mg) +* @param zacc Z acceleration (mg) +*/ +void UAS::sendHilState(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed, + float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, + int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) { mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_START_HILSIM); - // Send message twice to increase chance of reception + mavlink_msg_hil_state_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, time_us, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc); sendMessage(msg); +} + + +void UAS::startHil() +{ + // Connect Flight Gear Link + simulation->connectSimulation(); + mavlink_message_t msg; + mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode | MAV_MODE_FLAG_HIL_ENABLED, navMode); sendMessage(msg); } void UAS::stopHil() { + simulation->disconnectSimulation(); mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_STOP_HILSIM); - // Send message twice to increase chance of reception - sendMessage(msg); + mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode & !MAV_MODE_FLAG_HIL_ENABLED, navMode); sendMessage(msg); } @@ -2267,12 +2122,8 @@ void UAS::shutdown() { // If the active UAS is set, execute command mavlink_message_t msg; - // TODO Replace MG System ID with static function call and allow to change ID in GUI - mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_SHUTDOWN); - // Send message twice to increase chance of reception + mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0, 2, 0, 0, 0, 0, 0, 0); sendMessage(msg); - sendMessage(msg); - result = true; } } @@ -2280,10 +2131,7 @@ void UAS::shutdown() void UAS::setTargetPosition(float x, float y, float z, float yaw) { mavlink_message_t msg; - mavlink_msg_position_target_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, x, y, z, yaw); - - // Send message twice to increase chance of reception - sendMessage(msg); + mavlink_msg_set_local_position_setpoint_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_FRAME_LOCAL_NED, x, y, z, yaw); sendMessage(msg); } @@ -2309,6 +2157,58 @@ const QString& UAS::getShortState() const return shortStateText; } +QString UAS::getShortModeTextFor(int id) +{ + QString mode; + uint8_t modeid = id; + + qDebug() << "MODE:" << modeid; + + // BASE MODE DECODING + if (modeid & MAV_MODE_FLAG_DECODE_POSITION_AUTO) + { + mode = "AUTO"; + } + else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_GUIDED) + { + mode = "GUIDED"; + } + else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) + { + mode = "STABILIZED"; + } + else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_TEST) + { + mode = "TEST"; + } + else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) + { + mode = "MANUAL"; + } + else + { + mode = "PREFLIGHT"; + } + + // ARMED STATE DECODING + if (modeid & MAV_MODE_FLAG_DECODE_POSITION_SAFETY) + { + mode.prepend("A|"); + } + else + { + mode.prepend("D|"); + } + + // HARDWARE IN THE LOOP DECODING + if (modeid & MAV_MODE_FLAG_DECODE_POSITION_HIL) + { + mode.prepend("HIL:"); + } + + return mode; +} + const QString& UAS::getShortMode() const { return shortModeText; @@ -2464,8 +2364,8 @@ void UAS::startLowBattAlarm() { if (!lowBattAlarm) { - GAudioOutput::instance()->alert(tr("SYSTEM %1 HAS LOW BATTERY").arg(getUASName())); - QTimer::singleShot(2000, GAudioOutput::instance(), SLOT(startEmergency())); + GAudioOutput::instance()->alert(tr("system %1 has low battery").arg(getUASName())); + QTimer::singleShot(2500, GAudioOutput::instance(), SLOT(startEmergency())); lowBattAlarm = true; } } diff --git a/src/uas/UAS.h b/src/uas/UAS.h index f80cb824cd472e72779b0cfe2261b06e382a11f8..0493dc4bd669d3cf1c9307c3c704644ec610f7cb 100644 --- a/src/uas/UAS.h +++ b/src/uas/UAS.h @@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project #include "MG.h" #include #include "QGCMAVLink.h" +#include "QGCFlightGearLink.h" /** * @brief A generic MAVLINK-connected MAV/UAV @@ -72,6 +73,8 @@ public: const QString& getShortState() const; /** @brief Get short mode */ const QString& getShortMode() const; + /** @brief Translate from mode id to text */ + static QString getShortModeTextFor(int id); /** @brief Get the unique system id */ int getUASID() const; /** @brief Get the airframe */ @@ -105,6 +108,14 @@ public: double getAltitude() const { return altitude; } + virtual bool localPositionKnown() const + { + return isLocalPositionKnown; + } + virtual bool globalPositionKnown() const + { + return isGlobalPositionKnown; + } double getRoll() const { return roll; @@ -154,9 +165,9 @@ protected: //COMMENTS FOR TEST UNIT bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life float chargeLevel; ///< Charge level of battery, in percent int timeRemaining; ///< Remaining time calculated based on previous and current - int mode; ///< The current mode of the MAV + uint8_t mode; ///< The current mode of the MAV int status; ///< The current status of the MAV - int navMode; ///< The current navigation mode of the MAV + uint32_t navMode; ///< The current navigation mode of the MAV quint64 onboardTimeOffset; bool controlRollManual; ///< status flag, true if roll is controlled manually @@ -197,15 +208,19 @@ protected: //COMMENTS FOR TEST UNIT QImage image; ///< Image data of last completely transmitted image quint64 imageStart; - QMap* > parameters; ///< All parameters - bool paramsOnceRequested; ///< If the parameter list has been read at least once - int airframe; ///< The airframe type - bool attitudeKnown; ///< True if attitude was received, false else + QMap* > parameters; ///< All parameters + bool paramsOnceRequested; ///< If the parameter list has been read at least once + int airframe; ///< The airframe type + bool attitudeKnown; ///< True if attitude was received, false else QGCUASParamManager* paramManager; ///< Parameter manager class - QString shortStateText; ///< Short textual state description - QString shortModeText; ///< Short textual mode description - bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV - quint64 lastAttitude; ///< Timestamp of last attitude measurement + QString shortStateText; ///< Short textual state description + QString shortModeText; ///< Short textual mode description + bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV + quint64 lastAttitude; ///< Timestamp of last attitude measurement + QGCFlightGearLink* simulation; ///< Hardware in the loop simulation link + bool isLocalPositionKnown; ///< If the local position has been received for this MAV + bool isGlobalPositionKnown; ///< If the global position has been received for this MAV + bool systemIsArmed; ///< If the system is armed public: /** @brief Set the current battery type */ @@ -220,6 +235,8 @@ public: QString getNavModeText(int mode); /** @brief Check if vehicle is in autonomous mode */ bool isAuto(); + /** @brief Check if vehicle is armed */ + bool isArmed() const { return systemIsArmed; } UASWaypointManager* getWaypointManager() { return &waypointManager; @@ -234,33 +251,141 @@ public: paramManager = manager; } int getSystemType(); + QString getSystemTypeName() + { + switch(type) + { + case MAV_TYPE_GENERIC: + return "GENERIC"; + break; + case MAV_TYPE_FIXED_WING: + return "FIXED_WING"; + break; + case MAV_TYPE_QUADROTOR: + return "QUADROTOR"; + break; + case MAV_TYPE_COAXIAL: + return "COAXIAL"; + break; + case MAV_TYPE_HELICOPTER: + return "HELICOPTER"; + break; + case MAV_TYPE_ANTENNA_TRACKER: + return "ANTENNA_TRACKER"; + break; + case MAV_TYPE_GCS: + return "GCS"; + break; + case MAV_TYPE_AIRSHIP: + return "AIRSHIP"; + break; + case MAV_TYPE_FREE_BALLOON: + return "FREE_BALLOON"; + break; + case MAV_TYPE_ROCKET: + return "ROCKET"; + break; + case MAV_TYPE_GROUND_ROVER: + return "GROUND_ROVER"; + break; + case MAV_TYPE_SURFACE_BOAT: + return "BOAT"; + break; + case MAV_TYPE_SUBMARINE: + return "SUBMARINE"; + break; + case MAV_TYPE_HEXAROTOR: + return "HEXAROTOR"; + break; + case MAV_TYPE_OCTOROTOR: + return "OCTOROTOR"; + break; + case MAV_TYPE_TRICOPTER: + return "TRICOPTER"; + break; + case MAV_TYPE_FLAPPING_WING: + return "FLAPPING_WING"; + break; + default: + return ""; + break; + } + } + QImage getImage(); void requestImage(); int getAutopilotType() { return autopilot; } + QString getAutopilotTypeName() + { + switch (autopilot) + { + case MAV_AUTOPILOT_GENERIC: + return "GENERIC"; + break; + case MAV_AUTOPILOT_PIXHAWK: + return "PIXHAWK"; + break; + case MAV_AUTOPILOT_SLUGS: + return "SLUGS"; + break; + case MAV_AUTOPILOT_ARDUPILOTMEGA: + return "ARDUPILOTMEGA"; + break; + case MAV_AUTOPILOT_OPENPILOT: + return "OPENPILOT"; + break; + case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY: + return "GENERIC_WAYPOINTS_ONLY"; + break; + case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY: + return "GENERIC_MISSION_NAVIGATION_ONLY"; + break; + case MAV_AUTOPILOT_GENERIC_MISSION_FULL: + return "GENERIC_MISSION_FULL"; + break; + case MAV_AUTOPILOT_INVALID: + return "NO AP"; + break; + case MAV_AUTOPILOT_PPZ: + return "PPZ"; + break; + case MAV_AUTOPILOT_UDB: + return "UDB"; + break; + case MAV_AUTOPILOT_FP: + return "FP"; + break; + default: + return ""; + break; + } + } public slots: /** @brief Set the autopilot type */ - void setAutopilotType(int apType) { + void setAutopilotType(int apType) + { autopilot = apType; emit systemSpecsChanged(uasId); } /** @brief Set the type of airframe */ void setSystemType(int systemType); /** @brief Set the specific airframe type */ - void setAirframe(int airframe) { + void setAirframe(int airframe) + { this->airframe = airframe; emit systemSpecsChanged(uasId); } /** @brief Set a new name **/ void setUASName(const QString& name); - /** @brief Executes an action **/ - void setAction(MAV_ACTION action); /** @brief Executes a command **/ void executeCommand(MAV_CMD command); /** @brief Executes a command **/ void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component); + /** @brief Executes a command with 7 params */ + void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component); /** @brief Set the current battery type and voltages */ void setBatterySpecs(const QString& specs); /** @brief Get the current battery type and specs */ @@ -276,6 +401,16 @@ public slots: void home(); void halt(); void go(); + + /** @brief Enable / disable HIL */ + void enableHil(bool enable); + + /** @brief Send the full HIL state to the MAV */ + + void sendHilState( uint64_t time_us, float roll, float pitch, float yaw, float rollspeed, + float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, + int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc); + /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/ void startHil(); @@ -298,13 +433,10 @@ public slots: void startLowBattAlarm(); void stopLowBattAlarm(); - //void requestWaypoints(); FIXME tbd - //void clearWaypointList(); FIXME tbd - - /** @brief Enable the motors */ - void enable_motors(); + /** @brief Arm system */ + void armSystem(); /** @brief Disable the motors */ - void disable_motors(); + void disarmSystem(); /** @brief Set the values for the manual control of the vehicle */ void setManualControlCommands(double roll, double pitch, double yaw, double thrust); @@ -336,11 +468,13 @@ public slots: /** @brief Request all parameters */ void requestParameters(); + /** @brief Request a single parameter by name */ + void requestParameter(int component, const QString& parameter); /** @brief Request a single parameter by index */ - void requestParameter(int component, int parameter); + void requestParameter(int component, int id); /** @brief Set a system parameter */ - void setParameter(const int component, const QString& id, const float value); + void setParameter(const int component, const QString& id, const QVariant& value); /** @brief Write parameters to permanent storage */ void writeParametersToStorage(); @@ -382,7 +516,6 @@ public slots: void startPressureCalibration(); void startDataRecording(); - void pauseDataRecording(); void stopDataRecording(); signals: @@ -401,10 +534,14 @@ signals: void imageStarted(quint64 timestamp); /** @brief A new camera image has arrived */ void imageReady(UASInterface* uas); + /** @brief HIL controls have changed */ + void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode); protected: - /** @brief Get the UNIX timestamp in milliseconds */ + /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */ quint64 getUnixTime(quint64 time=0); + /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */ + quint64 getUnixTimeFromMs(quint64 time); /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */ quint64 getUnixReferenceTime(quint64 time); diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h index 0789d7c1f6aaaab360afb150539ab6c65193c783..96a8d1f315febd230a44f714cd4d55590f36d777 100644 --- a/src/uas/UASInterface.h +++ b/src/uas/UASInterface.h @@ -64,6 +64,8 @@ public: virtual const QString& getShortState() const = 0; /** @brief Get short mode */ virtual const QString& getShortMode() const = 0; + /** @brief Translate mode id into text */ + static QString getShortModeTextFor(int id); //virtual QColor getColor() = 0; virtual int getUASID() const = 0; ///< Get the ID of the connected UAS /** @brief The time interval the robot is switched on **/ @@ -74,10 +76,12 @@ public: virtual double getLocalX() const = 0; virtual double getLocalY() const = 0; virtual double getLocalZ() const = 0; + virtual bool localPositionKnown() const = 0; virtual double getLatitude() const = 0; virtual double getLongitude() const = 0; virtual double getAltitude() const = 0; + virtual bool globalPositionKnown() const = 0; virtual double getRoll() const = 0; virtual double getPitch() const = 0; @@ -85,6 +89,8 @@ public: virtual bool getSelected() const = 0; + virtual bool isArmed() const = 0; + /** @brief Set the airframe of this MAV */ virtual int getAirframe() const = 0; @@ -121,7 +127,9 @@ public: QGC_AIRFRAME_REAPER, QGC_AIRFRAME_PREDATOR, QGC_AIRFRAME_COAXIAL, - QGC_AIRFRAME_PTERYX + QGC_AIRFRAME_PTERYX, + QGC_AIRFRAME_TRICOPTER, + QGC_AIRFRAME_HEXCOPTER }; /** @@ -176,20 +184,20 @@ public: /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/ virtual int getSystemType() = 0; + virtual QString getSystemTypeName() = 0; + /** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */ + virtual int getAutopilotType() = 0; + virtual QString getAutopilotTypeName() = 0; + virtual void setAutopilotType(int apType)= 0; QColor getColor() { return color; } - virtual int getAutopilotType() = 0; - virtual void setAutopilotType(int apType)= 0; - public slots: /** @brief Set a new name for the system */ virtual void setUASName(const QString& name) = 0; - /** @brief Sets an action **/ - virtual void setAction(MAV_ACTION action) = 0; /** @brief Execute command immediately **/ virtual void executeCommand(MAV_CMD command) = 0; /** @brief Executes a command **/ @@ -240,7 +248,7 @@ public slots: /** @brief Request all onboard parameters of all components */ virtual void requestParameters() = 0; /** @brief Request one specific onboard parameter */ - virtual void requestParameter(int component, int parameter) = 0; + virtual void requestParameter(int component, const QString& parameter) = 0; /** @brief Write parameter to permanent storage */ virtual void writeParametersToStorage() = 0; /** @brief Read parameter from permanent storage */ @@ -251,7 +259,7 @@ public slots: * @warning The length of the ID string is limited by the MAVLink format! Take care to not exceed it * @param value Value of the parameter, IEEE 754 single precision floating point */ - virtual void setParameter(const int component, const QString& id, const float value) = 0; + virtual void setParameter(const int component, const QString& id, const QVariant& value) = 0; /** * @brief Add a link to the list of current links @@ -328,6 +336,13 @@ signals: void navModeChanged(int uasid, int mode, const QString& text); + /** @brief System is now armed */ + void armed(); + /** @brief System is now disarmed */ + void disarmed(); + /** @brief Arming mode changed */ + void armingChanged(bool armed); + /** * @brief Update the error count of a device * @@ -352,6 +367,8 @@ signals: void dropRateChanged(int systemId, float receiveDrop); /** @brief Robot mode has changed */ void modeChanged(int sysId, QString status, QString description); + /** @brief Robot armed state has changed */ + void armingChanged(int sysId, QString armingState); /** @brief A command has been issued **/ void commandSent(int command); /** @brief The connection status has changed **/ @@ -391,8 +408,8 @@ signals: void waypointSelected(int uasId, int id); void waypointReached(UASInterface* uas, int id); void autoModeChanged(bool autoMode); - void parameterChanged(int uas, int component, QString parameterName, float value); - void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, float value); + void parameterChanged(int uas, int component, QString parameterName, QVariant value); + void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value); void patternDetected(int uasId, QString patternPath, float confidence, bool detected); void letterDetected(int uasId, QString letter, float confidence, bool detected); /** @@ -486,6 +503,6 @@ protected: }; -Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0"); +Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0") #endif // _UASINTERFACE_H_ diff --git a/src/uas/UASManager.cc b/src/uas/UASManager.cc index dcb334fbc7c191293757fb2ca7267d97fe47f5d7..e0a6a679b181dd87037cb2607e84c9434528f9bb 100644 --- a/src/uas/UASManager.cc +++ b/src/uas/UASManager.cc @@ -18,6 +18,10 @@ #include "UASManager.h" #include "QGC.h" +#define PI 3.1415926535897932384626433832795 +#define MEAN_EARTH_DIAMETER 12756274.0 +#define UMR 0.017453292519943295769236907684886 + UASManager* UASManager::instance() { static UASManager* _instance = 0; @@ -96,6 +100,26 @@ bool UASManager::setHomePosition(double lat, double lon, double alt) return changed; } +/** + * @param x1 Point 1 coordinate in x dimension + * @param y1 Point 1 coordinate in y dimension + * @param z1 Point 1 coordinate in z dimension + * + * @param x2 Point 2 coordinate in x dimension + * @param y2 Point 2 coordinate in y dimension + * @param z2 Point 2 coordinate in z dimension + */ +void UASManager::setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2) +{ + nedSafetyLimitPosition1.x() = x1; + nedSafetyLimitPosition1.y() = y1; + nedSafetyLimitPosition1.z() = z1; + + nedSafetyLimitPosition2.x() = x2; + nedSafetyLimitPosition2.y() = y2; + nedSafetyLimitPosition2.z() = z2; +} + void UASManager::initReference(const double & latitude, const double & longitude, const double & altitude) { @@ -161,6 +185,22 @@ void UASManager::wgs84ToEnu(const double& lat, const double& lon, const double& //} + +void UASManager::enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) +{ + *lat=homeLat+y/MEAN_EARTH_DIAMETER*360./PI; + *lon=homeLon+x/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR); + *alt=homeAlt+z; +} + +void UASManager::nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) +{ + *lat=homeLat+x/MEAN_EARTH_DIAMETER*360./PI; + *lon=homeLon+y/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR); + *alt=homeAlt-z; +} + + /** * This function will change QGC's home position on a number of conditions only */ @@ -194,10 +234,11 @@ UASManager::UASManager() : activeUAS(NULL), homeLat(47.3769), homeLon(8.549444), - homeAlt(470.0) + homeAlt(470.0), + homeFrame(MAV_FRAME_GLOBAL) { - start(QThread::LowPriority); loadSettings(); + setLocalNEDSafetyBorders(1, -1, 0, -1, 1, -1); } UASManager::~UASManager() @@ -211,16 +252,6 @@ UASManager::~UASManager() this->wait(); } - -void UASManager::run() -{ - // forever - // { - // QGC::SLEEP::msleep(5000); - // } - exec(); -} - void UASManager::addUAS(UASInterface* uas) { // WARNING: The active uas is set here diff --git a/src/uas/UASManager.h b/src/uas/UASManager.h index a421b2199568aa9814ab4a2eba28f6f83c8064d7..750096c802548e8dccfa2d78ccdb121cdd2386cf 100644 --- a/src/uas/UASManager.h +++ b/src/uas/UASManager.h @@ -44,7 +44,7 @@ This file is part of the QGROUNDCONTROL project * This class keeps a list of all connected / configured UASs. It also stores which * UAS is currently select with respect to user input or manual controls. **/ -class UASManager : public QThread +class UASManager : public QObject { Q_OBJECT @@ -52,7 +52,6 @@ public: static UASManager* instance(); ~UASManager(); - void run(); /** * @brief Get the currently selected UAS * @@ -85,12 +84,53 @@ public: return homeAlt; } + /** @brief Get the home position coordinate frame */ + int getHomeFrame() const + { + return homeFrame; + } + /** @brief Convert WGS84 coordinates to earth centric frame */ Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude); /** @brief Convert earth centric frame to EAST-NORTH-UP frame (x-y-z directions */ Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef); /** @brief Convert WGS84 lat/lon coordinates to carthesian coordinates with home position as origin */ void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up); + /** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in east-north-up frame */ + void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt); + /** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in north-east-down frame */ + void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt); + + void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2) + { + *x1 = nedSafetyLimitPosition1.x(); + *y1 = nedSafetyLimitPosition1.y(); + *z1 = nedSafetyLimitPosition1.z(); + + *x2 = nedSafetyLimitPosition2.x(); + *y2 = nedSafetyLimitPosition2.y(); + *z2 = nedSafetyLimitPosition2.z(); + } + + /** @brief Check if a position is in the local NED safety limits */ + bool isInLocalNEDSafetyLimits(double x, double y, double z) + { + if (x < nedSafetyLimitPosition1.x() && + y > nedSafetyLimitPosition1.y() && + z < nedSafetyLimitPosition1.z() && + x > nedSafetyLimitPosition2.x() && + y < nedSafetyLimitPosition2.y() && + z > nedSafetyLimitPosition2.z()) + { + // Within limits + return true; + } + else + { + // Not within limits + return false; + } + } // void wgs84ToNed(const double& lat, const double& lon, const double& alt, double* north, double* east, double* down); @@ -188,6 +228,9 @@ public slots: /** @brief Set the current home position on all UAVs*/ bool setHomePosition(double lat, double lon, double alt); + /** @brief Set the safety limits in local position frame */ + void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2); + /** @brief Update home position based on the position from one of the UAVs */ void uavChangedHomePosition(int uav, double lat, double lon, double alt); @@ -205,12 +248,16 @@ protected: double homeLat; double homeLon; double homeAlt; + int homeFrame; Eigen::Quaterniond ecef_ref_orientation_; Eigen::Vector3d ecef_ref_point_; + Eigen::Vector3d nedSafetyLimitPosition1; + Eigen::Vector3d nedSafetyLimitPosition2; void initReference(const double & latitude, const double & longitude, const double & altitude); signals: + void UASCreated(UASInterface* UAS); /** @brief The UAS currently under main operator control changed */ void activeUASSet(UASInterface* UAS); diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc index c541cb3f93ce034a3e63adb60a508a386bbcd5ab..930bead3324e1e0d0704fb3ae77fa03f32c129f7 100644 --- a/src/uas/UASWaypointManager.cc +++ b/src/uas/UASWaypointManager.cc @@ -32,13 +32,12 @@ This file is part of the QGROUNDCONTROL project #include "UASWaypointManager.h" #include "UAS.h" #include "mavlink_types.h" -//#include "MainWindow.h" #define PROTOCOL_TIMEOUT_MS 2000 ///< maximum time to wait for pending messages until timeout -#define PROTOCOL_DELAY_MS 40 ///< minimum delay between sent messages -#define PROTOCOL_MAX_RETRIES 3 ///< maximum number of send retries (after timeout) +#define PROTOCOL_DELAY_MS 20 ///< minimum delay between sent messages +#define PROTOCOL_MAX_RETRIES 5 ///< maximum number of send retries (after timeout) -UASWaypointManager::UASWaypointManager(UAS &_uas) +UASWaypointManager::UASWaypointManager(UAS* _uas) : uas(_uas), current_retries(0), current_wp_id(0), @@ -46,9 +45,20 @@ UASWaypointManager::UASWaypointManager(UAS &_uas) current_state(WP_IDLE), current_partner_systemid(0), current_partner_compid(0), - protocol_timer(this) -{ - connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout())); + protocol_timer(this), + currentWaypointEditable(NULL) +{ + if (uas) + { + uasid = uas->getUASID(); + connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout())); + connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleLocalPositionChanged(UASInterface*,double,double,double,quint64))); + connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleGlobalPositionChanged(UASInterface*,double,double,double,quint64))); + } + else + { + uasid = 0; + } } void UASWaypointManager::timeout() @@ -57,7 +67,7 @@ void UASWaypointManager::timeout() protocol_timer.start(PROTOCOL_TIMEOUT_MS); current_retries--; emit updateStatusString(tr("Timeout, retrying (retries left: %1)").arg(current_retries)); - // qDebug() << "Timeout, retrying (retries left:" << current_retries << ")"; + // // qDebug() << "Timeout, retrying (retries left:" << current_retries << ")"; if (current_state == WP_GETLIST) { sendWaypointRequestList(); } else if (current_state == WP_GETLIST_GETWPS) { @@ -74,7 +84,7 @@ void UASWaypointManager::timeout() } else { protocol_timer.stop(); - // qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE"; + // // qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE"; emit updateStatusString("Operation timed out."); @@ -86,13 +96,32 @@ void UASWaypointManager::timeout() } } +void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time) +{ + Q_UNUSED(mav); + Q_UNUSED(time); + if (waypointsEditable.count() > 0 && currentWaypointEditable && (currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_NED || currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_ENU)) + { + double xdiff = x-currentWaypointEditable->getX(); + double ydiff = y-currentWaypointEditable->getY(); + double zdiff = z-currentWaypointEditable->getZ(); + double dist = sqrt(xdiff*xdiff + ydiff*ydiff + zdiff*zdiff); + emit waypointDistanceChanged(dist); + } +} + +void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time) +{ + +} + void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count) { if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid) { protocol_timer.start(PROTOCOL_TIMEOUT_MS); current_retries = PROTOCOL_MAX_RETRIES; - // qDebug() << "got waypoint count (" << count << ") from ID " << systemId; + // // qDebug() << "got waypoint count (" << count << ") from ID " << systemId; if (count > 0) { current_count = count; @@ -103,7 +132,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui } else { protocol_timer.stop(); emit updateStatusString("done."); - // qDebug() << "No waypoints on UAS " << systemId; + // // qDebug() << "No waypoints on UAS " << systemId; current_state = WP_IDLE; current_count = 0; current_wp_id = 0; @@ -115,16 +144,25 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui } } -void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp) +void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_mission_item_t *wp) { if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) { protocol_timer.start(PROTOCOL_TIMEOUT_MS); current_retries = PROTOCOL_MAX_RETRIES; if(wp->seq == current_wp_id) { - //// qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << "Frame:"<< (MAV_FRAME) wp->frame << "Command:" << (MAV_CMD) wp->command; - Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command); - addWaypoint(lwp, false); + //// // qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << "Frame:"<< (MAV_FRAME) wp->frame << "Command:" << (MAV_CMD) wp->command; + + Waypoint *lwp_vo = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command); + addWaypointViewOnly(lwp_vo); + + + if (read_to_edit == true) { + Waypoint *lwp_ed = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command); + addWaypointEditable(lwp_ed, false); + if (wp->current == 1) currentWaypointEditable = lwp_ed; + } + //get next waypoint current_wp_id++; @@ -143,9 +181,10 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_ protocol_timer.stop(); emit readGlobalWPFromUAS(false); + //if (currentWaypointEditable) emit currentWaypointChanged(currentWaypointEditable->getId()); emit updateStatusString("done."); - // qDebug() << "got all waypoints from ID " << systemId; + // // qDebug() << "got all waypoints from ID " << systemId; } } else { emit updateStatusString(tr("Waypoint ID mismatch, rejecting waypoint")); @@ -155,7 +194,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_ } } -void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavlink_waypoint_ack_t *wpa) +void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavlink_mission_ack_t *wpa) { if (systemId == current_partner_systemid && compId == current_partner_compid) { if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && (current_wp_id == waypoint_buffer.count()-1 && wpa->type == 0)) { @@ -163,17 +202,17 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli protocol_timer.stop(); current_state = WP_IDLE; emit updateStatusString("done."); - // qDebug() << "sent all waypoints to ID " << systemId; + // // qDebug() << "sent all waypoints to ID " << systemId; } else if(current_state == WP_CLEARLIST) { protocol_timer.stop(); current_state = WP_IDLE; emit updateStatusString("done."); - // qDebug() << "cleared waypoint list of ID " << systemId; + // // qDebug() << "cleared waypoint list of ID " << systemId; } } } -void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr) +void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_mission_request_t *wpr) { if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) { protocol_timer.start(PROTOCOL_TIMEOUT_MS); @@ -191,67 +230,68 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m } } -void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr) +void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, mavlink_mission_item_reached_t *wpr) { - if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER) { + if (!uas) return; + if (systemId == uasid) { emit updateStatusString(QString("Reached waypoint %1").arg(wpr->seq)); } } -void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_current_t *wpc) +void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_mission_current_t *wpc) { - if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER) { + if (!uas) return; + if (systemId == uasid) { // FIXME Petri if (current_state == WP_SETCURRENT) { protocol_timer.stop(); current_state = WP_IDLE; // update the local main storage - if (wpc->seq < waypoints.size()) { - for(int i = 0; i < waypoints.size(); i++) { - if (waypoints[i]->getId() == wpc->seq) { - waypoints[i]->setCurrent(true); + if (wpc->seq < waypointsViewOnly.size()) { + for(int i = 0; i < waypointsViewOnly.size(); i++) { + if (waypointsViewOnly[i]->getId() == wpc->seq) { + waypointsViewOnly[i]->setCurrent(true); + //currentWaypointEditable = waypoints[i]; } else { - waypoints[i]->setCurrent(false); + waypointsViewOnly[i]->setCurrent(false); } } } - - //// qDebug() << "Updated waypoints list"; } emit updateStatusString(QString("New current waypoint %1").arg(wpc->seq)); //emit update to UI widgets emit currentWaypointChanged(wpc->seq); - //// qDebug() << "new current waypoint" << wpc->seq; } } -void UASWaypointManager::notifyOfChange(Waypoint* wp) +void UASWaypointManager::notifyOfChangeEditable(Waypoint* wp) { - // qDebug() << "WAYPOINT CHANGED: ID:" << wp->getId(); + // // qDebug() << "WAYPOINT CHANGED: ID:" << wp->getId(); // If only one waypoint was changed, emit only WP signal if (wp != NULL) { - emit waypointChanged(uas.getUASID(), wp); + emit waypointEditableChanged(uasid, wp); } else { - emit waypointListChanged(); - emit waypointListChanged(uas.getUASID()); + emit waypointEditableListChanged(); + emit waypointEditableListChanged(uasid); } } +void UASWaypointManager::notifyOfChangeViewOnly(Waypoint* wp) +{ + if (wp != NULL) { + emit waypointViewOnlyChanged(uasid, wp); + } else { + emit waypointViewOnlyListChanged(); + emit waypointViewOnlyListChanged(uasid); + } +} + + int UASWaypointManager::setCurrentWaypoint(quint16 seq) { - if (seq < waypoints.size()) { + if (seq < waypointsViewOnly.size()) { if(current_state == WP_IDLE) { - //update local main storage - for(int i = 0; i < waypoints.size(); i++) { - if (waypoints[i]->getId() == seq) { - waypoints[i]->setCurrent(true); - } else { - waypoints[i]->setCurrent(false); - } - } - - //TODO: signal changed waypoint list //send change to UAS - important to note: if the transmission fails, we have inconsistencies protocol_timer.start(PROTOCOL_TIMEOUT_MS); @@ -259,8 +299,8 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq) current_state = WP_SETCURRENT; current_wp_id = seq; - current_partner_systemid = uas.getUASID(); - current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER; + current_partner_systemid = uasid; + current_partner_compid = MAV_COMP_ID_MISSIONPLANNER; sendWaypointSetCurrent(current_wp_id); @@ -272,21 +312,59 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq) return -1; } +int UASWaypointManager::setCurrentEditable(quint16 seq) +{ + if (seq < waypointsEditable.size()) { + if(current_state == WP_IDLE) { + //update local main storage + for(int i = 0; i < waypointsEditable.size(); i++) { + if (waypointsEditable[i]->getId() == seq) { + waypointsEditable[i]->setCurrent(true); + //currentWaypointEditable = waypoints[i]; + } else { + waypointsEditable[i]->setCurrent(false); + } + } + + return 0; + } + } + return -1; +} + +void UASWaypointManager::addWaypointViewOnly(Waypoint *wp) +{ + if (wp) + { + waypointsViewOnly.insert(waypointsViewOnly.size(), wp); + connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeViewOnly(Waypoint*))); + + emit waypointViewOnlyListChanged(); + emit waypointViewOnlyListChanged(uasid); + } +} + + /** * @warning Make sure the waypoint stays valid for the whole application lifecycle! * @param enforceFirstActive Enforces that the first waypoint is set as active * @see createWaypoint() is more suitable for most use cases */ -void UASWaypointManager::addWaypoint(Waypoint *wp, bool enforceFirstActive) -{ - if (wp) { - wp->setId(waypoints.size()); - if (enforceFirstActive && waypoints.size() == 0) wp->setCurrent(true); - waypoints.insert(waypoints.size(), wp); - connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChange(Waypoint*))); +void UASWaypointManager::addWaypointEditable(Waypoint *wp, bool enforceFirstActive) +{ + if (wp) + { + wp->setId(waypointsEditable.size()); + if (enforceFirstActive && waypointsEditable.size() == 0) + { + wp->setCurrent(true); + currentWaypointEditable = wp; + } + waypointsEditable.insert(waypointsEditable.size(), wp); + connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeEditable(Waypoint*))); - emit waypointListChanged(); - emit waypointListChanged(uas.getUASID()); + emit waypointEditableListChanged(); + emit waypointEditableListChanged(uasid); } } @@ -296,30 +374,36 @@ void UASWaypointManager::addWaypoint(Waypoint *wp, bool enforceFirstActive) Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive) { Waypoint* wp = new Waypoint(); - wp->setId(waypoints.size()); - if (enforceFirstActive && waypoints.size() == 0) wp->setCurrent(true); - waypoints.insert(waypoints.size(), wp); - connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChange(Waypoint*))); + wp->setId(waypointsEditable.size()); + if (enforceFirstActive && waypointsEditable.size() == 0) + { + wp->setCurrent(true); + currentWaypointEditable = wp; + } + waypointsEditable.insert(waypointsEditable.size(), wp); + connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeEditable(Waypoint*))); - emit waypointListChanged(); - emit waypointListChanged(uas.getUASID()); + emit waypointEditableListChanged(); + emit waypointEditableListChanged(uasid); return wp; } int UASWaypointManager::removeWaypoint(quint16 seq) { - if (seq < waypoints.size()) { - Waypoint *t = waypoints[seq]; - waypoints.remove(seq); + if (seq < waypointsEditable.size()) + { + Waypoint *t = waypointsEditable[seq]; + waypointsEditable.remove(seq); delete t; t = NULL; - for(int i = seq; i < waypoints.size(); i++) { - waypoints[i]->setId(i); + for(int i = seq; i < waypointsEditable.size(); i++) + { + waypointsEditable[i]->setId(i); } - emit waypointListChanged(); - emit waypointListChanged(uas.getUASID()); + emit waypointEditableListChanged(); + emit waypointEditableListChanged(uasid); return 0; } return -1; @@ -327,24 +411,26 @@ int UASWaypointManager::removeWaypoint(quint16 seq) void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq) { - if (cur_seq != new_seq && cur_seq < waypoints.size() && new_seq < waypoints.size()) { - Waypoint *t = waypoints[cur_seq]; + if (cur_seq != new_seq && cur_seq < waypointsEditable.size() && new_seq < waypointsEditable.size()) + { + Waypoint *t = waypointsEditable[cur_seq]; if (cur_seq < new_seq) { - for (int i = cur_seq; i < new_seq; i++) { - waypoints[i] = waypoints[i+1]; - //waypoints[i]->setId(i); // let the local IDs stay the same so that they can be found more easily by the user + for (int i = cur_seq; i < new_seq; i++) + { + waypointsEditable[i] = waypointsEditable[i+1]; } - } else { - for (int i = cur_seq; i > new_seq; i--) { - waypoints[i] = waypoints[i-1]; - // waypoints[i]->setId(i); + } + else + { + for (int i = cur_seq; i > new_seq; i--) + { + waypointsEditable[i] = waypointsEditable[i-1]; } } - waypoints[new_seq] = t; - //waypoints[new_seq]->setId(new_seq); + waypointsEditable[new_seq] = t; - emit waypointListChanged(); - emit waypointListChanged(uas.getUASID()); + emit waypointEditableListChanged(); + emit waypointEditableListChanged(uasid); } } @@ -359,9 +445,10 @@ void UASWaypointManager::saveWaypoints(const QString &saveFile) //write the waypoint list version to the first line for compatibility check out << "QGC WPL 110\r\n"; - for (int i = 0; i < waypoints.size(); i++) { - waypoints[i]->setId(i); - waypoints[i]->save(out); + for (int i = 0; i < waypointsEditable.size(); i++) + { + waypointsEditable[i]->setId(i); + waypointsEditable[i]->save(out); } file.close(); } @@ -372,9 +459,9 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile) if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) return; - while(waypoints.size()>0) { - Waypoint *t = waypoints[0]; - waypoints.remove(0); + while(waypointsEditable.size()>0) { + Waypoint *t = waypointsEditable[0]; + waypointsEditable.remove(0); delete t; } @@ -382,16 +469,22 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile) const QStringList &version = in.readLine().split(" "); - if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "110")) { + if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "110")) + { emit updateStatusString(tr("The waypoint file is not compatible with the current version of QGroundControl.")); - //MainWindow::instance()->showCriticalMessage(tr("Error loading waypoint file"),tr("The waypoint file is not compatible with the current version of QGroundControl.")); - } else { - while (!in.atEnd()) { + } + else + { + while (!in.atEnd()) + { Waypoint *t = new Waypoint(); - if(t->load(in)) { - t->setId(waypoints.size()); - waypoints.insert(waypoints.size(), t); - } else { + if(t->load(in)) + { + t->setId(waypointsEditable.size()); + waypointsEditable.insert(waypointsEditable.size(), t); + } + else + { emit updateStatusString(tr("The waypoint file is corrupted. Load operation only partly succesful.")); //MainWindow::instance()->showCriticalMessage(tr("Error loading waypoint file"),); break; @@ -402,40 +495,21 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile) file.close(); emit loadWPFile(); - emit waypointListChanged(); - emit waypointListChanged(uas.getUASID()); + emit waypointEditableListChanged(); + emit waypointEditableListChanged(uasid); } - -//void UASWaypointManager::globalAddWaypoint(Waypoint *wp) -//{ -// // FIXME Will be removed -// Q_UNUSED(wp); -//} - -//int UASWaypointManager::globalRemoveWaypoint(quint16 seq) -//{ -// // FIXME Will be removed -// Q_UNUSED(seq); -// return 0; -//} - -//void UASWaypointManager::waypointUpdated(Waypoint*) -//{ -// // FIXME Add rate limiter -// emit waypointListChanged(uas.getUASID()); -//} - void UASWaypointManager::clearWaypointList() { - if(current_state == WP_IDLE) { + if(current_state == WP_IDLE) + { protocol_timer.start(PROTOCOL_TIMEOUT_MS); current_retries = PROTOCOL_MAX_RETRIES; current_state = WP_CLEARLIST; current_wp_id = 0; - current_partner_systemid = uas.getUASID(); - current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER; + current_partner_systemid = uasid; + current_partner_compid = MAV_COMP_ID_MISSIONPLANNER; sendWaypointClearAll(); } @@ -447,8 +521,10 @@ const QVector UASWaypointManager::getGlobalFrameWaypointList() // with complete waypoint list // instead of filtering on each request QVector wps; - foreach (Waypoint* wp, waypoints) { - if (wp->getFrame() == MAV_FRAME_GLOBAL) { + foreach (Waypoint* wp, waypointsEditable) + { + if (wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) + { wps.append(wp); } } @@ -461,8 +537,10 @@ const QVector UASWaypointManager::getGlobalFrameAndNavTypeWaypointLi // with complete waypoint list // instead of filtering on each request QVector wps; - foreach (Waypoint* wp, waypoints) { - if (wp->getFrame() == MAV_FRAME_GLOBAL && wp->isNavigationType()) { + foreach (Waypoint* wp, waypointsEditable) + { + if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType()) + { wps.append(wp); } } @@ -475,8 +553,10 @@ const QVector UASWaypointManager::getNavTypeWaypointList() // with complete waypoint list // instead of filtering on each request QVector wps; - foreach (Waypoint* wp, waypoints) { - if (wp->isNavigationType()) { + foreach (Waypoint* wp, waypointsEditable) + { + if (wp->isNavigationType()) + { wps.append(wp); } } @@ -485,17 +565,19 @@ const QVector UASWaypointManager::getNavTypeWaypointList() int UASWaypointManager::getIndexOf(Waypoint* wp) { - return waypoints.indexOf(wp); + return waypointsEditable.indexOf(wp); } int UASWaypointManager::getGlobalFrameIndexOf(Waypoint* wp) { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in global frame int i = 0; - foreach (Waypoint* p, waypoints) { - if (p->getFrame() == MAV_FRAME_GLOBAL) { - if (p == wp) { + foreach (Waypoint* p, waypointsEditable) { + if (p->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) + { + if (p == wp) + { return i; } i++; @@ -507,12 +589,14 @@ int UASWaypointManager::getGlobalFrameIndexOf(Waypoint* wp) int UASWaypointManager::getGlobalFrameAndNavTypeIndexOf(Waypoint* wp) { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in global frame int i = 0; - foreach (Waypoint* p, waypoints) { - if (p->getFrame() == MAV_FRAME_GLOBAL && p->isNavigationType()) { - if (p == wp) { + foreach (Waypoint* p, waypointsEditable) { + if ((p->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType()) + { + if (p == wp) + { return i; } i++; @@ -524,12 +608,15 @@ int UASWaypointManager::getGlobalFrameAndNavTypeIndexOf(Waypoint* wp) int UASWaypointManager::getNavTypeIndexOf(Waypoint* wp) { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in global frame int i = 0; - foreach (Waypoint* p, waypoints) { - if (p->isNavigationType()) { - if (p == wp) { + foreach (Waypoint* p, waypointsEditable) + { + if (p->isNavigationType()) + { + if (p == wp) + { return i; } i++; @@ -541,11 +628,13 @@ int UASWaypointManager::getNavTypeIndexOf(Waypoint* wp) int UASWaypointManager::getGlobalFrameCount() { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in global frame int i = 0; - foreach (Waypoint* p, waypoints) { - if (p->getFrame() == MAV_FRAME_GLOBAL) { + foreach (Waypoint* p, waypointsEditable) + { + if (p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) + { i++; } } @@ -555,11 +644,12 @@ int UASWaypointManager::getGlobalFrameCount() int UASWaypointManager::getGlobalFrameAndNavTypeCount() { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in global frame int i = 0; - foreach (Waypoint* p, waypoints) { - if (p->getFrame() == MAV_FRAME_GLOBAL && p->isNavigationType()) { + foreach (Waypoint* p, waypointsEditable) { + if ((p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType()) + { i++; } } @@ -569,10 +659,10 @@ int UASWaypointManager::getGlobalFrameAndNavTypeCount() int UASWaypointManager::getNavTypeCount() { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in global frame int i = 0; - foreach (Waypoint* p, waypoints) { + foreach (Waypoint* p, waypointsEditable) { if (p->isNavigationType()) { i++; } @@ -583,11 +673,13 @@ int UASWaypointManager::getNavTypeCount() int UASWaypointManager::getLocalFrameCount() { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in global frame int i = 0; - foreach (Waypoint* p, waypoints) { - if (p->getFrame() == MAV_FRAME_GLOBAL) { + foreach (Waypoint* p, waypointsEditable) + { + if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU) + { i++; } } @@ -597,12 +689,15 @@ int UASWaypointManager::getLocalFrameCount() int UASWaypointManager::getLocalFrameIndexOf(Waypoint* wp) { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in local frame int i = 0; - foreach (Waypoint* p, waypoints) { - if (p->getFrame() == MAV_FRAME_LOCAL) { - if (p == wp) { + foreach (Waypoint* p, waypointsEditable) + { + if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU) + { + if (p == wp) + { return i; } i++; @@ -614,12 +709,15 @@ int UASWaypointManager::getLocalFrameIndexOf(Waypoint* wp) int UASWaypointManager::getMissionFrameIndexOf(Waypoint* wp) { - // Search through all waypoints, + // Search through all waypointsEditable, // counting only those in mission frame int i = 0; - foreach (Waypoint* p, waypoints) { - if (p->getFrame() == MAV_FRAME_MISSION) { - if (p == wp) { + foreach (Waypoint* p, waypointsEditable) + { + if (p->getFrame() == MAV_FRAME_MISSION) + { + if (p == wp) + { return i; } i++; @@ -629,14 +727,28 @@ int UASWaypointManager::getMissionFrameIndexOf(Waypoint* wp) return -1; } -void UASWaypointManager::readWaypoints() + +/** + * @param readToEdit If true, incoming waypoints will be copied both to "edit"-tab and "view"-tab. Otherwise, only to "view"-tab. + */ +void UASWaypointManager::readWaypoints(bool readToEdit) { + read_to_edit = readToEdit; emit readGlobalWPFromUAS(true); if(current_state == WP_IDLE) { - while(waypoints.size()>0) { - delete waypoints.back(); - waypoints.pop_back(); + //Clear the old view-list before receiving the new one + while(waypointsViewOnly.size()>0) { + delete waypointsViewOnly.back(); + waypointsViewOnly.pop_back(); + } + + //Clear the old edit-list before receiving the new one + if (read_to_edit == true){ + while(waypointsEditable.size()>0) { + delete waypointsEditable.back(); + waypointsEditable.pop_back(); + } } protocol_timer.start(PROTOCOL_TIMEOUT_MS); @@ -644,8 +756,8 @@ void UASWaypointManager::readWaypoints() current_state = WP_GETLIST; current_wp_id = 0; - current_partner_systemid = uas.getUASID(); - current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER; + current_partner_systemid = uasid; + current_partner_compid = MAV_COMP_ID_MISSIONPLANNER; sendWaypointRequestList(); @@ -656,15 +768,15 @@ void UASWaypointManager::writeWaypoints() { if (current_state == WP_IDLE) { // Send clear all if count == 0 - if (waypoints.count() > 0) { + if (waypointsEditable.count() > 0) { protocol_timer.start(PROTOCOL_TIMEOUT_MS); current_retries = PROTOCOL_MAX_RETRIES; - current_count = waypoints.count(); + current_count = waypointsEditable.count(); current_state = WP_SENDLIST; current_wp_id = 0; - current_partner_systemid = uas.getUASID(); - current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER; + current_partner_systemid = uasid; + current_partner_compid = MAV_COMP_ID_MISSIONPLANNER; //clear local buffer // Why not replace with waypoint_buffer.clear() ? @@ -679,10 +791,10 @@ void UASWaypointManager::writeWaypoints() //copy waypoint data to local buffer for (int i=0; i < current_count; i++) { - waypoint_buffer.push_back(new mavlink_waypoint_t); - mavlink_waypoint_t *cur_d = waypoint_buffer.back(); - memset(cur_d, 0, sizeof(mavlink_waypoint_t)); //initialize with zeros - const Waypoint *cur_s = waypoints.at(i); + waypoint_buffer.push_back(new mavlink_mission_item_t); + mavlink_mission_item_t *cur_d = waypoint_buffer.back(); + memset(cur_d, 0, sizeof(mavlink_mission_item_t)); //initialize with zeros + const Waypoint *cur_s = waypointsEditable.at(i); cur_d->autocontinue = cur_s->getAutoContinue(); cur_d->current = cur_s->getCurrent() & noCurrent; //make sure only one current waypoint is selected, the first selected will be chosen @@ -709,142 +821,148 @@ void UASWaypointManager::writeWaypoints() //send the waypoint count to UAS (this starts the send transaction) sendWaypointCount(); } - } else if (waypoints.count() == 0) { + } else if (waypointsEditable.count() == 0) { sendWaypointClearAll(); } else { //we're in another transaction, ignore command - // qDebug() << "UASWaypointManager::sendWaypoints() doing something else ignoring command"; + qDebug() << "UASWaypointManager::sendWaypoints() doing something else ignoring command"; } } void UASWaypointManager::sendWaypointClearAll() { + if (!uas) return; mavlink_message_t message; - mavlink_waypoint_clear_all_t wpca; + mavlink_mission_clear_all_t wpca; - wpca.target_system = uas.getUASID(); - wpca.target_component = MAV_COMP_ID_WAYPOINTPLANNER; + wpca.target_system = uasid; + wpca.target_component = MAV_COMP_ID_MISSIONPLANNER; emit updateStatusString(QString("Clearing waypoint list...")); - mavlink_msg_waypoint_clear_all_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpca); - uas.sendMessage(message); - MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000); + mavlink_msg_mission_clear_all_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpca); + if (uas) uas->sendMessage(message); + QGC::SLEEP::msleep(PROTOCOL_DELAY_MS); - // qDebug() << "sent waypoint clear all to ID " << wpca.target_system; + // // qDebug() << "sent waypoint clear all to ID " << wpca.target_system; } void UASWaypointManager::sendWaypointSetCurrent(quint16 seq) { + if (!uas) return; mavlink_message_t message; - mavlink_waypoint_set_current_t wpsc; + mavlink_mission_set_current_t wpsc; - wpsc.target_system = uas.getUASID(); - wpsc.target_component = MAV_COMP_ID_WAYPOINTPLANNER; + wpsc.target_system = uasid; + wpsc.target_component = MAV_COMP_ID_MISSIONPLANNER; wpsc.seq = seq; emit updateStatusString(QString("Updating target waypoint...")); - mavlink_msg_waypoint_set_current_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpsc); - uas.sendMessage(message); - MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000); + mavlink_msg_mission_set_current_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpsc); + if (uas) uas->sendMessage(message); + QGC::SLEEP::msleep(PROTOCOL_DELAY_MS); - // qDebug() << "sent waypoint set current (" << wpsc.seq << ") to ID " << wpsc.target_system; + // // qDebug() << "sent waypoint set current (" << wpsc.seq << ") to ID " << wpsc.target_system; } void UASWaypointManager::sendWaypointCount() { + if (!uas) return; mavlink_message_t message; - mavlink_waypoint_count_t wpc; + mavlink_mission_count_t wpc; - wpc.target_system = uas.getUASID(); - wpc.target_component = MAV_COMP_ID_WAYPOINTPLANNER; + wpc.target_system = uasid; + wpc.target_component = MAV_COMP_ID_MISSIONPLANNER; wpc.count = current_count; - // qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system; + // // qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system; emit updateStatusString(QString("Starting to transmit waypoints...")); - mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc); - uas.sendMessage(message); - MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000); + mavlink_msg_mission_count_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpc); + if (uas) uas->sendMessage(message); + QGC::SLEEP::msleep(PROTOCOL_DELAY_MS); - // qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system; + // // qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system; } void UASWaypointManager::sendWaypointRequestList() { + if (!uas) return; mavlink_message_t message; - mavlink_waypoint_request_list_t wprl; + mavlink_mission_request_list_t wprl; - wprl.target_system = uas.getUASID(); - wprl.target_component = MAV_COMP_ID_WAYPOINTPLANNER; + wprl.target_system = uasid; + wprl.target_component = MAV_COMP_ID_MISSIONPLANNER; emit updateStatusString(QString("Requesting waypoint list...")); - mavlink_msg_waypoint_request_list_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wprl); - uas.sendMessage(message); - MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000); + mavlink_msg_mission_request_list_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wprl); + if (uas) uas->sendMessage(message); + QGC::SLEEP::msleep(PROTOCOL_DELAY_MS); - // qDebug() << "sent waypoint list request to ID " << wprl.target_system; + // // qDebug() << "sent waypoint list request to ID " << wprl.target_system; } void UASWaypointManager::sendWaypointRequest(quint16 seq) { + if (!uas) return; mavlink_message_t message; - mavlink_waypoint_request_t wpr; + mavlink_mission_request_t wpr; - wpr.target_system = uas.getUASID(); - wpr.target_component = MAV_COMP_ID_WAYPOINTPLANNER; + wpr.target_system = uasid; + wpr.target_component = MAV_COMP_ID_MISSIONPLANNER; wpr.seq = seq; emit updateStatusString(QString("Retrieving waypoint ID %1 of %2 total").arg(wpr.seq).arg(current_count)); - mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr); - uas.sendMessage(message); - MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000); + mavlink_msg_mission_request_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpr); + if (uas) uas->sendMessage(message); + QGC::SLEEP::msleep(PROTOCOL_DELAY_MS); - // qDebug() << "sent waypoint request (" << wpr.seq << ") to ID " << wpr.target_system; + // // qDebug() << "sent waypoint request (" << wpr.seq << ") to ID " << wpr.target_system; } void UASWaypointManager::sendWaypoint(quint16 seq) { + if (!uas) return; mavlink_message_t message; - // qDebug() <<" WP Buffer count: "<target_system = uas.getUASID(); - wp->target_component = MAV_COMP_ID_WAYPOINTPLANNER; + wp->target_system = uasid; + wp->target_component = MAV_COMP_ID_MISSIONPLANNER; emit updateStatusString(QString("Sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count)); - // qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system<<" WP Buffer count: "<getSystemId(), uas.mavlink->getComponentId(), &message, wp); - uas.sendMessage(message); - MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000); + // // qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system<<" WP Buffer count: "<mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, wp); + if (uas) uas->sendMessage(message); + QGC::SLEEP::msleep(PROTOCOL_DELAY_MS); } } void UASWaypointManager::sendWaypointAck(quint8 type) { + if (!uas) return; mavlink_message_t message; - mavlink_waypoint_ack_t wpa; + mavlink_mission_ack_t wpa; - wpa.target_system = uas.getUASID(); - wpa.target_component = MAV_COMP_ID_WAYPOINTPLANNER; + wpa.target_system = uasid; + wpa.target_component = MAV_COMP_ID_MISSIONPLANNER; wpa.type = type; - mavlink_msg_waypoint_ack_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpa); - uas.sendMessage(message); - MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000); + mavlink_msg_mission_ack_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpa); + if (uas) uas->sendMessage(message); + QGC::SLEEP::msleep(PROTOCOL_DELAY_MS); - // qDebug() << "sent waypoint ack (" << wpa.type << ") to ID " << wpa.target_system; + // // qDebug() << "sent waypoint ack (" << wpa.type << ") to ID " << wpa.target_system; } diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h index 23fcd0b0eb0d3f10bf73b7925035908074e792c2..0e1bbea4c0a82fcbb7273fb21c75372b27375545 100644 --- a/src/uas/UASWaypointManager.h +++ b/src/uas/UASWaypointManager.h @@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project #include "Waypoint.h" #include "QGCMAVLink.h" class UAS; +class UASInterface; /** * @brief Implementation of the MAVLINK waypoint protocol @@ -63,30 +64,35 @@ private: }; ///< The possible states for the waypoint protocol public: - UASWaypointManager(UAS&); ///< Standard constructor. + UASWaypointManager(UAS* uas=NULL); ///< Standard constructor /** @name Received message handlers */ /*@{*/ void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count); ///< Handles received waypoint count messages - void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp); ///< Handles received waypoint messages - void handleWaypointAck(quint8 systemId, quint8 compId, mavlink_waypoint_ack_t *wpa); ///< Handles received waypoint ack messages - void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr); ///< Handles received waypoint request messages - void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr); ///< Handles received waypoint reached messages - void handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_current_t *wpc); ///< Handles received set current waypoint messages + void handleWaypoint(quint8 systemId, quint8 compId, mavlink_mission_item_t *wp); ///< Handles received waypoint messages + void handleWaypointAck(quint8 systemId, quint8 compId, mavlink_mission_ack_t *wpa); ///< Handles received waypoint ack messages + void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_mission_request_t *wpr); ///< Handles received waypoint request messages + void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_mission_item_reached_t *wpr); ///< Handles received waypoint reached messages + void handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_mission_current_t *wpc); ///< Handles received set current waypoint messages /*@}*/ /** @name Remote operations */ /*@{*/ void clearWaypointList(); ///< Sends the waypoint clear all message to the MAV - void readWaypoints(); ///< Requests the MAV's current waypoint list + + void readWaypoints(bool read_to_edit=false); ///< Requests the MAV's current waypoint list. void writeWaypoints(); ///< Sends the waypoint list to the MAV - int setCurrentWaypoint(quint16 seq); ///< Changes the current waypoint and sends the sequence number of the waypoint that should get the new target waypoint to the UAS + int setCurrentWaypoint(quint16 seq); ///< Sends the sequence number of the waypoint that should get the new target waypoint to the UAS + int setCurrentEditable(quint16 seq); ///< Changes the current waypoint in edit tab /*@}*/ /** @name Waypoint list operations */ /*@{*/ - const QVector &getWaypointList(void) { - return waypoints; ///< Returns a const reference to the waypoint list. + const QVector &getWaypointEditableList(void) { + return waypointsEditable; ///< Returns a const reference to the waypoint list. + } + const QVector &getWaypointViewOnlyList(void) { + return waypointsViewOnly; ///< Returns a const reference to the waypoint list. } const QVector getGlobalFrameWaypointList(); ///< Returns a global waypoint list const QVector getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out. @@ -103,17 +109,10 @@ public: int getLocalFrameCount(); ///< Get the count of local waypoints in the list /*@}*/ - UAS& getUAS() { + UAS* getUAS() { return this->uas; ///< Returns the owning UAS } -// /** @name Global waypoint list operations */ -// /*@{*/ -// const QVector &getGlobalWaypointList(void) { return waypoints; } ///< Returns a const reference to the global waypoint list. -// void globalAddWaypoint(Waypoint *wp); ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly -// int globalRemoveWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage -// /*@}*/ - private: /** @name Message send functions */ /*@{*/ @@ -130,37 +129,50 @@ public slots: void timeout(); ///< Called by the timer if a response times out. Handles send retries. /** @name Waypoint list operations */ /*@{*/ - void addWaypoint(Waypoint *wp, bool enforceFirstActive=true); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly + void addWaypointEditable(Waypoint *wp, bool enforceFirstActive=true); ///< adds a new waypoint to the end of the editable list and changes its sequence number accordingly + void addWaypointViewOnly(Waypoint *wp); ///< adds a new waypoint to the end of the view-only list and changes its sequence number accordingly Waypoint* createWaypoint(bool enforceFirstActive=true); ///< Creates a waypoint int removeWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage void moveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq void saveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile void loadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile - void notifyOfChange(Waypoint* wp); ///< Notifies manager to changes to a waypoint + void notifyOfChangeEditable(Waypoint* wp); ///< Notifies manager to changes to an editable waypoint + void notifyOfChangeViewOnly(Waypoint* wp); ///< Notifies manager to changes to a viewonly waypoint, e.g. some widget wants to change "current" /*@}*/ + void handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time); + void handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time); signals: - void waypointListChanged(void); ///< emits signal that the waypoint list has been changed - void waypointListChanged(int uasid); ///< Emits signal that list has been changed - void waypointChanged(int uasid, Waypoint* wp); ///< emits signal that waypoint has been changed + void waypointEditableListChanged(void); ///< emits signal that the list of editable waypoints has been changed + void waypointEditableListChanged(int uasid); ///< emits signal that the list of editable waypoints has been changed + void waypointEditableChanged(int uasid, Waypoint* wp); ///< emits signal that a single editable waypoint has been changed + void waypointViewOnlyListChanged(void); ///< emits signal that the list of editable waypoints has been changed + void waypointViewOnlyListChanged(int uasid); ///< emits signal that the list of editable waypoints has been changed + void waypointViewOnlyChanged(int uasid, Waypoint* wp); ///< emits signal that a single editable waypoint has been changed void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number void updateStatusString(const QString &); ///< emits the current status string + void waypointDistanceChanged(double distance); ///< Distance to next waypoint changed (in meters) void loadWPFile(); ///< emits signal that a file wp has been load void readGlobalWPFromUAS(bool value); ///< emits signal when finish to read Global WP from UAS private: - UAS &uas; ///< Reference to the corresponding UAS + UAS* uas; ///< Reference to the corresponding UAS quint32 current_retries; ///< The current number of retries left quint16 current_wp_id; ///< The last used waypoint ID in the current protocol transaction quint16 current_count; ///< The number of waypoints in the current protocol transaction WaypointState current_state; ///< The current protocol state quint8 current_partner_systemid; ///< The current protocol communication target system quint8 current_partner_compid; ///< The current protocol communication target component + bool read_to_edit; ///< If true, after readWaypoints() incoming waypoints will be copied both to "edit"-tab and "view"-tab. Otherwise, only to "view"-tab. - QVector waypoints; ///< local waypoint list (main storage) - QVector waypoint_buffer; ///< buffer for waypoints during communication + QVector waypointsViewOnly; ///< local copy of current waypoint list on MAV + QVector waypointsEditable; ///< local editable waypoint list + Waypoint* currentWaypointEditable; ///< The currently used waypoint + QVector waypoint_buffer; ///< buffer for waypoints during communication QTimer protocol_timer; ///< Timer to catch timeouts + bool standalone; ///< If standalone is set, do not write to UAS + int uasid; }; #endif // UASWAYPOINTMANAGER_H diff --git a/src/ui/CommConfigurationWindow.cc b/src/ui/CommConfigurationWindow.cc index 0e02aa04db05e5c30e174a32f32c00cfc6dd9882..2bba85851af73a54cee66375719ebf0d302a0195 100644 --- a/src/ui/CommConfigurationWindow.cc +++ b/src/ui/CommConfigurationWindow.cc @@ -271,7 +271,7 @@ void CommConfigurationWindow::setLinkType(int linktype) foreach (QAction* act, actions) { if (act->data().toInt() == linkID) - { + { act->trigger(); break; } diff --git a/src/ui/DebugConsole.cc b/src/ui/DebugConsole.cc index c05231eb10d8707cfd9e552ef16ca4b965a02232..471c0bd9a0853aa8862116dcb63722cd9f5f7c12 100644 --- a/src/ui/DebugConsole.cc +++ b/src/ui/DebugConsole.cc @@ -274,8 +274,8 @@ void DebugConsole::receiveTextMessage(int id, int component, int severity, QStri case MAV_COMP_ID_MAPPER: comp = tr("MAPPER"); break; - case MAV_COMP_ID_WAYPOINTPLANNER: - comp = tr("WP-PLANNER"); + case MAV_COMP_ID_MISSIONPLANNER: + comp = tr("MISSION"); break; case MAV_COMP_ID_SYSTEM_CONTROL: comp = tr("SYS-CONTROL"); @@ -360,7 +360,7 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes) for (int j = 0; j < len; j++) { unsigned char byte = bytes.at(j); - // Filter MAVLink (http://pixhawk.ethz.ch/wiki/mavlink/) messages out of the stream. + // Filter MAVLink (http://qgroundcontrol.org/mavlink/) messages out of the stream. if (filterMAVLINK) { if (this->bytesToIgnore > 0) diff --git a/src/ui/HDDisplay.cc b/src/ui/HDDisplay.cc index 8ee4b3c37964098253fc034ed07eaa3f7be7bf7f..c786af608f4e99d858b1351426ed591284370c12 100644 --- a/src/ui/HDDisplay.cc +++ b/src/ui/HDDisplay.cc @@ -50,7 +50,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) : acceptUnitList(new QStringList()), lastPaintTime(0), columns(3), - m_ui(new Ui::HDDisplay) + valuesChanged(true)/*, + m_ui(new Ui::HDDisplay)*/ { setWindowTitle(title); //m_ui->setupUi(this); @@ -65,9 +66,6 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) : } restoreState(); - - // Set minimum size - setMinimumSize(60, 60); // Set preferred size setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); @@ -109,6 +107,7 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) : // setCursor(Qt::OpenHandCursor); + // Set minimum size this->setMinimumHeight(125); this->setMinimumWidth(100); @@ -231,6 +230,8 @@ void HDDisplay::restoreState() QSettings settings; settings.sync(); + acceptList->clear(); + QStringList instruments = settings.value(windowTitle()+"_gauges").toString().split('|'); for (int i = 0; i < instruments.count(); i++) { addGauge(instruments.at(i)); @@ -385,6 +386,8 @@ void HDDisplay::setTitle() void HDDisplay::renderOverlay() { + if (!valuesChanged || !isVisible()) return; + #if (QGC_EVENTLOOP_DEBUG) qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__; #endif @@ -666,7 +669,7 @@ void HDDisplay::drawSystemIndicator(float xRef, float yRef, int maxNum, float ma // x speed: 2.54 // One column per value - QMapIterator value(values); + QMapIterator value(values); float x = xRef; float y = yRef; @@ -820,6 +823,7 @@ void HDDisplay::updateValue(const int uasId, const QString& name, const QString& valuesMean.insert(name, (oldMean * meanCount + value) / (meanCount + 1)); valuesCount.insert(name, meanCount + 1); valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f)); + if (values.value(name, 0.0) != value) valuesChanged = true; values.insert(name, value); units.insert(name, unit); lastUpdate.insert(name, msec); diff --git a/src/ui/HDDisplay.h b/src/ui/HDDisplay.h index 4c2c430f552bd857eeb983fd585d94d00cb22ac9..15a2240d195cf42031d843d53abd38012867fe42 100644 --- a/src/ui/HDDisplay.h +++ b/src/ui/HDDisplay.h @@ -139,7 +139,7 @@ protected: // virtual void resizeEvent(QResizeEvent* event); UASInterface* uas; ///< The uas currently monitored - QMap values; ///< The variables this HUD displays + QMap values; ///< The variables this HUD displays QMap units; ///< The units QMap valuesDot; ///< First derivative of the variable QMap valuesMean; ///< Mean since system startup for this variable @@ -172,7 +172,7 @@ protected: int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate QTimer* refreshTimer; ///< The main timer, controls the update rate - static const int updateInterval = 120; ///< Update interval in milliseconds + static const int updateInterval = 300; ///< Update interval in milliseconds QPainter* hudPainter; QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system) @@ -191,6 +191,7 @@ protected: QAction* addGaugeAction; ///< Action adding a gauge QAction* setTitleAction; ///< Action setting the title QAction* setColumnsAction; ///< Action setting the number of columns + bool valuesChanged; private: Ui::HDDisplay *m_ui; diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc index 924c66a0555ffaa1f64414a4ca27bb339c3e4bde..f34ae6252d7d1192b7518b49516d1c4b8c3c31c6 100644 --- a/src/ui/HSIDisplay.cc +++ b/src/ui/HSIDisplay.cc @@ -42,7 +42,7 @@ This file is part of the QGROUNDCONTROL project #include "UASWaypointManager.h" #include //#include "Waypoint2DIcon.h" -//#include "MAV2DIcon.h" +#include "MAV2DIcon.h" #include @@ -58,8 +58,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) : posXSet(0.0f), posYSet(0.0f), posZSet(0.0f), - attXSaturation(0.5f), - attYSaturation(0.5f), + attXSaturation(0.2f), + attYSaturation(0.2f), attYawSaturation(0.5f), posXSaturation(0.05f), posYSaturation(0.05f), @@ -85,7 +85,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) : bodyYawSet(0.0f), uiXSetCoordinate(0.0f), uiYSetCoordinate(0.0f), - uiZSetCoordinate(0.0f), + uiZSetCoordinate(-0.51f), uiYawSet(0.0f), metricWidth(4.0), positionLock(false), @@ -100,7 +100,11 @@ HSIDisplay::HSIDisplay(QWidget *parent) : mavInitialized(false), bottomMargin(10.0f), topMargin(12.0f), - userSetPointSet(false) + userSetPointSet(false), + dragStarted(false), + leftDragStarted(false), + mouseHasMoved(false), + actionPending(false) { refreshTimer->setInterval(updateInterval); @@ -115,30 +119,20 @@ HSIDisplay::HSIDisplay(QWidget *parent) : xCenterPos = vwidth/2.0f; yCenterPos = vheight/2.0f + topMargin - bottomMargin; - //qDebug() << "CENTER" << xCenterPos << yCenterPos; - - // Add interaction elements - QHBoxLayout* layout = new QHBoxLayout(this); - layout->setMargin(0); - layout->setSpacing(12); - QDoubleSpinBox* spinBox = new QDoubleSpinBox(this); - spinBox->setMinimum(0.1); - spinBox->setMaximum(9999); - spinBox->setMaximumWidth(50); - spinBox->setValue(metricWidth); - spinBox->setToolTip(tr("Ground width in meters shown on instrument")); - spinBox->setStatusTip(tr("Ground width in meters shown on instrument")); - connect(spinBox, SIGNAL(valueChanged(double)), this, SLOT(setMetricWidth(double))); - connect(this, SIGNAL(metricWidthChanged(double)), spinBox, SLOT(setValue(double))); - layout->addWidget(spinBox); - layout->setAlignment(spinBox, Qt::AlignBottom | Qt::AlignRight); - this->setLayout(layout); uas = NULL; resetMAVState(); // Do first update setMetricWidth(metricWidth); + // Set tooltip + setToolTip(tr("View from top in body frame. Scroll with mouse wheel to change the horizontal field of view of the widget.")); + setStatusTip(tr("View from top in body frame. Scroll with mouse wheel to change the horizontal field of view of the widget.")); + + connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage())); + statusClearTimer.start(3000); + + setFocusPolicy(Qt::StrongFocus); } void HSIDisplay::resetMAVState() @@ -185,6 +179,7 @@ void HSIDisplay::paintEvent(QPaintEvent * event) void HSIDisplay::renderOverlay() { + if (!isVisible()) return; #if (QGC_EVENTLOOP_DEBUG) qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__; #endif @@ -218,8 +213,9 @@ void HSIDisplay::renderOverlay() painter.setPen(pen); const int ringCount = 2; for (int i = 0; i < ringCount; i++) { - float radius = (vwidth - (topMargin + bottomMargin)*0.3f) / (1.3f * i+1) / 2.0f - bottomMargin / 2.0f; + float radius = (vwidth - (topMargin + bottomMargin)*0.3f) / (1.35f * i+1) / 2.0f - bottomMargin / 2.0f; drawCircle(xCenterPos, yCenterPos, radius, 0.1f, ringColor, &painter); + paintText(tr("%1 m").arg(refToMetric(radius), 5, 'f', 1, ' '), QGC::colorCyan, 1.6f, vwidth/2-4, vheight/2+radius+2.2, &painter); } // Draw orientation labels @@ -235,6 +231,15 @@ void HSIDisplay::renderOverlay() painter.rotate(+yawRotate); painter.translate(-(xCenterPos)*scalingFactor, -(yCenterPos)*scalingFactor); + // Draw trail +// QPointF m(bodyXSetCoordinate, bodyYSetCoordinate); +// // Transform from body to world coordinates +// m = metricWorldToBody(m); +// // Scale from metric body to screen reference units +// QPointF s = metricBodyToRef(m); +// drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, uas->getColor(), &painter); + + // Draw center indicator // QPolygonF p(3); // p.replace(0, QPointF(xCenterPos, yCenterPos-4.0f)); @@ -246,6 +251,7 @@ void HSIDisplay::renderOverlay() // Translate to center painter.translate((xCenterPos)*scalingFactor, (yCenterPos)*scalingFactor); QColor uasColor = uas->getColor(); + MAV2DIcon::drawAirframePolygon(uas->getAirframe(), painter, static_cast((vwidth/4.0f)*scalingFactor*1.1f), uasColor, 0.0f); //MAV2DIcon::drawAirframePolygon(uas->getAirframe(), painter, static_cast((vwidth/4.0f)*scalingFactor*1.1f), uasColor, 0.0f); // Translate back painter.translate(-(xCenterPos)*scalingFactor, -(yCenterPos)*scalingFactor); @@ -269,28 +275,41 @@ void HSIDisplay::renderOverlay() // Draw position setpoints in body coordinates - if (userSetPointSet) { + float xSpDiff = uiXSetCoordinate - bodyXSetCoordinate; + float ySpDiff = uiYSetCoordinate - bodyYSetCoordinate; + float zSpDiff = uiZSetCoordinate - bodyZSetCoordinate; + + float setPointDist = sqrt(xSpDiff*xSpDiff + ySpDiff*ySpDiff + zSpDiff*zSpDiff); + + float angleDiff = uiYawSet - bodyYawSet; + + float normAngleDiff = fabs(atan2(sin(angleDiff), cos(angleDiff))); + + if (userSetPointSet && setPointDist > 0.08f || normAngleDiff > 0.05f || dragStarted) + { QColor spColor(150, 150, 150); - drawSetpointXY(uiXSetCoordinate, uiYSetCoordinate, uiYawSet, spColor, painter); + drawSetpointXYZYaw(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet, spColor, painter); } - if (positionSetPointKnown) { + // Labels on outer part and bottom + + // Draw waypoints + drawWaypoints(painter); + + // Draw setpoint over waypoints + if (positionSetPointKnown) + { // Draw setpoint - drawSetpointXY(bodyXSetCoordinate, bodyYSetCoordinate, bodyYawSet, QGC::colorCyan, painter); + drawSetpointXYZYaw(bodyXSetCoordinate, bodyYSetCoordinate, bodyZSetCoordinate, bodyYawSet, uas->getColor(), painter); // Draw travel direction line QPointF m(bodyXSetCoordinate, bodyYSetCoordinate); // Transform from body to world coordinates m = metricWorldToBody(m); // Scale from metric body to screen reference units QPointF s = metricBodyToRef(m); - drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, QGC::colorCyan, &painter); + drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, uas->getColor(), &painter); } - // Labels on outer part and bottom - - // Draw waypoints - drawWaypoints(painter); - // Draw status flags drawStatusFlag(2, 1, tr("ATT"), attControlEnabled, attControlKnown, painter); drawStatusFlag(22, 1, tr("PXY"), xyControlEnabled, xyControlKnown, painter); @@ -309,28 +328,33 @@ void HSIDisplay::renderOverlay() // Draw crosstrack error to top right float crossTrackError = 0; - paintText(tr("XTRACK"), QGC::colorCyan, 2.2f, 57, 11, &painter); - paintText(tr("%1 m").arg(crossTrackError, 5, 'f', 2, '0'), Qt::white, 2.2f, 70, 11, &painter); + paintText(tr("XTRACK"), QGC::colorCyan, 2.2f, 54, 11, &painter); + paintText(tr("%1 m").arg(crossTrackError, 5, 'f', 2, '0'), Qt::white, 2.2f, 67, 11, &painter); // Draw position to bottom left if (localAvailable > 0 && globalAvailable == 0) { // Position QString str; str.sprintf("%05.2f %05.2f %05.2f m", x, y, z); - paintText(tr("POS"), QGC::colorCyan, 2.6f, 2, vheight- 5.0f, &painter); - paintText(str, Qt::white, 2.6f, 10, vheight - 5.0f, &painter); + paintText(tr("POS"), QGC::colorCyan, 2.6f, 2, vheight- 4.0f, &painter); + paintText(str, Qt::white, 2.6f, 10, vheight - 4.0f, &painter); } if (globalAvailable > 0) { // Position QString str; str.sprintf("lat: %05.2f lon: %06.2f alt: %06.2f", lat, lon, alt); - paintText(tr("GPS"), QGC::colorCyan, 2.6f, 2, vheight- 5.0f, &painter); - paintText(str, Qt::white, 2.6f, 10, vheight - 5.0f, &painter); + paintText(tr("GPS"), QGC::colorCyan, 2.6f, 2, vheight- 4.0f, &painter); + paintText(str, Qt::white, 2.6f, 10, vheight - 4.0f, &painter); } - // Draw Field of view to bottom right - paintText(tr("FOV"), QGC::colorCyan, 2.6f, 62, vheight- 5.0f, &painter); + // Draw Safety + double x1, y1, z1, x2, y2, z2; + UASManager::instance()->getLocalNEDSafetyLimits(&x1, &y1, &z1, &x2, &y2, &z2); +// drawSafetyArea(QPointF(x1, y1), QPointF(x2, y2), QGC::colorYellow, painter); + + // Draw status message + paintText(statusMessage, QGC::colorOrange, 2.4f, 8, 15, &painter); } void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, bool known, QPainter& painter) @@ -350,7 +374,8 @@ void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, bo painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), indicatorWidth, indicatorHeight)); paintText((status) ? tr("ON") : tr("OFF"), statusColor, 2.6f, x+7.9f, y+0.8f, &painter); // Cross out instrument if state unknown - if (!known) { + if (!known) + { QPen pen(Qt::yellow); pen.setWidth(2); painter.setPen(pen); @@ -474,7 +499,7 @@ QPointF HSIDisplay::metricWorldToBody(QPointF world) { // First translate to body-centered coordinates // Rotate around -yaw - float angle = yaw + M_PI; + float angle = -yaw - M_PI; QPointF result(cos(angle) * (x - world.x()) - sin(angle) * (y - world.y()), sin(angle) * (x - world.x()) + cos(angle) * (y - world.y())); return result; } @@ -483,13 +508,13 @@ QPointF HSIDisplay::metricBodyToWorld(QPointF body) { // First rotate into world coordinates // then translate to world position - QPointF result((cos(yaw) * body.x()) + (sin(yaw) * body.y()) + x, (-sin(yaw) * body.x()) + (cos(yaw) * body.y()) + y); + QPointF result((cos(-yaw) * body.x()) + (sin(-yaw) * body.y()) + x, (-sin(-yaw) * body.x()) + (cos(-yaw) * body.y()) + y); return result; } QPointF HSIDisplay::screenToMetricBody(QPointF ref) { - return QPointF(-((screenToRefY(ref.y()) - yCenterPos)/ vwidth) * metricWidth - x, ((screenToRefX(ref.x()) - xCenterPos) / vwidth) * metricWidth - y); + return QPointF(-((screenToRefY(ref.y()) - yCenterPos)/ vwidth) * metricWidth, ((screenToRefX(ref.x()) - xCenterPos) / vwidth) * metricWidth); } QPointF HSIDisplay::refToMetricBody(QPointF &ref) @@ -505,6 +530,16 @@ QPointF HSIDisplay::metricBodyToRef(QPointF &metric) return QPointF(((metric.y())/ metricWidth) * vwidth + xCenterPos, ((-metric.x()) / metricWidth) * vwidth + yCenterPos); } +double HSIDisplay::metricToRef(double metric) +{ + return (metric / metricWidth) * vwidth; +} + +double HSIDisplay::refToMetric(double ref) +{ + return (ref/vwidth) * metricWidth; +} + QPointF HSIDisplay::metricBodyToScreen(QPointF metric) { QPointF ref = metricBodyToRef(metric); @@ -515,28 +550,91 @@ QPointF HSIDisplay::metricBodyToScreen(QPointF metric) void HSIDisplay::mouseDoubleClickEvent(QMouseEvent * event) { - static bool dragStarted; - static float startX; - - if (event->MouseButtonDblClick) { - //setBodySetpointCoordinateXY(-refToMetric(screenToRefY(event->y()) - yCenterPos), refToMetric(screenToRefX(event->x()) - xCenterPos)); - + if (event->type() == QMouseEvent::MouseButtonDblClick) + { QPointF p = screenToMetricBody(event->posF()); setBodySetpointCoordinateXY(p.x(), p.y()); - qDebug() << "Double click at x: " << screenToRefX(event->x()) - xCenterPos << "y:" << screenToRefY(event->y()) - yCenterPos; - } else if (event->MouseButtonPress) { - startX = event->globalX(); - if (event->button() == Qt::RightButton) { +// qDebug() << "Double click at x: " << screenToRefX(event->x()) - xCenterPos << "y:" << screenToRefY(event->y()) - yCenterPos; + } +} + +void HSIDisplay::mouseReleaseEvent(QMouseEvent * event) +{ + if (mouseHasMoved) + { + if (event->type() == QMouseEvent::MouseButtonRelease && event->button() == Qt::RightButton) + { + if (dragStarted) + { + setBodySetpointCoordinateYaw(uiYawSet); + dragStarted = false; + } + } + if (event->type() == QMouseEvent::MouseButtonRelease && event->button() == Qt::LeftButton) + { + if (leftDragStarted) + { + setBodySetpointCoordinateZ(uiZSetCoordinate); + leftDragStarted = false; + } + } + } + mouseHasMoved = false; +} + +void HSIDisplay::mousePressEvent(QMouseEvent * event) +{ + if (event->type() == QMouseEvent::MouseButtonPress) + { + if (event->button() == Qt::RightButton) + { + startX = event->x(); // Start tracking mouse move dragStarted = true; - } else if (event->button() == Qt::LeftButton) { + } + else if (event->button() == Qt::LeftButton) + { + startY = event->y(); + leftDragStarted = true; + } + } + mouseHasMoved = false; +} +void HSIDisplay::mouseMoveEvent(QMouseEvent * event) +{ + if (event->type() == QMouseEvent::MouseMove) + { + if (dragStarted) uiYawSet -= 0.06f*(startX - event->x()) / this->frameSize().width(); + + if (leftDragStarted) + { +// uiZSetCoordinate -= 0.06f*(startY - event->y()) / this->frameSize().height(); +// setBodySetpointCoordinateZ(uiZSetCoordinate); } - } else if (event->MouseButtonRelease) { - dragStarted = false; - } else if (event->MouseMove) { - if (dragStarted) uiYawSet += (startX - event->globalX()) / this->frameSize().width(); + + if (leftDragStarted || dragStarted) mouseHasMoved = true; + } +} + +void HSIDisplay::keyPressEvent(QKeyEvent* event) +{ + if ((event->key() == Qt::Key_Enter || event->key() == Qt::Key_Return) && actionPending) + { + actionPending = false; + statusMessage = "SETPOINT SENT"; + statusClearTimer.start(); + sendBodySetPointCoordinates(); } + else + { + HDDisplay::keyPressEvent(event); + } +} + +void HSIDisplay::contextMenuEvent (QContextMenuEvent* event) +{ + event->ignore(); } void HSIDisplay::setMetricWidth(double width) @@ -610,6 +708,8 @@ void HSIDisplay::updateSpeed(UASInterface* uas, double vx, double vy, double vz, void HSIDisplay::setBodySetpointCoordinateXY(double x, double y) { + userSetPointSet = true; + userXYSetPointSet = true; // Set coordinates and send them out to MAV QPointF sp(x, y); @@ -619,21 +719,66 @@ void HSIDisplay::setBodySetpointCoordinateXY(double x, double y) qDebug() << "Attempting to set new setpoint at x: " << x << "metric y:" << y; - if (uas && mavInitialized) { - uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet); - qDebug() << "Setting new setpoint at x: " << x << "metric y:" << y; + if (uas && mavInitialized) + { + //sendBodySetPointCoordinates(); + statusMessage = "POSITION SET, PRESS TO SEND"; + actionPending = true; + statusClearTimer.start(); } } void HSIDisplay::setBodySetpointCoordinateZ(double z) { + userSetPointSet = true; // Set coordinates and send them out to MAV uiZSetCoordinate = z; + statusMessage = "Z SET, PRESS TO SEND"; + actionPending = true; + statusClearTimer.start(); + //sendBodySetPointCoordinates(); +} + +void HSIDisplay::setBodySetpointCoordinateYaw(double yaw) +{ + if (!userXYSetPointSet && setPointKnown) + { + uiXSetCoordinate = bodyXSetCoordinate; + uiYSetCoordinate = bodyYSetCoordinate; + } + else if (!userXYSetPointSet && mavInitialized) + { + QPointF coord = metricBodyToWorld(QPointF(0.0, 0.0)); + uiXSetCoordinate = coord.x(); + uiYSetCoordinate = coord.y(); + } + userSetPointSet = true; + // Set coordinates and send them out to MAV + uiYawSet = atan2(sin(yaw), cos(yaw)); + statusMessage = "YAW SET, PRESS TO SEND"; + statusClearTimer.start(); + actionPending = true; + //sendBodySetPointCoordinates(); } void HSIDisplay::sendBodySetPointCoordinates() { // Send the coordinates to the MAV + if (uas && mavInitialized) + { + double dx = uiXSetCoordinate - uas->getLocalX(); + double dy = uiYSetCoordinate - uas->getLocalY(); + double dz = uiZSetCoordinate - uas->getLocalZ(); + bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 1.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate); + if (valid) + { + uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet); + } + else + { + setStatusMessage("REJECTED NEW SETPOINT: OUT OF BOUNDS"); + } + } } void HSIDisplay::updateAttitudeSetpoints(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec) @@ -667,11 +812,13 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir setPointKnown = true; positionSetPointKnown = true; - // qDebug() << "Received setpoint at x: " << x << "metric y:" << y; - // posXSet = xDesired; - // posYSet = yDesired; - // posZSet = zDesired; - // posYawSet = yawDesired; + if (!userSetPointSet && !dragStarted) + { + uiXSetCoordinate = bodyXSetCoordinate; + uiYSetCoordinate = bodyYSetCoordinate; +// uiZSetCoordinate = bodyZSetCoordinate; + uiYawSet= bodyYawSet; + } } void HSIDisplay::updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec) @@ -765,10 +912,10 @@ QColor HSIDisplay::getColorForSNR(float snr) return color; } -void HSIDisplay::drawSetpointXY(float x, float y, float yaw, const QColor &color, QPainter &painter) +void HSIDisplay::drawSetpointXYZYaw(float x, float y, float z, float yaw, const QColor &color, QPainter &painter) { - if (setPointKnown) { - float radius = vwidth / 20.0f; + if (setPointKnown && uas) { + float radius = vwidth / 18.0f; QPen pen(color); pen.setWidthF(refLineWidthToPen(0.4f)); pen.setColor(color); @@ -779,9 +926,25 @@ void HSIDisplay::drawSetpointXY(float x, float y, float yaw, const QColor &color in = metricWorldToBody(in); // Scale from metric to screen reference coordinates QPointF p = metricBodyToRef(in); - drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter); + + QPolygonF poly(4); + // Top point + poly.replace(0, QPointF(p.x()-radius, p.y()-radius)); + // Right point + poly.replace(1, QPointF(p.x()+radius, p.y()-radius)); + // Bottom point + poly.replace(2, QPointF(p.x()+radius, p.y()+radius)); + poly.replace(3, QPointF(p.x()-radius, p.y()+radius)); + + // Label + paintText(QString("z: %1 m").arg(z), color, 1.2f, p.x()-radius, p.y()-radius-2.0f, &painter); + + drawPolygon(poly, &painter); + radius *= 0.8f; - drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * radius, refLineWidthToPen(0.4f), color, &painter); + drawLine(p.x(), p.y(), p.x()+sin(-yaw + uas->getYaw() + M_PI) * radius, p.y()+cos(-yaw + uas->getYaw() + M_PI) * radius, refLineWidthToPen(0.4f), color, &painter); + + // Draw center dot painter.setBrush(color); drawCircle(p.x(), p.y(), radius * 0.1f, 0.1f, color, &painter); } @@ -789,20 +952,9 @@ void HSIDisplay::drawSetpointXY(float x, float y, float yaw, const QColor &color void HSIDisplay::drawWaypoints(QPainter& painter) { - if (uas) { - const QVector& list = uas->getWaypointManager()->getWaypointList(); - // for (int i = 0; i < list.size(); i++) - // { - // QPointF in(list.at(i)->getX(), list.at(i)->getY()); - // // Transform from world to body coordinates - // in = metricWorldToBody(in); - // // Scale from metric to screen reference coordinates - // QPointF p = metricBodyToRef(in); - // Waypoint2DIcon* wp = new Waypoint2DIcon(); - // wp->setLocalPosition(list.at(i)->getX(), list.at(i)->getY()); - // wp->setPos(0, 0); - // scene()->addItem(wp); - // } + if (uas) + { + const QVector& list = uas->getWaypointManager()->getWaypointEditableList(); QColor color; painter.setBrush(Qt::NoBrush); @@ -811,7 +963,8 @@ void HSIDisplay::drawWaypoints(QPainter& painter) for (int i = 0; i < list.size(); i++) { QPointF in; - if (list.at(i)->getFrame() == MAV_FRAME_LOCAL) { + if (list.at(i)->getFrame() == MAV_FRAME_LOCAL_NED) + { // Do not transform in = QPointF(list.at(i)->getX(), list.at(i)->getY()); } else { @@ -830,7 +983,6 @@ void HSIDisplay::drawWaypoints(QPainter& painter) painter.setBrush(Qt::NoBrush); // DRAW WAYPOINT - //drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter); float waypointSize = vwidth / 20.0f * 2.0f; QPolygonF poly(4); // Top point @@ -843,25 +995,28 @@ void HSIDisplay::drawWaypoints(QPainter& painter) // Select color based on if this is the current waypoint if (list.at(i)->getCurrent()) { - color = QGC::colorCyan;//uas->getColor(); + color = QGC::colorYellow;//uas->getColor(); pen.setWidthF(refLineWidthToPen(0.8f)); } else { - color = uas->getColor(); + color = QGC::colorCyan; pen.setWidthF(refLineWidthToPen(0.4f)); } pen.setColor(color); painter.setPen(pen); float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f)); - drawLine(p.x(), p.y(), p.x()+sin(list.at(i)->getYaw()+yaw) * radius, p.y()-cos(list.at(i)->getYaw()+yaw) * radius, refLineWidthToPen(0.4f), color, &painter); + drawLine(p.x(), p.y(), p.x()+sin(list.at(i)->getYaw()/180.0*M_PI-yaw) * radius, p.y()-cos(list.at(i)->getYaw()/180.0*M_PI-yaw) * radius, refLineWidthToPen(0.4f), color, &painter); drawPolygon(poly, &painter); + float acceptRadius = list.at(i)->getAcceptanceRadius(); + drawCircle(p.x(), p.y(), metricToRef(acceptRadius), 1.0, Qt::green, &painter); // DRAW CONNECTING LINE // Draw line from last waypoint to this one - if (!lastWaypoint.isNull()) { + if (!lastWaypoint.isNull()) + { pen.setWidthF(refLineWidthToPen(0.4f)); painter.setPen(pen); - color = uas->getColor(); + color = QGC::colorCyan; drawLine(lastWaypoint.x(), lastWaypoint.y(), p.x(), p.y(), refLineWidthToPen(0.4f), color, &painter); } lastWaypoint = p; @@ -874,6 +1029,7 @@ void HSIDisplay::drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRig QPen pen(color); pen.setWidthF(refLineWidthToPen(0.1f)); pen.setColor(color); + pen.setBrush(Qt::NoBrush); painter.setPen(pen); painter.drawRect(QRectF(metricBodyToScreen(metricWorldToBody(topLeft)), metricBodyToScreen(metricWorldToBody(bottomRight)))); } @@ -944,7 +1100,7 @@ void HSIDisplay::drawPositionDirection(float xRef, float yRef, float radius, con { if (xyControlKnown && xyControlEnabled) { // Draw the needle - const float maxWidth = radius / 10.0f; + const float maxWidth = radius / 5.0f; const float minWidth = maxWidth * 0.3f; float angle = atan2(posXSet, -posYSet); @@ -984,10 +1140,9 @@ void HSIDisplay::drawAttitudeDirection(float xRef, float yRef, float radius, con const float maxWidth = radius / 10.0f; const float minWidth = maxWidth * 0.3f; - float angle = atan2(attXSet, attYSet); - angle -= (float)M_PI/2.0f; + float angle = atan2(attYSet, -attXSet); - radius *= sqrt(pow(attXSet, 2) + pow(attYSet, 2)) / sqrt(attXSaturation + attYSaturation); + radius *= sqrt(attXSet*attXSet + attYSet*attYSet) / sqrt(attXSaturation*attXSaturation + attYSaturation*attYSaturation); QPolygonF p(6); @@ -1043,7 +1198,7 @@ void HSIDisplay::wheelEvent(QWheelEvent* event) // Increase width -> Zoom out metricWidth -= event->delta() * zoomScale; } - metricWidth = qBound(0.1, metricWidth, 9999.0); + metricWidth = qBound(0.5, metricWidth, 9999.0); emit metricWidthChanged(metricWidth); } diff --git a/src/ui/HSIDisplay.h b/src/ui/HSIDisplay.h index 3a899926254ec2d615420a5121d8f7e3203a86f4..df3608dfb95d68970a5c6c0077acd0c7aa6be87e 100644 --- a/src/ui/HSIDisplay.h +++ b/src/ui/HSIDisplay.h @@ -79,12 +79,22 @@ public slots: /** @brief Ultrasound/Infrared localization changed */ void updateInfraredUltrasoundLocalization(UASInterface* uas, int fix); + /** @brief Repaint the widget */ void paintEvent(QPaintEvent * event); /** @brief Update state from joystick */ void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat); void pressKey(int key); /** @brief Reset the state of the view */ void resetMAVState(); + /** @brief Clear the status message */ + void clearStatusMessage() + { + statusMessage = ""; + if (actionPending) statusMessage = "TIMED OUT, NO ACTION"; + statusClearTimer.start(); + userSetPointSet = false; + actionPending = false; + } signals: void metricWidthChanged(double width); @@ -101,19 +111,33 @@ protected slots: /** @brief Draw a position lock indicator */ void drawPositionLock(float x, float y, QString label, int status, bool known, QPainter& painter); void setBodySetpointCoordinateXY(double x, double y); + void setBodySetpointCoordinateYaw(double yaw); void setBodySetpointCoordinateZ(double z); /** @brief Send the current ui setpoint coordinates as new setpoint to the MAV */ void sendBodySetPointCoordinates(); /** @brief Draw one setpoint */ - void drawSetpointXY(float x, float y, float yaw, const QColor &color, QPainter &painter); + void drawSetpointXYZYaw(float x, float y, float z, float yaw, const QColor &color, QPainter &painter); /** @brief Draw waypoints of this system */ void drawWaypoints(QPainter& painter); /** @brief Draw the limiting safety area */ void drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRight, const QColor &color, QPainter &painter); /** @brief Receive mouse clicks */ void mouseDoubleClickEvent(QMouseEvent* event); + void mousePressEvent(QMouseEvent * event); + void mouseReleaseEvent(QMouseEvent * event); + void mouseMoveEvent(QMouseEvent * event); /** @brief Receive mouse wheel events */ void wheelEvent(QWheelEvent* event); + /** @brief Read out send keys */ + void keyPressEvent(QKeyEvent* event); + /** @brief Ignore context menu event */ + void contextMenuEvent (QContextMenuEvent* event); + /** @brief Set status message on screen */ + void setStatusMessage(const QString& message) + { + statusMessage = message; + statusClearTimer.start(); + } protected: @@ -131,6 +155,10 @@ protected: QPointF refToMetricBody(QPointF &ref); /** @brief Metric coordinates to reference coordinates */ QPointF metricBodyToRef(QPointF &metric); + /** @brief Metric length to reference coordinates */ + double metricToRef(double metric); + /** @bried Reference coordinates to metric length */ + double refToMetric(double ref); /** @brief Metric body coordinates to screen coordinates */ QPointF metricBodyToScreen(QPointF metric); QMap objectNames; @@ -138,6 +166,14 @@ protected: QMap objectQualities; QMap objectBearings; QMap objectDistances; + bool dragStarted; + bool leftDragStarted; + bool mouseHasMoved; + float startX; + float startY; + QTimer statusClearTimer; + QString statusMessage; + bool actionPending; /** * @brief Private data container class to be used within the HSI widget @@ -254,7 +290,8 @@ protected: // Data indicators bool setPointKnown; ///< Controller setpoint known status flag bool positionSetPointKnown; ///< Position setpoint known status flag - bool userSetPointSet; + bool userSetPointSet; ///< User set X, Y and Z + bool userXYSetPointSet; ///< User set the X/Y position already private: }; diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc index d5bf4bf0a8a0392c473fbb8760390556f8ce8708..251d0fa4d64ef0dc65a62954bf600c862cd9a78b 100644 --- a/src/ui/HUD.cc +++ b/src/ui/HUD.cc @@ -200,14 +200,16 @@ void HUD::showEvent(QShowEvent* event) // events QGLWidget::showEvent(event); refreshTimer->start(updateInterval); + emit visibilityChanged(true); } void HUD::hideEvent(QHideEvent* event) { // React only to internal (pre-display) // events - QGLWidget::hideEvent(event); refreshTimer->stop(); + QGLWidget::hideEvent(event); + emit visibilityChanged(false); } void HUD::contextMenuEvent (QContextMenuEvent* event) @@ -833,201 +835,6 @@ void HUD::paintHUD() } } -/* -void HUD::paintGL() -{ - static float roll = 0.0; - static float pitch = 0.0; - static float yaw = 0.0; - - // Read out most important values to limit hash table lookups - roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f); - pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f); - yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f); - - //qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw; - - - // Update scaling factor - // adjust scaling to fit both horizontally and vertically - scalingFactor = this->width()/vwidth; - double scalingFactorH = this->height()/vheight; - if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH; - - makeCurrent(); - glClear(GL_COLOR_BUFFER_BIT); - //if(!noCamera) glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); - //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); // FIXME Remove after testing - - - // Blue / Brown background - if (noCamera) paintCenterBackground(roll, pitch, yaw); - - glFlush(); - - // // Store current GL model view - // glMatrixMode(GL_MODELVIEW); - // glPushMatrix(); - // - // // Setup GL view - // setupGLView(0.0f, 0.0f, vwidth, vheight); - // - // // Restore previous view - // glPopMatrix(); - - // Now draw QPainter overlay - - //painter.setRenderHint(QPainter::Antialiasing); - - // Position the coordinate frame according to the setup - - makeOverlayCurrent(); - QPainter painter(this); - //painter.setRenderHint(QPainter::Antialiasing, true); - //painter.setRenderHint(QPainter::HighQualityAntialiasing, true); - painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor); - - // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET - - - // Draw all fixed indicators - // MODE - paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter); - // STATE - paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter); - // BATTERY - paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter); - // Waypoint - paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter); - - // YAW INDICATOR - // - // . - // . . - // ....... - // - const float yawIndicatorWidth = 4.0f; - const float yawIndicatorY = vheight/2.0f - 10.0f; - QPolygon yawIndicator(4); - yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY))); - yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth))); - yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth))); - yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY))); - painter.setPen(defaultColor); - painter.drawPolyline(yawIndicator); - - // CENTER - - // HEADING INDICATOR - // - // __ __ - // \/\/ - // - const float hIndicatorWidth = 7.0f; - const float hIndicatorY = -25.0f; - const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f; - const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f; - QPolygon hIndicator(7); - hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY))); - hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY))); - hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow))); - hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY))); - hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow))); - hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY))); - hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY))); - painter.setPen(defaultColor); - painter.drawPolyline(hIndicator); - - - // SETPOINT - const float centerWidth = 4.0f; - painter.setPen(defaultColor); - painter.setBrush(Qt::NoBrush); - // TODO - //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f)); - - const float centerCrossWidth = 10.0f; - // left - painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f))); - // right - painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f))); - // top - painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f))); - - - - // COMPASS - const float compassY = -vheight/2.0f + 10.0f; - QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f))); - painter.setBrush(Qt::NoBrush); - painter.setPen(Qt::SolidLine); - painter.setPen(defaultColor); - painter.drawRoundedRect(compassRect, 2, 2); - QString yawAngle; - - const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f; - //qDebug() << "YAW: " << yawDeg; - yawAngle.sprintf("%03d", (int)yawDeg); - paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter); - - // CHANGE RATE STRIPS - drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("z", 0.0f), &painter); - - // CHANGE RATE STRIPS - drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("x", 0.0f), &painter); - - // GAUGES - - // Left altitude gauge - drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -values.value("z", 0.0f), defaultColor, &painter, false); - - // Right speed gauge - drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false); - - glFlush(); - - - // MOVING PARTS - - // Translate for yaw - const float maxYawTrans = 60.0f; - float yawDiff = valuesDot.value("yaw", 0.0f); - if (isinf(yawDiff)) yawDiff = 0.0f; - if (yawDiff > M_PI) yawDiff = yawDiff - M_PI; - - if (yawDiff < -M_PI) yawDiff = yawDiff + M_PI; - - yawInt += yawDiff; - - if (yawInt > M_PI) yawInt = M_PI; - if (yawInt < -M_PI) yawInt = -M_PI; - - float yawTrans = yawInt * (double)maxYawTrans; - yawInt *= 0.6f; - //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw; - - painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(1.8)); - - painter.translate(refToScreenX(yawTrans), 0); - - - - // Rotate view and draw all roll-dependent indicators - painter.rotate((roll/M_PI)* -180.0f); - - //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f); - - // PITCH - - paintPitchLines((pitch/M_PI)*180.0f, &painter); - - painter.end(); - - glFlush(); - - -}*/ - /** * @param pitch pitch angle in degrees (-180 to 180) diff --git a/src/ui/HUD.h b/src/ui/HUD.h index 884a6db768093af6f7af8436500332ee19d17b9f..a6412ba7db91cba122cc7f8b6879b9cf13a8bc25 100644 --- a/src/ui/HUD.h +++ b/src/ui/HUD.h @@ -113,6 +113,9 @@ protected slots: void drawPolygon(QPolygonF refPolygon, QPainter* painter); +signals: + void visibilityChanged(bool visible); + protected: void commitRawDataToGL(); /** @brief Convert reference coordinates to screen coordinates */ diff --git a/src/ui/Linechart.ui b/src/ui/Linechart.ui index b6e1df340ed20b2eab53f5713cd193a624827b38..227cef675495bbd295d6c29587c10d114b0eaec0 100644 --- a/src/ui/Linechart.ui +++ b/src/ui/Linechart.ui @@ -6,8 +6,8 @@ 0 0 - 662 - 381 + 833 + 585 @@ -25,23 +25,8 @@ Form - - - 3 - - - 2 - - - 0 - - - 2 - - - 2 - - + + @@ -114,8 +99,8 @@ 0 0 - 210 - 361 + 232 + 516 @@ -124,7 +109,7 @@ - + @@ -149,6 +134,33 @@ + + + + Short Names + + + + + + + Recolor + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc new file mode 100644 index 0000000000000000000000000000000000000000..538c3e226af11135376706c93adecf798482ab65 --- /dev/null +++ b/src/ui/MAVLinkDecoder.cc @@ -0,0 +1,282 @@ +#include "MAVLinkDecoder.h" +#include "UASManager.h" + +MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) : + QObject(parent) +{ + mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO; + memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256); + memset(receivedMessages, 0, sizeof(mavlink_message_t)*256); + + // Fill filter + messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false); + messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false); + messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT, false); + messageFilter.insert(MAVLINK_MSG_ID_COMMAND_SHORT, false); + messageFilter.insert(MAVLINK_MSG_ID_COMMAND_LONG, false); + messageFilter.insert(MAVLINK_MSG_ID_COMMAND_ACK, false); + messageFilter.insert(MAVLINK_MSG_ID_PARAM_SET, false); + messageFilter.insert(MAVLINK_MSG_ID_PARAM_VALUE, false); + messageFilter.insert(MAVLINK_MSG_ID_MISSION_ITEM, false); + messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false); + messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false); + messageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false); + messageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false); + + textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false); + textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false); + textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false); + textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false); + + connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t))); +} + +void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t message) +{ + Q_UNUSED(link); + memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t)); + + uint8_t msgid = message.msgid; + QString messageName("%1 (#%2)"); + messageName = messageName.arg(messageInfo[msgid].name).arg(msgid); + + // See if first value is a time value + quint64 time = 0; + uint8_t fieldid = 0; + uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8; + if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_boot_ms") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T) + { + time = *((quint32*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + } + else if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_usec") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T) + { + time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + } + else + { + // First value is not time, send out value 0 + emitFieldValue(&message, fieldid, time); + } + + // Send out field values from 1..n + for (unsigned int i = 1; i < messageInfo[msgid].num_fields; ++i) + { + emitFieldValue(&message, i, time); + } + + // Send out combined math expressions + // FIXME XXX TODO +} + +void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time) +{ + // Add field tree widget item + uint8_t msgid = msg->msgid; + if (messageFilter.contains(msgid)) return; + QString fieldName(messageInfo[msgid].fields[fieldid].name); + QString fieldType; + uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8; + QString name("%1.%2"); + QString unit(""); + name = name.arg(messageInfo[msgid].name, fieldName); + switch (messageInfo[msgid].fields[fieldid].type) + { + case MAVLINK_TYPE_CHAR: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0'; + QString string(name + ": " + str); + if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, 0, string); + } + else + { + // Single char + char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + unit = QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + emit valueChanged(msg->sysid, name, unit, b, time); + } + break; + case MAVLINK_TYPE_UINT8_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset; + fieldType = QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time); + } + } + else + { + // Single value + uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = "uint8_t"; + emit valueChanged(msg->sysid, name, fieldType, u, time); + } + break; + case MAVLINK_TYPE_INT8_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time); + } + } + else + { + // Single value + int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "int8_t"; + emit valueChanged(msg->sysid, name, fieldType, n, time); + } + break; + case MAVLINK_TYPE_UINT16_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time); + } + } + else + { + // Single value + uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "uint16_t"; + emit valueChanged(msg->sysid, name, fieldType, n, time); + } + break; + case MAVLINK_TYPE_INT16_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time); + } + } + else + { + // Single value + int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "int16_t"; + emit valueChanged(msg->sysid, name, fieldType, n, time); + } + break; + case MAVLINK_TYPE_UINT32_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time); + } + } + else + { + // Single value + float n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "uint32_t"; + emit valueChanged(msg->sysid, name, fieldType, n, time); + } + break; + case MAVLINK_TYPE_INT32_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time); + } + } + else + { + // Single value + int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "int32_t"; + emit valueChanged(msg->sysid, name, fieldType, n, time); + } + break; + case MAVLINK_TYPE_FLOAT: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time); + } + } + else + { + // Single value + float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "float"; + emit valueChanged(msg->sysid, name, fieldType, f, time); + } + break; + case MAVLINK_TYPE_DOUBLE: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time); + } + } + else + { + // Single value + double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "double"; + emit valueChanged(msg->sysid, name, fieldType, f, time); + } + break; + case MAVLINK_TYPE_UINT64_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (quint64) nums[j], time); + } + } + else + { + // Single value + uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "uint64_t"; + emit valueChanged(msg->sysid, name, fieldType, (quint64) n, time); + } + break; + case MAVLINK_TYPE_INT64_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + fieldType = QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length); + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (qint64) nums[j], time); + } + } + else + { + // Single value + int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + fieldType = "int64_t"; + emit valueChanged(msg->sysid, name, fieldType, (qint64) n, time); + } + break; + } +} diff --git a/src/ui/MAVLinkDecoder.h b/src/ui/MAVLinkDecoder.h new file mode 100644 index 0000000000000000000000000000000000000000..54f989430c937cb6a4f1d4c60bb7b2b2b48ee3f6 --- /dev/null +++ b/src/ui/MAVLinkDecoder.h @@ -0,0 +1,36 @@ +#ifndef MAVLINKDECODER_H +#define MAVLINKDECODER_H + +#include +#include "MAVLinkProtocol.h" + +class MAVLinkDecoder : public QObject +{ + Q_OBJECT +public: + MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent = 0); + +signals: + void textMessageReceived(int uasid, int componentid, int severity, const QString& text); + void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec); + void valueChanged(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec); + void valueChanged(const int uasId, const QString& name, const QString& unit, const unsigned int value, const quint64 msec); + void valueChanged(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec); + void valueChanged(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec); + + +public slots: + /** @brief Receive one message from the protocol and decode it */ + void receiveMessage(LinkInterface* link,mavlink_message_t message); +protected: + /** @brief Emit the value of one message field */ + void emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time); + + mavlink_message_t receivedMessages[256]; ///< Available / known messages + mavlink_message_info_t messageInfo[256]; ///< Message information + QMap messageFilter; ///< Message/field names not to emit + QMap textMessageFilter; ///< Message/field names not to emit in text mode + +}; + +#endif // MAVLINKDECODER_H diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 391ba0e3ec42a47fc5797ec64397a10405714546..22446478e8455ac39b49f5ad3ef770d8784f4590 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#include #include "QGC.h" #include "MAVLinkSimulationLink.h" @@ -49,6 +50,7 @@ This file is part of the QGROUNDCONTROL project #include "QGCMAVLinkLogPlayer.h" #include "QGCSettingsWidget.h" #include "QGCMapTool.h" +#include "MAVLinkDecoder.h" #ifdef QGC_OSG_ENABLED #include "Q3DWidgetFactory.h" @@ -61,11 +63,13 @@ This file is part of the QGROUNDCONTROL project #include "LogCompressor.h" -MainWindow* MainWindow::instance() +MainWindow* MainWindow::instance(QSplashScreen* screen) { static MainWindow* _instance = 0; - if(_instance == 0) { + if(_instance == 0) + { _instance = new MainWindow(); + if (screen) connect(_instance, SIGNAL(initStatusChanged(QString)), screen, SLOT(showMessage(QString))); /* Set the application as parent to ensure that this object * will be destroyed when the main application exits */ @@ -83,98 +87,98 @@ MainWindow* MainWindow::instance() **/ MainWindow::MainWindow(QWidget *parent): QMainWindow(parent), - toolsMenuActions(), currentView(VIEW_UNCONNECTED), aboutToCloseFlag(false), changingViewsFlag(false), styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"), autoReconnect(false), currentStyle(QGC_MAINWINDOW_STYLE_INDOOR), + centerStackActionGroup(this), lowPowerMode(false) { + hide(); + emit initStatusChanged("Loading UI Settings.."); loadSettings(); - if (!settings.contains("CURRENT_VIEW")) { + if (!settings.contains("CURRENT_VIEW")) + { // Set this view as default view settings.setValue("CURRENT_VIEW", currentView); - } else { + } + else + { // LOAD THE LAST VIEW VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt(); if (currentViewCandidate != VIEW_ENGINEER && currentViewCandidate != VIEW_OPERATOR && - currentViewCandidate != VIEW_PILOT) { + currentViewCandidate != VIEW_PILOT && + currentViewCandidate != VIEW_FULL) + { currentView = currentViewCandidate; } } - setDefaultSettingsForAp(); - settings.sync(); + emit initStatusChanged("Loading Style."); + loadStyle(currentStyle); + + emit initStatusChanged("Setting up user interface."); + // Setup user interface ui.setupUi(this); + hide(); - setVisible(false); - - buildCommonWidgets(); + // Set dock options + setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks); + statusBar()->setSizeGripEnabled(true); - connectCommonWidgets(); + configureWindowName(); - arrangeCommonCenterStack(); + // Setup corners + setCorner(Qt::BottomRightCorner, Qt::RightDockWidgetArea); - configureWindowName(); + // Setup UI state machines + centerStackActionGroup.setExclusive(true); - loadStyle(currentStyle); + centerStack = new QStackedWidget(this); + setCentralWidget(centerStack); - // Create actions - connectCommonActions(); + // Load Toolbar + toolBar = new QGCToolBar(this); + this->addToolBar(toolBar); + // Add actions + toolBar->addPerspectiveChangeAction(ui.actionOperatorsView); + toolBar->addPerspectiveChangeAction(ui.actionEngineersView); + toolBar->addPerspectiveChangeAction(ui.actionPilotsView); - // Set dock options - setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks); + emit initStatusChanged("Building common widgets."); - // Load mavlink view as default widget set - //loadMAVLinkView(); + buildCommonWidgets(); + connectCommonWidgets(); - statusBar()->setSizeGripEnabled(true); + emit initStatusChanged("Building common actions."); - // Restore the window position and size - if (settings.contains(getWindowGeometryKey())) { - // Restore the window geometry - restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); - } else { - // Adjust the size - adjustSize(); - } + // Create actions + connectCommonActions(); // Populate link menu + emit initStatusChanged("Populating link menu"); QList links = LinkManager::instance()->getLinks(); - foreach(LinkInterface* link, links) { + foreach(LinkInterface* link, links) + { this->addLink(link); } connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*))); // Connect user interface devices + emit initStatusChanged("Initializing joystick interface."); joystickWidget = 0; joystick = new JoystickInput(); - // Connect flighgear test link - // FIXME MOVE INTO UAV OBJECT - fgLink = new QGCFlightGearLink(); - fgLink->connectSimulation(); - - // Load Toolbar - toolBar = new QGCToolBar(this); - this->addToolBar(toolBar); - // Add actions - toolBar->addPerspectiveChangeAction(ui.actionOperatorsView); - toolBar->addPerspectiveChangeAction(ui.actionEngineersView); - toolBar->addPerspectiveChangeAction(ui.actionPilotsView); - - // Enable and update view - presentView(); - // Connect link - if (autoReconnect) { + if (autoReconnect) + { SerialLink* link = new SerialLink(); // Add to registry LinkManager::instance()->add(link); @@ -187,13 +191,46 @@ MainWindow::MainWindow(QWidget *parent): // Initialize window state windowStateVal = windowState(); + + emit initStatusChanged("Restoring last view state."); + + // Restore the window setup + loadViewState(); + + emit initStatusChanged("Restoring last window size."); + // Restore the window position and size + if (settings.contains(getWindowGeometryKey())) + { + // Restore the window geometry + restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); + show(); + } + else + { + // Adjust the size + const int screenWidth = QApplication::desktop()->width(); + const int screenHeight = QApplication::desktop()->height(); + + if (screenWidth < 1200) + { + showFullScreen(); + } + else + { + resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f))); + show(); + } + + } + + connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName())); + windowNameUpdateTimer.start(15000); + emit initStatusChanged("Done."); + show(); } MainWindow::~MainWindow() { - // Store settings - storeSettings(); - delete mavlink; delete joystick; @@ -203,80 +240,47 @@ MainWindow::~MainWindow() QObjectList::iterator i; QDockWidget* dockWidget; - for (i = childList.begin(); i != childList.end(); ++i) { + for (i = childList.begin(); i != childList.end(); ++i) + { dockWidget = dynamic_cast(*i); - if (dockWidget) { + if (dockWidget) + { // Remove dock widget from main window removeDockWidget(dockWidget); delete dockWidget->widget(); delete dockWidget; } - } -} - -/** - * Set default settings for this AP type. - */ -void MainWindow::setDefaultSettingsForAp() -{ - // Check if the settings exist, instantiate defaults if necessary - - // UNCONNECTED VIEW DEFAULT - QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED); - if (!settings.contains(centralKey)) { - settings.setValue(centralKey,true); - - // ENABLE UAS LIST - settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true); - // ENABLE COMMUNICATION CONSOLE - settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true); - } - - // OPERATOR VIEW DEFAULT - centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR); - if (!settings.contains(centralKey)) { - settings.setValue(centralKey,true); - - // ENABLE UAS LIST - settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true); - // ENABLE HUD TOOL WIDGET - settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HUD,VIEW_OPERATOR), true); - // ENABLE WAYPOINTS - settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_WAYPOINTS,VIEW_OPERATOR), true); - } - - // ENGINEER VIEW DEFAULT - centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER); - if (!settings.contains(centralKey)) { - settings.setValue(centralKey,true); - // Enable Parameter widget - settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_PARAMETERS,VIEW_ENGINEER), true); - } - - // MAVLINK VIEW DEFAULT - centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK); - if (!settings.contains(centralKey)) { - settings.setValue(centralKey,true); + else + { + delete dynamic_cast(*i); + } } - // PILOT VIEW DEFAULT - centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT); - if (!settings.contains(centralKey)) { - settings.setValue(centralKey,true); - // Enable Flight display - settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HDD_1,VIEW_PILOT), true); - } + // Delete all UAS objects } void MainWindow::resizeEvent(QResizeEvent * event) { - Q_UNUSED(event); - if (height() < 800) { + if (height() < 800) + { ui.statusBar->setVisible(false); - } else { + } + else + { ui.statusBar->setVisible(true); ui.statusBar->setSizeGripEnabled(true); } + + if (width() > 1200) + { + toolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); + } + else + { + toolBar->setToolButtonStyle(Qt::ToolButtonIconOnly); + } + + QMainWindow::resizeEvent(event); } QString MainWindow::getWindowStateKey() @@ -292,42 +296,36 @@ QString MainWindow::getWindowGeometryKey() void MainWindow::buildCustomWidget() { - // Show custom widgets only if UAS is connected - if (UASManager::instance()->getActiveUAS() != NULL) { - // Enable custom widgets - ui.actionNewCustomWidget->setEnabled(true); - - // Create custom widgets - QList widgets = QGCToolWidget::createWidgetsFromSettings(this); + // Create custom widgets + QList widgets = QGCToolWidget::createWidgetsFromSettings(this); - if (widgets.size() > 0) { - ui.menuTools->addSeparator(); - } + if (widgets.size() > 0) + { + ui.menuTools->addSeparator(); + } - for(int i = 0; i < widgets.size(); ++i) { - // Check if this widget already has a parent, do not create it in this case - QGCToolWidget* tool = widgets.at(i); - QDockWidget* dock = dynamic_cast(tool->parentWidget()); - if (!dock) { - QDockWidget* dock = new QDockWidget(tool->windowTitle(), this); - dock->setObjectName(tool->objectName()+"_DOCK"); - dock->setWidget(tool); - connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater())); - QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this); - showAction->setCheckable(true); - connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool))); - connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool))); - widgets.at(i)->setMainMenuAction(showAction); - ui.menuTools->addAction(showAction); - - // Load visibility for view (default is off) - dock->setVisible(tool->isVisible(currentView)); - - // Load dock widget location (default is bottom) - Qt::DockWidgetArea location = static_cast (tool->getDockWidgetArea(currentView)); - - addDockWidget(location, dock); - } + for(int i = 0; i < widgets.size(); ++i) + { + // Check if this widget already has a parent, do not create it in this case + QGCToolWidget* tool = widgets.at(i); + QDockWidget* dock = dynamic_cast(tool->parentWidget()); + if (!dock) + { + QDockWidget* dock = new QDockWidget(tool->windowTitle(), this); + dock->setObjectName(tool->objectName()+"_DOCK"); + dock->setWidget(tool); + connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater())); + QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this); + showAction->setCheckable(true); + connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool))); + connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool))); + widgets.at(i)->setMainMenuAction(showAction); + ui.menuTools->addAction(showAction); + + // Load dock widget location (default is bottom) + Qt::DockWidgetArea location = static_cast (tool->getDockWidgetArea(currentView)); + + addDockWidget(location, dock); } } } @@ -337,197 +335,122 @@ void MainWindow::buildCommonWidgets() //TODO: move protocol outside UI mavlink = new MAVLinkProtocol(); connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection); + // Add generic MAVLink decoder + mavlinkDecoder = new MAVLinkDecoder(mavlink, this); // Dock widgets - if (!controlDockWidget) { + if (!controlDockWidget) + { controlDockWidget = new QDockWidget(tr("Control"), this); controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET"); controlDockWidget->setWidget( new UASControlWidget(this) ); - addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea); + addTool(controlDockWidget, tr("Control"), Qt::LeftDockWidgetArea); } - if (!listDockWidget) { + if (!listDockWidget) + { listDockWidget = new QDockWidget(tr("Unmanned Systems"), this); listDockWidget->setWidget( new UASListWidget(this) ); listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET"); - addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget(bool)), MENU_UAS_LIST, Qt::RightDockWidgetArea); + addTool(listDockWidget, tr("Unmanned Systems"), Qt::RightDockWidgetArea); } - if (!waypointsDockWidget) { + if (!waypointsDockWidget) + { waypointsDockWidget = new QDockWidget(tr("Mission Plan"), this); waypointsDockWidget->setWidget( new QGCWaypointListMulti(this) ); waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET"); - addToToolsMenu (waypointsDockWidget, tr("Mission Plan"), SLOT(showToolWidget(bool)), MENU_WAYPOINTS, Qt::BottomDockWidgetArea); + addTool(waypointsDockWidget, tr("Mission Plan"), Qt::BottomDockWidgetArea); } - if (!infoDockWidget) { + if (!infoDockWidget) + { infoDockWidget = new QDockWidget(tr("Status Details"), this); infoDockWidget->setWidget( new UASInfoWidget(this) ); infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET"); - addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget(bool)), MENU_STATUS, Qt::RightDockWidgetArea); + addTool(infoDockWidget, tr("Status Details"), Qt::RightDockWidgetArea); } - if (!debugConsoleDockWidget) { + if (!debugConsoleDockWidget) + { debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this); debugConsoleDockWidget->setWidget( new DebugConsole(this) ); debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET"); - addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget(bool)), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea); + + DebugConsole *debugConsole = dynamic_cast(debugConsoleDockWidget->widget()); + connect(mavlinkDecoder, SIGNAL(textMessageReceived(int, int, int, const QString)), debugConsole, SLOT(receiveTextMessage(int, int, int, const QString))); + + addTool(debugConsoleDockWidget, tr("Communication Console"), Qt::BottomDockWidgetArea); } - if (!logPlayerDockWidget) { + if (!logPlayerDockWidget) + { logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this); - logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) ); + logPlayer = new QGCMAVLinkLogPlayer(mavlink, this); + toolBar->setLogPlayer(logPlayer); + logPlayerDockWidget->setWidget(logPlayer); logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET"); - addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget(bool)), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea); + addTool(logPlayerDockWidget, tr("MAVLink Log Replay"), Qt::RightDockWidgetArea); } - // Center widgets - if (!mapWidget) + if (!mavlinkInspectorWidget) { - mapWidget = new QGCMapTool(this); - addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP); - } - - if (!protocolWidget) { - protocolWidget = new XMLCommProtocolWidget(this); - addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL); + mavlinkInspectorWidget = new QDockWidget(tr("MAVLink Message Inspector"), this); + mavlinkInspectorWidget->setWidget( new QGCMAVLinkInspector(mavlink, this) ); + mavlinkInspectorWidget->setObjectName("MAVLINK_INSPECTOR_DOCKWIDGET"); + addTool(mavlinkInspectorWidget, tr("MAVLink Inspector"), Qt::RightDockWidgetArea); } - if (!dataplotWidget) { - dataplotWidget = new QGCDataPlot2D(this); - addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT); - } - - -} - - -void MainWindow::buildPxWidgets() -{ //FIXME: memory of acceptList will never be freed again QStringList* acceptList = new QStringList(); acceptList->append("-105,roll deg,deg,+105,s"); acceptList->append("-105,pitch deg,deg,+105,s"); acceptList->append("-105,heading deg,deg,+105,s"); - acceptList->append("-60,rollspeed d/s,deg/s,+60,s"); - acceptList->append("-60,pitchspeed d/s,deg/s,+60,s"); - acceptList->append("-60,yawspeed d/s,deg/s,+60,s"); - acceptList->append("0,airspeed,m/s,30"); - acceptList->append("0,groundspeed,m/s,30"); - acceptList->append("0,climbrate,m/s,30"); - acceptList->append("0,throttle,%,100"); - //FIXME: memory of acceptList2 will never be freed again QStringList* acceptList2 = new QStringList(); - acceptList2->append("900,servo #1,us,2100,s"); - acceptList2->append("900,servo #2,us,2100,s"); - acceptList2->append("900,servo #3,us,2100,s"); - acceptList2->append("900,servo #4,us,2100,s"); - acceptList2->append("900,servo #5,us,2100,s"); - acceptList2->append("900,servo #6,us,2100,s"); - acceptList2->append("900,servo #7,us,2100,s"); - acceptList2->append("900,servo #8,us,2100,s"); acceptList2->append("0,abs pressure,hPa,65500"); - //acceptList2->append("-2048,accel. x,raw,2048,s"); - //acceptList2->append("-2048,accel. y,raw,2048,s"); - //acceptList2->append("-2048,accel. z,raw,2048,s"); - - if (!linechartWidget) { - // Center widgets - linechartWidget = new Linecharts(this); - addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART); - } - - - if (!hudWidget) { - hudWidget = new HUD(320, 240, this); - addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD); - } - - if (!dataplotWidget) { - dataplotWidget = new QGCDataPlot2D(this); - addToCentralWidgetsMenu(dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT); - } - -#ifdef QGC_OSG_ENABLED - if (!_3DWidget) { - _3DWidget = Q3DWidgetFactory::get("PIXHAWK"); - addToCentralWidgetsMenu(_3DWidget, tr("Local 3D"), SLOT(showCentralWidget()), CENTRAL_3D_LOCAL); - } -#endif - -#ifdef QGC_OSGEARTH_ENABLED - if (!_3DMapWidget) { - _3DMapWidget = Q3DWidgetFactory::get("MAP3D"); - addToCentralWidgetsMenu(_3DMapWidget, tr("OSG Earth 3D"), SLOT(showCentralWidget()), CENTRAL_OSGEARTH); - } -#endif - -#if (defined _MSC_VER) | (defined Q_OS_MAC) - if (!gEarthWidget) { - gEarthWidget = new QGCGoogleEarthView(this); - addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH); - } - -#endif - - // Dock widgets - - if (!detectionDockWidget) { - detectionDockWidget = new QDockWidget(tr("Object Recognition"), this); - detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) ); - detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET"); - addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget(bool)), MENU_DETECTION, Qt::RightDockWidgetArea); - } if (!parametersDockWidget) { parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this); parametersDockWidget->setWidget( new ParameterInterface(this) ); parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); - addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea); - } - - if (!watchdogControlDockWidget) { - watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this); - watchdogControlDockWidget->setWidget( new WatchdogControl(this) ); - watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET"); - addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget(bool)), MENU_WATCHDOG, Qt::BottomDockWidgetArea); + addTool(parametersDockWidget, tr("Calibration and Parameters"), Qt::RightDockWidgetArea); } if (!hsiDockWidget) { hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this); hsiDockWidget->setWidget( new HSIDisplay(this) ); hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET"); - addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea); + addTool(hsiDockWidget, tr("Horizontal Situation"), Qt::BottomDockWidgetArea); } if (!headDown1DockWidget) { headDown1DockWidget = new QDockWidget(tr("Flight Display"), this); headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) ); headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET"); - addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea); + addTool(headDown1DockWidget, tr("Flight Display"), Qt::RightDockWidgetArea); } if (!headDown2DockWidget) { headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this); headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) ); headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET"); - addToToolsMenu (headDown2DockWidget, tr("Actuator Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea); + addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea); } if (!rcViewDockWidget) { rcViewDockWidget = new QDockWidget(tr("Radio Control"), this); rcViewDockWidget->setWidget( new QGCRemoteControlView(this) ); rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET"); - addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea); + addTool(rcViewDockWidget, tr("Radio Control"), Qt::BottomDockWidgetArea); } if (!headUpDockWidget) { headUpDockWidget = new QDockWidget(tr("HUD"), this); headUpDockWidget->setWidget( new HUD(320, 240, this)); headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET"); - addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea); + addTool(headUpDockWidget, tr("Head Up Display"), Qt::RightDockWidgetArea); } if (!video1DockWidget) { @@ -538,7 +461,7 @@ void MainWindow::buildPxWidgets() // FIXME select video stream as well video1DockWidget->setWidget(video1); video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET"); - addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea); + addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea); } if (!video2DockWidget) { @@ -549,346 +472,103 @@ void MainWindow::buildPxWidgets() // FIXME select video stream as well video2DockWidget->setWidget(video2); video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET"); - addToToolsMenu (video2DockWidget, tr("Video Stream 2"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_2, Qt::LeftDockWidgetArea); + addTool(video2DockWidget, tr("Video Stream 2"), Qt::LeftDockWidgetArea); } - // Dialogue widgets - //FIXME: free memory in destructor -} - -void MainWindow::buildSlugsWidgets() -{ - if (!linechartWidget) { - // Center widgets - linechartWidget = new Linecharts(this); - addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART); - } - - if (!headUpDockWidget) { - // Dock widgets - headUpDockWidget = new QDockWidget(tr("Control Indicator"), this); - headUpDockWidget->setWidget( new HUD(320, 240, this)); - headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET"); - addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea); - } - - if (!rcViewDockWidget) { - rcViewDockWidget = new QDockWidget(tr("Radio Control"), this); - rcViewDockWidget->setWidget( new QGCRemoteControlView(this) ); - rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET"); - addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea); - } - -#if (defined _MSC_VER) | (defined Q_OS_MAC) - if (!gEarthWidget) { - gEarthWidget = new QGCGoogleEarthView(this); - addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH); - } - -#endif - - if (!slugsDataWidget) { - // Dialog widgets - slugsDataWidget = new QDockWidget(tr("Slugs Data"), this); - slugsDataWidget->setWidget( new SlugsDataSensorView(this)); - slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET"); - addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea); - } - - - if (!slugsHilSimWidget) { - slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this); - slugsHilSimWidget->setWidget( new SlugsHilSim(this)); - slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET"); - addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea); - } - - if (!controlParameterWidget) { - controlParameterWidget = new QDockWidget(tr("Control Parameters"), this); - controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET"); - controlParameterWidget->setWidget( new UASControlParameters(this) ); - addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea); - } - - if (!parametersDockWidget) { - parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this); - parametersDockWidget->setWidget( new ParameterInterface(this) ); - parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); - addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea); - } - - if (!slugsCamControlWidget) { - slugsCamControlWidget = new QDockWidget(tr("Camera Control"), this); - slugsCamControlWidget->setWidget(new SlugsPadCameraControl(this)); - slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET"); - addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea); - } - -} - - -void MainWindow::addToCentralWidgetsMenu ( QWidget* widget, - const QString title, - const char * slotName, - TOOLS_WIDGET_NAMES centralWidget) -{ - QAction* tempAction; - - -// Not needed any more - separate menu now available - -// // Add the separator that will separate tools from central Widgets -// if (!toolsMenuActions[CENTRAL_SEPARATOR]) -// { -// tempAction = ui.menuTools->addSeparator(); -// toolsMenuActions[CENTRAL_SEPARATOR] = tempAction; -// tempAction->setData(CENTRAL_SEPARATOR); -// } - - tempAction = ui.menuMain->addAction(title); - - tempAction->setCheckable(true); - tempAction->setData(centralWidget); - - // populate the Hashes - toolsMenuActions[centralWidget] = tempAction; - dockWidgets[centralWidget] = widget; - - QString chKey = buildMenuKey(SUB_SECTION_CHECKED, centralWidget, currentView); - - if (!settings.contains(chKey)) { - settings.setValue(chKey,false); - tempAction->setChecked(false); - } else { - tempAction->setChecked(settings.value(chKey).toBool()); - } - - // connect the action - connect(tempAction,SIGNAL(triggered(bool)),this, slotName); -} - - -void MainWindow::showCentralWidget() -{ - QAction* senderAction = qobject_cast(sender()); - - // Block sender action while manipulating state - senderAction->blockSignals(true); - - int tool = senderAction->data().toInt(); - QString chKey; - - // check the current action - - if (senderAction && dockWidgets[tool]) { - // uncheck all central widget actions - QHashIterator i(toolsMenuActions); - while (i.hasNext()) { - i.next(); - //qDebug() << "shCW" << i.key() << "read"; - if (i.value() && i.value()->data().toInt() > 255) { - // Block signals and uncheck action - // firing would be unneccesary - i.value()->blockSignals(true); - i.value()->setChecked(false); - i.value()->blockSignals(false); - - // update the settings - chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.value()->data().toInt()), currentView); - settings.setValue(chKey,false); - } - } - - // check the current action - //qDebug() << senderAction->text(); - senderAction->setChecked(true); - - // update the central widget - centerStack->setCurrentWidget(dockWidgets[tool]); - - // store the selected central widget - chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(tool), currentView); - settings.setValue(chKey,true); - - // Unblock sender action - senderAction->blockSignals(false); - - presentView(); - } -} - -/** - * Adds a widget to the tools menu and sets it visible if it was - * enabled last time. - */ -void MainWindow::addToToolsMenu ( QWidget* widget, - const QString title, - const char * slotName, - TOOLS_WIDGET_NAMES tool, - Qt::DockWidgetArea location) -{ - QAction* tempAction; - QString posKey, chKey; - - - if (toolsMenuActions[CENTRAL_SEPARATOR]) { - tempAction = new QAction(title, this); - ui.menuTools->insertAction(toolsMenuActions[CENTRAL_SEPARATOR], - tempAction); - } else { - tempAction = ui.menuTools->addAction(title); - } - - tempAction->setCheckable(true); - tempAction->setData(tool); - - // populate the Hashes - toolsMenuActions[tool] = tempAction; - dockWidgets[tool] = widget; - //qDebug() << widget; - - posKey = buildMenuKey (SUB_SECTION_LOCATION,tool, currentView); - - if (!settings.contains(posKey)) { - settings.setValue(posKey,location); - dockWidgetLocations[tool] = location; - } else { - dockWidgetLocations[tool] = static_cast (settings.value(posKey, Qt::RightDockWidgetArea).toInt()); - } - - chKey = buildMenuKey(SUB_SECTION_CHECKED,tool, currentView); - - if (!settings.contains(chKey)) { - settings.setValue(chKey,false); - tempAction->setChecked(false); - widget->setVisible(false); - } else { - tempAction->setChecked(settings.value(chKey, false).toBool()); - widget->setVisible(settings.value(chKey, false).toBool()); - } - - // connect the action - connect(tempAction,SIGNAL(toggled(bool)),this, slotName); - - connect(qobject_cast (dockWidgets[tool]), - SIGNAL(visibilityChanged(bool)), this, SLOT(showToolWidget(bool))); - - // connect(qobject_cast (dockWidgets[tool]), - // SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool))); - - connect(qobject_cast (dockWidgets[tool]), - SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea))); -} - -void MainWindow::showToolWidget(bool visible) -{ - if (!aboutToCloseFlag && !changingViewsFlag) { - QAction* action = qobject_cast(sender()); - - // Prevent this to fire if undocked - if (action) { - int tool = action->data().toInt(); - - QDockWidget* dockWidget = qobject_cast (dockWidgets[tool]); - - if (dockWidget && dockWidget->isVisible() != visible) { - if (visible) { - addDockWidget(dockWidgetLocations[tool], dockWidget); - dockWidget->show(); - } else { - removeDockWidget(dockWidget); - } - - QHashIterator i(dockWidgets); - while (i.hasNext()) { - i.next(); - if ((static_cast (dockWidgets[i.key()])) == dockWidget) { - QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.key()), currentView); - settings.setValue(chKey,visible); - //qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible; - break; - } - } - } - } + // Custom widgets, added last to all menus and layouts + buildCustomWidget(); - QDockWidget* dockWidget = qobject_cast(QObject::sender()); + // Center widgets + if (!mapWidget) + { + mapWidget = new QGCMapTool(this); + addCentralWidget(mapWidget, "Maps"); + } - //qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible; + if (!protocolWidget) + { + protocolWidget = new XMLCommProtocolWidget(this); + addCentralWidget(protocolWidget, "Mavlink Generator"); + } - if (dockWidget) { - // Get action - int tool = dockWidgets.key(dockWidget); + if (!hudWidget) { + hudWidget = new HUD(320, 240, this); + addCentralWidget(hudWidget, tr("Head Up Display")); + } - //qDebug() << "Updating widget setting" << tool << "to" << visible; + if (!dataplotWidget) { + dataplotWidget = new QGCDataPlot2D(this); + addCentralWidget(dataplotWidget, tr("Logfile Plot")); + } - QAction* action = toolsMenuActions[tool]; - action->blockSignals(true); - action->setChecked(visible); - action->blockSignals(false); +#ifdef QGC_OSG_ENABLED + if (!_3DWidget) { + _3DWidget = Q3DWidgetFactory::get("PIXHAWK"); + addCentralWidget(_3DWidget, tr("Local 3D")); + } +#endif - QHashIterator i(dockWidgets); - while (i.hasNext()) { - i.next(); - if ((static_cast (dockWidgets[i.key()])) == dockWidget) { - QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.key()), currentView); - settings.setValue(chKey,visible); - // qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible; - break; - } - } - } +#if (defined _MSC_VER) | (defined Q_OS_MAC) + if (!gEarthWidget) { + gEarthWidget = new QGCGoogleEarthView(this); + addCentralWidget(gEarthWidget, tr("Google Earth")); } +#endif } - -void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view) +void MainWindow::addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea area) { - bool tempVisible; - Qt::DockWidgetArea tempLocation; - QDockWidget* tempWidget = static_cast (dockWidgets[widget]); + QAction* tempAction = ui.menuTools->addAction(title); - tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool(); - - //qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible; + tempAction->setCheckable(true); + QVariant var; + var.setValue((QWidget*)widget); + tempAction->setData(var); + connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); + connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool))); + tempAction->setChecked(widget->isVisible()); + addDockWidget(area, widget); +} - if (tempWidget) { - toolsMenuActions[widget]->setChecked(tempVisible); - } +void MainWindow::showTool(bool show) +{ + QAction* act = qobject_cast(sender()); + QWidget* widget = qVariantValue(act->data()); + widget->setVisible(show); +} - //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,widget,view) << tempVisible; +void MainWindow::addCentralWidget(QWidget* widget, const QString& title) +{ + // Check if this widget already has been added + if (centerStack->indexOf(widget) == -1) + { + centerStack->addWidget(widget); - tempLocation = static_cast (settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt()); + QAction* tempAction = ui.menuMain->addAction(title); - if (tempWidget != NULL) { - if (tempVisible) { - addDockWidget(tempLocation, tempWidget); - tempWidget->show(); - } + tempAction->setCheckable(true); + QVariant var; + var.setValue((QWidget*)widget); + tempAction->setData(var); + centerStackActionGroup.addAction(tempAction); + connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget())); + connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool))); + tempAction->setChecked(widget->isVisible()); } } -QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view) -{ - // Key is built as follows: autopilot_type/section_menu/view/tool/section - int apType; - -// apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())? -// UASManager::instance()->getActiveUAS()->getAutopilotType(): -// -1; - - apType = 1; - return (QString::number(apType) + "_" + - QString::number(SECTION_MENU) + "_" + - QString::number(view) + "_" + - QString::number(tool) + "_" + - QString::number(section) + "_" ); +void MainWindow::showCentralWidget() +{ + QAction* act = qobject_cast(sender()); + QWidget* widget = qVariantValue(act->data()); + centerStack->setCurrentWidget(widget); } void MainWindow::closeEvent(QCloseEvent *event) { + if (isVisible()) storeViewState(); storeSettings(); aboutToCloseFlag = true; mavlink->storeSettings(); @@ -896,62 +576,6 @@ void MainWindow::closeEvent(QCloseEvent *event) QMainWindow::closeEvent(event); } -void MainWindow::showDockWidget (bool vis) -{ - if (!aboutToCloseFlag && !changingViewsFlag) { - QDockWidget* temp = qobject_cast(sender()); - - if (temp) { - QHashIterator i(dockWidgets); - while (i.hasNext()) { - i.next(); - if ((static_cast (dockWidgets[i.key()])) == temp) { - QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.key()), currentView); - settings.setValue(chKey,vis); - toolsMenuActions[i.key()]->setChecked(vis); - break; - } - } - } - } -} - -void MainWindow::updateVisibilitySettings (bool vis) -{ - if (!aboutToCloseFlag && !changingViewsFlag) { - QDockWidget* temp = qobject_cast(sender()); - - if (temp) { - QHashIterator i(dockWidgets); - while (i.hasNext()) { - i.next(); - if ((static_cast (dockWidgets[i.key()])) == temp) { - QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.key()), currentView); - settings.setValue(chKey,vis); - toolsMenuActions[i.key()]->setChecked(vis); - break; - } - } - } - } -} - -void MainWindow::updateLocationSettings (Qt::DockWidgetArea location) -{ - QDockWidget* temp = qobject_cast(sender()); - - QHashIterator i(dockWidgets); - while (i.hasNext()) { - i.next(); - if ((static_cast (dockWidgets[i.key()])) == temp) { - QString posKey = buildMenuKey (SUB_SECTION_LOCATION,static_cast(i.key()), currentView); - settings.setValue(posKey,location); - break; - } - } -} - - /** * Connect the signals and slots of the common window widgets */ @@ -961,11 +585,6 @@ void MainWindow::connectCommonWidgets() connect(mavlink, SIGNAL(receiveLossChanged(int, float)), infoDockWidget->widget(), SLOT(updateSendLoss(int, float))); } -// //TODO temporaly debug -// if (slugsHilSimWidget && slugsHilSimWidget->widget()) { -// connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), -// slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*))); -// } } void MainWindow::createCustomWidget() @@ -973,7 +592,8 @@ void MainWindow::createCustomWidget() QDockWidget* dock = new QDockWidget("Unnamed Tool", this); QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool", dock); - if (QGCToolWidget::instances()->size() < 2) { + if (QGCToolWidget::instances()->size() < 2) + { // This is the first widget ui.menuTools->addSeparator(); } @@ -995,110 +615,60 @@ void MainWindow::loadCustomWidget() { QString widgetFileExtension(".qgw"); QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension)); - QGCToolWidget* tool = new QGCToolWidget("", this); - tool->loadSettings(fileName); - - if (QGCToolWidget::instances()->size() < 2) { - // This is the first widget - ui.menuTools->addSeparator(); - } - - // Add widget to UI - QDockWidget* dock = new QDockWidget(tool->getTitle(), this); - connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater())); - dock->setWidget(tool); - tool->setParent(dock); - - QAction* showAction = new QAction("Show Unnamed Tool", this); - showAction->setCheckable(true); - connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool))); - connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool))); - tool->setMainMenuAction(showAction); - ui.menuTools->addAction(showAction); - this->addDockWidget(Qt::BottomDockWidgetArea, dock); - dock->setVisible(true); -} - -void MainWindow::connectPxWidgets() -{ - // No special connections necessary at this point -} - -void MainWindow::connectSlugsWidgets() -{ - if (slugsHilSimWidget && slugsHilSimWidget->widget()) { - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), - slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*))); - } - - if (slugsDataWidget && slugsDataWidget->widget()) { - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), - slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*))); - } - - if (controlParameterWidget && controlParameterWidget->widget()) { - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), - controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*))); - } - - if(controlDockWidget && controlParameterWidget) { - connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int))); - } -} - -void MainWindow::arrangeCommonCenterStack() -{ - centerStack = new QStackedWidget(this); - centerStack->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); - - if (!centerStack) return; - - if (mapWidget && (centerStack->indexOf(mapWidget) == -1)) centerStack->addWidget(mapWidget); - if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget); - if (protocolWidget && (centerStack->indexOf(protocolWidget) == -1)) centerStack->addWidget(protocolWidget); - - setCentralWidget(centerStack); + if (fileName != "") loadCustomWidget(fileName); } -void MainWindow::arrangePxCenterStack() +void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance) { - - if (!centerStack) { - qDebug() << "Center Stack not Created!"; + QGCToolWidget* tool = new QGCToolWidget("", this); + if (tool->loadSettings(fileName, true) || !singleinstance) + { + // Add widget to UI + QDockWidget* dock = new QDockWidget(tool->getTitle(), this); + connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater())); + dock->setWidget(tool); + tool->setParent(dock); + + QAction* showAction = new QAction(tool->getTitle(), this); + showAction->setCheckable(true); + connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool))); + connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool))); + tool->setMainMenuAction(showAction); + ui.menuTools->addAction(showAction); + this->addDockWidget(Qt::BottomDockWidgetArea, dock); + dock->setVisible(true); + } + else + { return; } - - - if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget); - -#ifdef QGC_OSG_ENABLED - if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget); -#endif -#ifdef QGC_OSGEARTH_ENABLED - if (_3DMapWidget && (centerStack->indexOf(_3DMapWidget) == -1)) centerStack->addWidget(_3DMapWidget); -#endif -#if (defined _MSC_VER) | (defined Q_OS_MAC) - if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget); -#endif - if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget); - if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget); } -void MainWindow::arrangeSlugsCenterStack() +void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType) { + QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/"; - if (!centerStack) { - qDebug() << "Center Stack not Created!"; - return; + QDir widgets(defaultsDir); + QStringList files = widgets.entryList(); + if (files.count() == 0) + { + qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found"; + qDebug() << "Tried with path: " << defaultsDir; + showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir)); } - if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget); - if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget); - -#if (defined _MSC_VER) | (defined Q_OS_MAC) - if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget); -#endif - + // Load all custom widgets found in the AP folder + for(int i = 0; i < files.count(); ++i) + { + QString file = files[i]; + if (file.endsWith(".qgw")) + { + // Will only be loaded if not already a custom widget with + // the same name is present + loadCustomWidget(defaultsDir+"/"+file, true); + showStatusMessage(tr("Loaded custom widget %1").arg(defaultsDir+"/"+file)); + } + } } void MainWindow::loadSettings() @@ -1118,14 +688,17 @@ void MainWindow::storeSettings() settings.setValue("AUTO_RECONNECT", autoReconnect); settings.setValue("CURRENT_STYLE", currentStyle); settings.endGroup(); - settings.setValue(getWindowGeometryKey(), saveGeometry()); - // Save the last current view in any case - settings.setValue("CURRENT_VIEW", currentView); - // Save the current window state, but only if a system is connected (else no real number of widgets would be present) - if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion())); - // Save the current view only if a UAS is connected - if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView); - // Save the current power mode + if (!aboutToCloseFlag && isVisible()) + { + settings.setValue(getWindowGeometryKey(), saveGeometry()); + // Save the last current view in any case + settings.setValue("CURRENT_VIEW", currentView); + // Save the current window state, but only if a system is connected (else no real number of widgets would be present) + if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion())); + // Save the current view only if a UAS is connected + if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView); + // Save the current power mode + } settings.setValue("LOW_POWER_MODE", lowPowerMode); settings.sync(); } @@ -1138,9 +711,11 @@ void MainWindow::configureWindowName() windowname.append(" (" + QHostInfo::localHostName() + ": "); - for (int i = 0; i < hostAddresses.size(); i++) { + for (int i = 0; i < hostAddresses.size(); i++) + { // Exclude loopback IPv4 and all IPv6 addresses - if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":")) { + if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":")) + { if(prevAddr) windowname.append("/"); windowname.append(hostAddresses.at(i).toString()); prevAddr = true; @@ -1162,10 +737,10 @@ void MainWindow::startVideoCapture() QString initialPath = QDir::currentPath() + tr("/untitled.") + format; QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"), - initialPath, - tr("%1 Files (*.%2);;All Files (*)") - .arg(format.toUpper()) - .arg(format)); + initialPath, + tr("%1 Files (*.%2);;All Files (*)") + .arg(format.toUpper()) + .arg(format)); delete videoTimer; videoTimer = new QTimer(this); //videoTimer->setInterval(40); @@ -1185,7 +760,8 @@ void MainWindow::saveScreen() QPixmap window = QPixmap::grabWindow(this->winId()); QString format = "bmp"; - if (!screenFileName.isEmpty()) { + if (!screenFileName.isEmpty()) + { window.save(screenFileName, format.toAscii()); } } @@ -1331,8 +907,6 @@ void MainWindow::showInfoMessage(const QString& title, const QString& message) **/ void MainWindow::connectCommonActions() { - ui.actionNewCustomWidget->setEnabled(false); - // Bind together the perspective actions QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives); perspectives->addAction(ui.actionEngineersView); @@ -1349,11 +923,6 @@ void MainWindow::connectCommonActions() if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true); if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true); - // The pilot, engineer and operator view are not available on startup - // since they only make sense with a system connected. - ui.actionPilotsView->setEnabled(false); - ui.actionOperatorsView->setEnabled(false); - ui.actionEngineersView->setEnabled(false); // The UAS actions are not enabled without connection to system ui.actionLiftoff->setEnabled(false); ui.actionLand->setEnabled(false); @@ -1414,20 +983,9 @@ void MainWindow::connectCommonActions() connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings())); } -void MainWindow::connectPxActions() -{ - - -} - -void MainWindow::connectSlugsActions() -{ - -} - void MainWindow::showHelp() { - if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/"))) { + if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start"))) { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Critical); msgBox.setText("Could not open help in browser"); @@ -1440,7 +998,7 @@ void MainWindow::showHelp() void MainWindow::showCredits() { - if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits/"))) { + if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits"))) { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Critical); msgBox.setText("Could not open credits in browser"); @@ -1453,7 +1011,7 @@ void MainWindow::showCredits() void MainWindow::showRoadMap() { - if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/roadmap/"))) { + if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/dev/roadmap"))) { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Critical); msgBox.setText("Could not open roadmap in browser"); @@ -1537,7 +1095,8 @@ void MainWindow::addLink(LinkInterface *link) connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection); // Special case for simulationlink MAVLinkSimulationLink* sim = dynamic_cast(link); - if (sim) { + if (sim) + { //connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64))); connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool))); } @@ -1554,8 +1113,10 @@ void MainWindow::setActiveUAS(UASInterface* uas) void MainWindow::UASSpecsChanged(int uas) { UASInterface* activeUAS = UASManager::instance()->getActiveUAS(); - if (activeUAS) { - if (activeUAS->getUASID() == uas) { + if (activeUAS) + { + if (activeUAS->getUASID() == uas) + { ui.menuUnmanned_System->setTitle(activeUAS->getUASName()); } } @@ -1566,10 +1127,8 @@ void MainWindow::UASCreated(UASInterface* uas) // Connect the UAS to the full user interface - if (uas != NULL) { - // Set default settings - setDefaultSettingsForAp(); - + if (uas != NULL) + { // The pilot, operator and engineer views were not available on startup, enable them now ui.actionPilotsView->setEnabled(true); ui.actionOperatorsView->setEnabled(true); @@ -1615,103 +1174,78 @@ void MainWindow::UASCreated(UASInterface* uas) ui.menuConnected_Systems->addAction(uasAction); // FIXME Should be not inside the mainwindow - if (debugConsoleDockWidget) { + if (debugConsoleDockWidget) + { DebugConsole *debugConsole = dynamic_cast(debugConsoleDockWidget->widget()); - if (debugConsole) { + if (debugConsole) + { connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), debugConsole, SLOT(receiveTextMessage(int,int,int,QString))); } } // Health / System status indicator - if (infoDockWidget) { + if (infoDockWidget) + { UASInfoWidget *infoWidget = dynamic_cast(infoDockWidget->widget()); - if (infoWidget) { + if (infoWidget) + { infoWidget->addUAS(uas); } } // UAS List - if (listDockWidget) { + if (listDockWidget) + { UASListWidget *listWidget = dynamic_cast(listDockWidget->widget()); - if (listWidget) { + if (listWidget) + { listWidget->addUAS(uas); } } - switch (uas->getAutopilotType()) { - case (MAV_AUTOPILOT_SLUGS): { - // Build Slugs Widgets - buildSlugsWidgets(); - - // Connect Slugs Widgets - connectSlugsWidgets(); - - // Arrange Slugs Centerstack - arrangeSlugsCenterStack(); - - // Connect Slugs Actions - connectSlugsActions(); - -// if(slugsDataWidget) -// { -// SlugsDataSensorView *mm = dynamic_cast(slugsDataWidget->widget()); -// if(mm) -// { -// mm->addUAS(uas); -// } -// } - - // FIXME: This type checking might be redundant -// // if (slugsDataWidget) { -// // SlugsDataSensorView* dataWidget = dynamic_cast(slugsDataWidget->widget()); -// // if (dataWidget) { -// // SlugsMAV* mav2 = dynamic_cast(uas); -// // if (mav2) { -// (dynamic_cast(slugsDataWidget->widget()))->addUAS(uas); -// // //loadSlugsView(); -// // loadGlobalOperatorView(); -// // } -// // } -// // } - + // Line chart + if (!linechartWidget) + { + // Center widgets + linechartWidget = new Linecharts(this); + linechartWidget->addSource(mavlinkDecoder); + addCentralWidget(linechartWidget, tr("Realtime Plot")); } - break; - case MAV_AUTOPILOT_SENSESOAR: - { - this->buildSenseSoarWidgets(); - this->connectSenseSoarWidgets(); - this->arrangeSenseSoarCenterStack(); - this->connectSenseSoarActions(); - break; - } - default: - case (MAV_AUTOPILOT_GENERIC): - case (MAV_AUTOPILOT_ARDUPILOTMEGA): - case (MAV_AUTOPILOT_PIXHAWK): { - // Build Pixhawk Widgets - buildPxWidgets(); - // Connect Pixhawk Widgets - connectPxWidgets(); + // Load default custom widgets for this autopilot type + loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName()); - // Arrange Pixhawk Centerstack - arrangePxCenterStack(); - // Connect Pixhawk Actions - connectPxActions(); - } - break; + if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK) + { + // Dock widgets + if (!detectionDockWidget) + { + detectionDockWidget = new QDockWidget(tr("Object Recognition"), this); + detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) ); + detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET"); + addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea); + } + + if (!watchdogControlDockWidget) + { + watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this); + watchdogControlDockWidget->setWidget( new WatchdogControl(this) ); + watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET"); + addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea); + } } // Change the view only if this is the first UAS // If this is the first connected UAS, it is both created as well as // the currently active UAS - if (UASManager::instance()->getUASList().size() == 1) { + if (UASManager::instance()->getUASList().size() == 1) + { // Load last view if setting is present - if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED")) { - clearView(); + if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED")) + { int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt(); switch (view) { case VIEW_ENGINEER: @@ -1731,7 +1265,9 @@ void MainWindow::UASCreated(UASInterface* uas) loadOperatorView(); break; } - } else { + } + else + { loadOperatorView(); } } @@ -1740,290 +1276,228 @@ void MainWindow::UASCreated(UASInterface* uas) if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true); - // Custom widgets, added last to all menus and layouts - buildCustomWidget(); - // Restore the mainwindow size - if (settings.contains(getWindowGeometryKey())) { - restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); - } + // Reload view state in case new widgets were added + loadViewState(); } /** - * Clears the current view completely + * Stores the current view state */ -void MainWindow::clearView() +void MainWindow::storeViewState() { - // Save current state - if (UASManager::instance()->getUASList().count() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion())); - // Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc) - // therefore this state is stored here and restored after applying the rest of the settings in the new - // perspective. - windowStateVal = this->windowState(); - settings.setValue(getWindowGeometryKey(), saveGeometry()); - - QAction* temp; - - // Set tool widget visibility settings for this view - foreach (int key, toolsMenuActions.keys()) { - temp = toolsMenuActions[key]; - QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(key), currentView); - - if (temp) { - //qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked(); - settings.setValue(chKey,temp->isChecked()); - } else { - //qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED"; - settings.setValue(chKey,false); - } + if (!aboutToCloseFlag) + { + // Save current state + settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion())); + settings.setValue(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex()); + // Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc) + // therefore this state is stored here and restored after applying the rest of the settings in the new + // perspective. + windowStateVal = this->windowState(); + settings.setValue(getWindowGeometryKey(), saveGeometry()); } +} - changingViewsFlag = true; - // Remove all dock widgets from main window - QObjectList childList( this->children() ); +void MainWindow::loadViewState() +{ + // Restore center stack state + int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt(); + // The offline plot view is usually the consequence of a logging run, always show the realtime view first + if (centerStack->indexOf(dataplotWidget) == index) + { + // Rewrite to realtime plot + index = centerStack->indexOf(linechartWidget); + } - QObjectList::iterator i; - QDockWidget* dockWidget; - for (i = childList.begin(); i != childList.end(); ++i) { - dockWidget = dynamic_cast(*i); - if (dockWidget) { - // Remove dock widget from main window - removeDockWidget(dockWidget); - dockWidget->hide(); - //dockWidget->setVisible(false); + if (index != -1) + { + centerStack->setCurrentIndex(index); + } + else + { + // Hide custom widgets + if (detectionDockWidget) detectionDockWidget->hide(); + if (watchdogControlDockWidget) watchdogControlDockWidget->hide(); + + // Load defaults + switch (currentView) + { + case VIEW_ENGINEER: + centerStack->setCurrentWidget(linechartWidget); + controlDockWidget->hide(); + listDockWidget->hide(); + waypointsDockWidget->hide(); + infoDockWidget->hide(); + debugConsoleDockWidget->show(); + logPlayerDockWidget->show(); + mavlinkInspectorWidget->show(); + parametersDockWidget->show(); + hsiDockWidget->hide(); + headDown1DockWidget->hide(); + headDown2DockWidget->hide(); + rcViewDockWidget->hide(); + headUpDockWidget->hide(); + video1DockWidget->hide(); + video2DockWidget->hide(); + break; + case VIEW_PILOT: + centerStack->setCurrentWidget(hudWidget); + controlDockWidget->hide(); + listDockWidget->hide(); + waypointsDockWidget->hide(); + infoDockWidget->hide(); + debugConsoleDockWidget->hide(); + logPlayerDockWidget->hide(); + mavlinkInspectorWidget->hide(); + parametersDockWidget->hide(); + hsiDockWidget->show(); + headDown1DockWidget->show(); + headDown2DockWidget->show(); + rcViewDockWidget->hide(); + headUpDockWidget->hide(); + video1DockWidget->hide(); + video2DockWidget->hide(); + break; + case VIEW_MAVLINK: + centerStack->setCurrentWidget(protocolWidget); + controlDockWidget->hide(); + listDockWidget->hide(); + waypointsDockWidget->hide(); + infoDockWidget->hide(); + debugConsoleDockWidget->hide(); + logPlayerDockWidget->hide(); + mavlinkInspectorWidget->hide(); + parametersDockWidget->hide(); + hsiDockWidget->hide(); + headDown1DockWidget->hide(); + headDown2DockWidget->hide(); + rcViewDockWidget->hide(); + headUpDockWidget->hide(); + video1DockWidget->hide(); + video2DockWidget->hide(); + break; + case VIEW_OPERATOR: + centerStack->setCurrentWidget(mapWidget); + controlDockWidget->hide(); + listDockWidget->show(); + waypointsDockWidget->show(); + infoDockWidget->hide(); + debugConsoleDockWidget->show(); + logPlayerDockWidget->show(); + parametersDockWidget->hide(); + hsiDockWidget->show(); + headDown1DockWidget->hide(); + headDown2DockWidget->hide(); + rcViewDockWidget->hide(); + headUpDockWidget->show(); + video1DockWidget->hide(); + video2DockWidget->hide(); + mavlinkInspectorWidget->hide(); + break; + case VIEW_UNCONNECTED: + case VIEW_FULL: + default: + centerStack->setCurrentWidget(mapWidget); + controlDockWidget->hide(); + listDockWidget->show(); + waypointsDockWidget->hide(); + infoDockWidget->hide(); + debugConsoleDockWidget->show(); + logPlayerDockWidget->show(); + parametersDockWidget->hide(); + hsiDockWidget->hide(); + headDown1DockWidget->hide(); + headDown2DockWidget->hide(); + rcViewDockWidget->hide(); + headUpDockWidget->show(); + video1DockWidget->hide(); + video2DockWidget->hide(); + mavlinkInspectorWidget->show(); + break; } } - changingViewsFlag = false; + + // Restore the widget positions and size + if (settings.contains(getWindowStateKey())) + { + restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion()); + } } void MainWindow::loadEngineerView() { - if (currentView != VIEW_ENGINEER) { - clearView(); + if (currentView != VIEW_ENGINEER) + { + storeViewState(); currentView = VIEW_ENGINEER; ui.actionEngineersView->setChecked(true); - presentView(); + loadViewState(); } } void MainWindow::loadOperatorView() { - if (currentView != VIEW_OPERATOR) { - clearView(); + if (currentView != VIEW_OPERATOR) + { + storeViewState(); currentView = VIEW_OPERATOR; ui.actionOperatorsView->setChecked(true); - presentView(); + loadViewState(); } } void MainWindow::loadUnconnectedView() { - if (currentView != VIEW_UNCONNECTED) { - clearView(); + if (currentView != VIEW_UNCONNECTED) + { + storeViewState(); currentView = VIEW_UNCONNECTED; ui.actionUnconnectedView->setChecked(true); - presentView(); + loadViewState(); } } void MainWindow::loadPilotView() { - if (currentView != VIEW_PILOT) { - clearView(); + if (currentView != VIEW_PILOT) + { + storeViewState(); currentView = VIEW_PILOT; ui.actionPilotsView->setChecked(true); - presentView(); + loadViewState(); } } void MainWindow::loadMAVLinkView() { - if (currentView != VIEW_MAVLINK) { - clearView(); + if (currentView != VIEW_MAVLINK) + { + storeViewState(); currentView = VIEW_MAVLINK; ui.actionMavlinkView->setChecked(true); - presentView(); - } -} - -void MainWindow::presentView() -{ - // LINE CHART - showTheCentralWidget(CENTRAL_LINECHART, currentView); - - // MAP - showTheCentralWidget(CENTRAL_MAP, currentView); - - // PROTOCOL - showTheCentralWidget(CENTRAL_PROTOCOL, currentView); - - // HEAD UP DISPLAY - showTheCentralWidget(CENTRAL_HUD, currentView); - - // GOOGLE EARTH - showTheCentralWidget(CENTRAL_GOOGLE_EARTH, currentView); - - // LOCAL 3D VIEW - showTheCentralWidget(CENTRAL_3D_LOCAL, currentView); - - // GLOBAL 3D VIEW - showTheCentralWidget(CENTRAL_3D_MAP, currentView); - - // DATA PLOT - showTheCentralWidget(CENTRAL_DATA_PLOT, currentView); - - - // Show docked widgets based on current view and autopilot type - - // UAS CONTROL - showTheWidget(MENU_UAS_CONTROL, currentView); - - showTheWidget(MENU_UAS_CONTROL_PARAM, currentView); - - // UAS LIST - showTheWidget(MENU_UAS_LIST, currentView); - - // WAYPOINT LIST - showTheWidget(MENU_WAYPOINTS, currentView); - - // UAS STATUS - showTheWidget(MENU_STATUS, currentView); - - // DETECTION - showTheWidget(MENU_DETECTION, currentView); - - // DEBUG CONSOLE - showTheWidget(MENU_DEBUG_CONSOLE, currentView); - - // ONBOARD PARAMETERS - showTheWidget(MENU_PARAMETERS, currentView); - - // WATCHDOG - showTheWidget(MENU_WATCHDOG, currentView); - - // HUD - showTheWidget(MENU_HUD, currentView); - if (headUpDockWidget) { - HUD* tmpHud = dynamic_cast( headUpDockWidget->widget() ); - if (tmpHud) { - if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool()) { - addDockWidget(static_cast (settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()), - headUpDockWidget); - headUpDockWidget->show(); - } else { - headUpDockWidget->hide(); - } - } - } - - - // RC View - showTheWidget(MENU_RC_VIEW, currentView); - - // SLUGS DATA - showTheWidget(MENU_SLUGS_DATA, currentView); - - // SLUGS PID - showTheWidget(MENU_SLUGS_PID, currentView); - - // SLUGS HIL - showTheWidget(MENU_SLUGS_HIL, currentView); - - // SLUGS CAMERA - showTheWidget(MENU_SLUGS_CAMERA, currentView); - - // HORIZONTAL SITUATION INDICATOR - showTheWidget(MENU_HSI, currentView); - - // HEAD DOWN 1 - showTheWidget(MENU_HDD_1, currentView); - - // HEAD DOWN 2 - showTheWidget(MENU_HDD_2, currentView); - - // MAVLINK LOG PLAYER - showTheWidget(MENU_MAVLINK_LOG_PLAYER, currentView); - - // VIDEO 1 - showTheWidget(MENU_VIDEO_STREAM_1, currentView); - - // VIDEO 2 - showTheWidget(MENU_VIDEO_STREAM_2, currentView); - - // Restore window state - if (UASManager::instance()->getUASList().count() > 0) { -// // Restore the mainwindow size -// if (settings.contains(getWindowGeometryKey())) -// { -// restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); -// } - - // Restore the widget positions and size - if (settings.contains(getWindowStateKey())) { - restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion()); - } - } - - // ACTIVATE HUD WIDGET - if (headUpDockWidget) { - HUD* tmpHud = dynamic_cast( headUpDockWidget->widget() ); - if (tmpHud) { - - } - } - - this->setWindowState(windowStateVal); - this->show(); -} - -void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view) -{ - bool tempVisible; - QWidget* tempWidget = dockWidgets[centralWidget]; - - tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,centralWidget,view), false).toBool(); - //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible; - if (toolsMenuActions[centralWidget]) { - //qDebug() << "SETTING TO:" << tempVisible; - toolsMenuActions[centralWidget]->setChecked(tempVisible); - } - - if (centerStack && tempWidget && tempVisible) { - //qDebug() << "ACTIVATING MAIN WIDGET"; - centerStack->setCurrentWidget(tempWidget); + loadViewState(); } } void MainWindow::loadDataView(QString fileName) { - clearView(); - - // Unload line chart - QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(CENTRAL_LINECHART), currentView); - settings.setValue(chKey,false); - - // Set data plot in settings as current widget and then run usual update procedure - chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(CENTRAL_DATA_PLOT), currentView); - settings.setValue(chKey,true); - - presentView(); - // Plot is now selected, now load data from file - if (dataplotWidget) { + if (dataplotWidget) + { + dataplotWidget->loadFile(fileName); + } + QStackedWidget *centerStack = dynamic_cast(centralWidget()); + if (centerStack) + { + centerStack->setCurrentWidget(dataplotWidget); dataplotWidget->loadFile(fileName); } -// QStackedWidget *centerStack = dynamic_cast(centralWidget()); -// if (centerStack) -// { -// centerStack->setCurrentWidget(dataplotWidget); -// dataplotWidget->loadFile(fileName); -// } -// } } QList MainWindow::listLinkMenuActions(void) { - return ui.menuNetwork->actions(); + return ui.menuNetwork->actions(); } void MainWindow::buildSenseSoarWidgets() diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h index 4c371bbd140ff2b574ebb3291728a20d0318bab8..322e4e46c6d5eb5afb4827788616e09edec7e7ec 100644 --- a/src/ui/MainWindow.h +++ b/src/ui/MainWindow.h @@ -50,7 +50,6 @@ This file is part of the QGROUNDCONTROL project #include "UASListWidget.h" #include "MAVLinkProtocol.h" #include "MAVLinkSimulationLink.h" -#include "AS4Protocol.h" #include "ObjectDetectionView.h" #include "HUD.h" #include "JoystickWidget.h" @@ -76,9 +75,12 @@ This file is part of the QGROUNDCONTROL project #include "SlugsPadCameraControl.h" #include "UASControlParameters.h" -#include "QGCFlightGearLink.h" +#include "QGCMAVLinkInspector.h" +#include "QGCMAVLinkLogPlayer.h" +#include "MAVLinkDecoder.h" class QGCMapTool; +class QSplashScreen; /** * @brief Main Application Window @@ -89,7 +91,7 @@ class MainWindow : public QMainWindow Q_OBJECT public: - static MainWindow* instance(); + static MainWindow* instance(QSplashScreen* screen = 0); ~MainWindow(); enum QGC_MAINWINDOW_STYLE { @@ -112,9 +114,9 @@ public: return lowPowerMode; } + QList listLinkMenuActions(void); + public slots: -// /** @brief Store the mainwindow settings */ -// void storeSettings(); /** @brief Shows a status message on the bottom status bar */ void showStatusMessage(const QString& status, int timeout); @@ -160,9 +162,6 @@ public slots: /** @brief Show the project roadmap */ void showRoadMap(); - /** @brief Shows the widgets based on configuration and current view and autopilot */ - void presentView(); - /** @brief Reload the CSS style sheet */ void reloadStylesheet(); /** @brief Let the user select the CSS style sheet */ @@ -183,9 +182,15 @@ public slots: /** @brief Add a custom tool widget */ void createCustomWidget(); - /** @brief Load a custom tool widget from a file */ + /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */ void loadCustomWidget(); + /** @brief Load a custom tool widget from a file */ + void loadCustomWidget(const QString& fileName, bool singleinstance=false); + + /** @brief Load custom widgets from default file */ + void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType); + void closeEvent(QCloseEvent* event); /** @brief Load data view, allowing to plot flight data */ @@ -194,98 +199,54 @@ public slots: /** * @brief Shows a Docked Widget based on the action sender * - * This slot is written to be used in conjunction with the addToToolsMenu function + * This slot is written to be used in conjunction with the addTool() function * It shows the QDockedWidget based on the action sender * */ - void showToolWidget(bool visible); + void showTool(bool visible); /** * @brief Shows a Widget from the center stack based on the action sender * - * This slot is written to be used in conjunction with the addToCentralWidgetsMenu function + * This slot is written to be used in conjunction with the addCentralWidget() function * It shows the Widget based on the action sender * */ void showCentralWidget(); - /** @brief Change actively a QDockWidgets visibility by an action */ - void showDockWidget(bool vis); - /** @brief Updates a QDockWidget's checked status based on its visibility */ - void updateVisibilitySettings(bool vis); + /** @brief Update the window name */ + void configureWindowName(); - /** @brief Updates a QDockWidget's location */ - void updateLocationSettings (Qt::DockWidgetArea location); +signals: + void initStatusChanged(const QString& message); public: - QList listLinkMenuActions(void); + QGCMAVLinkLogPlayer* getLogPlayer() + { + return logPlayer; + } + + MAVLinkProtocol* getMAVLink() + { + return mavlink; + } protected: MainWindow(QWidget *parent = 0); - /** @brief Set default window settings for the current autopilot type */ - void setDefaultSettingsForAp(); - - // These defines are used to save the settings when selecting with - // which widgets populate the views - // FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over - // this will be fixed in a future release. - typedef enum _TOOLS_WIDGET_NAMES { - MENU_UAS_CONTROL_PARAM, - MENU_UAS_CONTROL, - MENU_UAS_INFO, - MENU_CAMERA, - MENU_UAS_LIST, - MENU_WAYPOINTS, - MENU_STATUS, - MENU_DETECTION, - MENU_DEBUG_CONSOLE, - MENU_PARAMETERS, - MENU_HDD_1, - MENU_HDD_2, - MENU_WATCHDOG, - MENU_HUD, - MENU_HSI, - MENU_RC_VIEW, - MENU_SLUGS_DATA, - MENU_SLUGS_PID, - MENU_SLUGS_HIL, - MENU_SLUGS_CAMERA, - MENU_MAVLINK_LOG_PLAYER, - MENU_VIDEO_STREAM_1, - MENU_VIDEO_STREAM_2, - CENTRAL_SEPARATOR= 255, // do not change - CENTRAL_LINECHART, - CENTRAL_PROTOCOL, - CENTRAL_MAP, - CENTRAL_3D_LOCAL, - CENTRAL_3D_MAP, - CENTRAL_OSGEARTH, - CENTRAL_GOOGLE_EARTH, - CENTRAL_HUD, - CENTRAL_DATA_PLOT, - - } TOOLS_WIDGET_NAMES; - - typedef enum _SETTINGS_SECTIONS { - SECTION_MENU, - SUB_SECTION_CHECKED, - SUB_SECTION_LOCATION, - } SETTINGS_SECTIONS; - - typedef enum _VIEW_SECTIONS { + typedef enum _VIEW_SECTIONS + { VIEW_ENGINEER, VIEW_OPERATOR, VIEW_PILOT, VIEW_MAVLINK, VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available + VIEW_FULL ///< All widgets shown at once } VIEW_SECTIONS; - - QHash toolsMenuActions; // Holds ptr to the Menu Actions - QHash dockWidgets; // Holds ptr to the Actual Dock widget - QHash dockWidgetLocations; // Holds the location +// QHash toolsMenuActions; // Holds ptr to the Menu Actions +// QHash dockWidgets; // Holds ptr to the Actual Dock widget /** * @brief Adds an already instantiated QDockedWidget to the Tools Menu @@ -294,24 +255,11 @@ protected: * tools menu and connects the QMenuAction to a slot that shows the widget and * checks/unchecks the tools menu item * - * @param widget The QDockedWidget being added + * @param widget The QDockWidget being added * @param title The entry that will appear in the Menu and in the QDockedWidget title bar - * @param slotName The slot to which the triggered() signal of the menu action will be connected. - * @param tool The ENUM defined in MainWindow.h that is associated to the widget * @param location The default location for the QDockedWidget in case there is no previous key in the settings */ - void addToToolsMenu (QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location=Qt::RightDockWidgetArea); - - /** - * @brief Determines if a QDockWidget needs to be show and if so, shows it - * - * Based on the the autopilot and the current view it queries the settings and shows the - * widget if necessary - * - * @param widget The QDockWidget requested to be shown - * @param view The view for which the QDockWidget is requested - */ - void showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view = VIEW_MAVLINK); + void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea); /** * @brief Adds an already instantiated QWidget to the center stack @@ -323,21 +271,8 @@ protected: * * @param widget The QWidget being added * @param title The entry that will appear in the Menu - * @param slotName The slot to which the triggered() signal of the menu action will be connected. - * @param centralWidget The ENUM defined in MainWindow.h that is associated to the widget */ - void addToCentralWidgetsMenu ( QWidget* widget, const QString title,const char * slotName, TOOLS_WIDGET_NAMES centralWidget); - - /** - * @brief Determines if a QWidget needs to be show and if so, shows it - * - * Based on the the autopilot and the current view it queries the settings and shows the - * widget if necessary - * - * @param centralWidget The QWidget requested to be shown - * @param view The view for which the QWidget is requested - */ - void showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view); + void addCentralWidget(QWidget* widget, const QString& title); /** @brief Catch window resize events */ void resizeEvent(QResizeEvent * event); @@ -347,49 +282,31 @@ protected: bool aboutToCloseFlag; bool changingViewsFlag; - void clearView(); + void storeViewState(); + void loadViewState(); void buildCustomWidget(); void buildCommonWidgets(); - void buildPxWidgets(); - void buildSlugsWidgets(); - void buildSenseSoarWidgets(); - void connectCommonWidgets(); - void connectPxWidgets(); - void connectSlugsWidgets(); - void connectSenseSoarWidgets(); - - void arrangeCommonCenterStack(); - void arrangePxCenterStack(); - void arrangeSlugsCenterStack(); - void arrangeSenseSoarCenterStack(); - void connectCommonActions(); - void connectPxActions(); - void connectSlugsActions(); void connectSenseSoarActions(); - - void configureWindowName(); void loadSettings(); void storeSettings(); // TODO Should be moved elsewhere, as the protocol does not belong to the UI MAVLinkProtocol* mavlink; - AS4Protocol* as4link; MAVLinkSimulationLink* simulationLink; LinkInterface* udpLink; QSettings settings; QStackedWidget *centerStack; + QActionGroup centerStackActionGroup; // Center widgets QPointer linechartWidget; - QPointer hudWidget; - QPointer mapWidget; QPointer protocolWidget; QPointer dataplotWidget; @@ -402,6 +319,7 @@ protected: #if (defined _MSC_VER) || (defined Q_OS_MAC) QPointer gEarthWidget; #endif + // Dock widgets QPointer controlDockWidget; QPointer controlParameterWidget; @@ -430,6 +348,9 @@ protected: QPointer toolBar; + QPointer mavlinkInspectorWidget; + QPointer mavlinkDecoder; + QGCMAVLinkLogPlayer* logPlayer; // Popup widgets JoystickWidget* joystickWidget; @@ -455,11 +376,11 @@ protected: Qt::WindowStates windowStateVal; bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets QGCFlightGearLink* fgLink; + QTimer windowNameUpdateTimer; private: Ui::MainWindow ui; - QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view); QString getWindowStateKey(); QString getWindowGeometryKey(); diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui index ce2b6e40287c1e570c6f18cd0c45b810710fd6ad..bbc2231f2019a57de3342d25ccda9c03fe018a08 100644 --- a/src/ui/MainWindow.ui +++ b/src/ui/MainWindow.ui @@ -51,7 +51,7 @@ 0 0 800 - 22 + 25 @@ -95,7 +95,7 @@ true - Unmanned System + System false @@ -152,7 +152,7 @@ - + :/images/actions/system-log-out.svg:/images/actions/system-log-out.svg @@ -167,7 +167,7 @@ true - + :/images/control/launch.svg :/images/control/launch.svg:/images/control/launch.svg @@ -177,7 +177,7 @@ - + :/images/control/land.svg:/images/control/land.svg @@ -186,7 +186,7 @@ - + :/images/actions/process-stop.svg:/images/actions/process-stop.svg @@ -198,7 +198,7 @@ - + :/images/actions/process-stop.svg:/images/actions/process-stop.svg @@ -210,7 +210,7 @@ - + :/images/actions/list-add.svg:/images/actions/list-add.svg @@ -219,7 +219,7 @@ - + :/images/categories/applications-system.svg:/images/categories/applications-system.svg @@ -231,7 +231,7 @@ - + :/images/devices/input-gaming.svg:/images/devices/input-gaming.svg @@ -246,7 +246,7 @@ true - + :/images/control/launch.svg:/images/control/launch.svg @@ -258,7 +258,7 @@ - + :/images/contrib/slugs.png:/images/contrib/slugs.png @@ -267,7 +267,7 @@ - + :/images/devices/input-gaming.svg:/images/devices/input-gaming.svg @@ -279,7 +279,7 @@ - + :/images/apps/utilities-system-monitor.svg:/images/apps/utilities-system-monitor.svg @@ -288,7 +288,7 @@ - + :/images/status/software-update-available.svg:/images/status/software-update-available.svg @@ -297,7 +297,7 @@ - + :/images/categories/preferences-system.svg:/images/categories/preferences-system.svg @@ -309,7 +309,7 @@ true - + :/images/status/weather-overcast.svg:/images/status/weather-overcast.svg @@ -324,7 +324,7 @@ true - + :/images/apps/utilities-system-monitor.svg:/images/apps/utilities-system-monitor.svg @@ -339,7 +339,7 @@ true - + :/images/devices/network-wired.svg:/images/devices/network-wired.svg @@ -351,7 +351,7 @@ - + :/images/categories/applications-internet.svg:/images/categories/applications-internet.svg @@ -363,7 +363,7 @@ true - + :/images/status/network-wireless-encrypted.svg:/images/status/network-wireless-encrypted.svg @@ -375,7 +375,7 @@ - + :/images/apps/utilities-system-monitor.svg:/images/apps/utilities-system-monitor.svg @@ -387,7 +387,7 @@ true - + :/images/status/audio-volume-high.svg :/images/status/audio-volume-muted.svg :/images/status/audio-volume-muted.svg @@ -403,7 +403,7 @@ true - + :/images/devices/network-wireless.svg:/images/devices/network-wireless.svg @@ -415,7 +415,7 @@ - + :/images/actions/system-log-out.svg:/images/actions/system-log-out.svg @@ -459,7 +459,7 @@ - + :/images/status/folder-drag-accept.svg:/images/status/folder-drag-accept.svg @@ -469,7 +469,7 @@ - + diff --git a/src/ui/QGCDataPlot2D.h b/src/ui/QGCDataPlot2D.h index edfd248f4ef60d62471dcbf0d4f636f3475a6536..f87498bbaaef0ddeda9911f0465c7adac372944f 100644 --- a/src/ui/QGCDataPlot2D.h +++ b/src/ui/QGCDataPlot2D.h @@ -46,7 +46,22 @@ public slots: /** @brief Calculate and display regression function*/ bool calculateRegression(); +signals: + void visibilityChanged(bool visible); + protected: + void showEvent(QShowEvent* event) + { + QWidget::showEvent(event); + emit visibilityChanged(true); + } + + void hideEvent(QHideEvent* event) + { + QWidget::hideEvent(event); + emit visibilityChanged(false); + } + void changeEvent(QEvent *e); IncrementalPlot* plot; LogCompressor* compressor; diff --git a/src/ui/QGCMAVLinkInspector.cc b/src/ui/QGCMAVLinkInspector.cc new file mode 100644 index 0000000000000000000000000000000000000000..eb99b89cbf4073a78d96c6e6250b82bce78dd24f --- /dev/null +++ b/src/ui/QGCMAVLinkInspector.cc @@ -0,0 +1,327 @@ +#include + +#include "QGCMAVLink.h" +#include "QGCMAVLinkInspector.h" +#include "ui_QGCMAVLinkInspector.h" + +#include + +QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent) : + QWidget(parent), + ui(new Ui::QGCMAVLinkInspector) +{ + ui->setupUi(this); + + /* Insert system */ + ui->systemComboBox->addItem(tr("All Systems"), -1); + + mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO; + memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256); + memset(receivedMessages, 0, sizeof(mavlink_message_t)*256); + + connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t))); + QStringList header; + header << tr("Name"); + header << tr("Value"); + header << tr("Type"); + ui->treeWidget->setHeaderLabels(header); + connect(&updateTimer, SIGNAL(timeout()), this, SLOT(refreshView())); + updateTimer.start(1000); +} + +void QGCMAVLinkInspector::refreshView() +{ + for (int i = 0; i < 256; ++i)//mavlink_message_t msg, receivedMessages) + { + mavlink_message_t* msg = receivedMessages+i; + // Ignore NULL values + if (!msg) continue; + // Update the tree view + if (!treeWidgetItems.contains(msg->msgid)) + { + QString messageName("%1 (#%2)"); + messageName = messageName.arg(messageInfo[msg->msgid].name).arg(msg->msgid); + QStringList fields; + fields << messageName; + QTreeWidgetItem* widget = new QTreeWidgetItem(fields); + widget->setFirstColumnSpanned(true); + + for (unsigned int i = 0; i < messageInfo[msg->msgid].num_fields; ++i) + { + QTreeWidgetItem* field = new QTreeWidgetItem(); + widget->addChild(field); + } + + treeWidgetItems.insert(msg->msgid, widget); + ui->treeWidget->addTopLevelItem(widget); + } + + QTreeWidgetItem* message = treeWidgetItems.value(msg->msgid); + for (unsigned int i = 0; i < messageInfo[msg->msgid].num_fields; ++i) + { + updateField(msg->msgid, i, message->child(i)); + } + } +} + +void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t message) +{ + Q_UNUSED(link); + // Only overwrite if system filter is set +// int filterValue = ui->systemComboBox()->value().toInt(); +// if (filterValue != ) + memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t)); +} + +QGCMAVLinkInspector::~QGCMAVLinkInspector() +{ + delete ui; +} + +void QGCMAVLinkInspector::updateField(int msgid, int fieldid, QTreeWidgetItem* item) +{ + // Add field tree widget item + item->setData(0, Qt::DisplayRole, QVariant(messageInfo[msgid].fields[fieldid].name)); + uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8; + switch (messageInfo[msgid].fields[fieldid].type) + { + case MAVLINK_TYPE_CHAR: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0'; + QString string(str); + item->setData(2, Qt::DisplayRole, "char"); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single char + char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, b); + } + break; + case MAVLINK_TYPE_UINT8_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset; + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset); + item->setData(2, Qt::DisplayRole, "uint8_t"); + item->setData(1, Qt::DisplayRole, u); + } + break; + case MAVLINK_TYPE_INT8_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "int8_t"); + item->setData(1, Qt::DisplayRole, n); + } + break; + case MAVLINK_TYPE_UINT16_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "uint16_t"); + item->setData(1, Qt::DisplayRole, n); + } + break; + case MAVLINK_TYPE_INT16_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "int16_t"); + item->setData(1, Qt::DisplayRole, n); + } + break; + case MAVLINK_TYPE_UINT32_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + float n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "uint32_t"); + item->setData(1, Qt::DisplayRole, n); + } + break; + case MAVLINK_TYPE_INT32_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "int32_t"); + item->setData(1, Qt::DisplayRole, n); + } + break; + case MAVLINK_TYPE_FLOAT: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "float"); + item->setData(1, Qt::DisplayRole, f); + } + break; + case MAVLINK_TYPE_DOUBLE: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "double"); + item->setData(1, Qt::DisplayRole, f); + } + break; + case MAVLINK_TYPE_UINT64_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "uint64_t"); + item->setData(1, Qt::DisplayRole, (quint64) n); + } + break; + case MAVLINK_TYPE_INT64_T: + if (messageInfo[msgid].fields[fieldid].array_length > 0) + { + int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset); + // Enforce null termination + QString tmp("%1, "); + QString string; + for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) + { + string += tmp.arg(nums[j]); + } + item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); + item->setData(1, Qt::DisplayRole, string); + } + else + { + // Single value + int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); + item->setData(2, Qt::DisplayRole, "int64_t"); + item->setData(1, Qt::DisplayRole, (qint64) n); + } + break; + } +} diff --git a/src/ui/QGCMAVLinkInspector.h b/src/ui/QGCMAVLinkInspector.h new file mode 100644 index 0000000000000000000000000000000000000000..996d74d185ec548894f7f4ab5e8555a18b5cafc9 --- /dev/null +++ b/src/ui/QGCMAVLinkInspector.h @@ -0,0 +1,42 @@ +#ifndef QGCMAVLINKINSPECTOR_H +#define QGCMAVLINKINSPECTOR_H + +#include +#include +#include + +#include "MAVLinkProtocol.h" + +namespace Ui { + class QGCMAVLinkInspector; +} + +class QTreeWidgetItem; + +class QGCMAVLinkInspector : public QWidget +{ + Q_OBJECT + +public: + explicit QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent = 0); + ~QGCMAVLinkInspector(); + +public slots: + void receiveMessage(LinkInterface* link,mavlink_message_t message); + void refreshView(); + +protected: + QMap lastFieldUpdate; ///< Used to switch between highlight and non-highlighting color + mavlink_message_t receivedMessages[256]; ///< Available / known messages + QMap treeWidgetItems; ///< Available tree widget items + QTimer updateTimer; ///< Only update at 1 Hz to not overload the GUI + mavlink_message_info_t messageInfo[256]; + + // Update one message field + void updateField(int msgid, int fieldid, QTreeWidgetItem* item); + +private: + Ui::QGCMAVLinkInspector *ui; +}; + +#endif // QGCMAVLINKINSPECTOR_H diff --git a/src/ui/QGCMAVLinkInspector.ui b/src/ui/QGCMAVLinkInspector.ui new file mode 100644 index 0000000000000000000000000000000000000000..3d461ac77c34933df970fbdfd66cb79ba2739bc3 --- /dev/null +++ b/src/ui/QGCMAVLinkInspector.ui @@ -0,0 +1,43 @@ + + + QGCMAVLinkInspector + + + + 0 + 0 + 400 + 300 + + + + Form + + + + 6 + + + + + + 1 + + + + + + + + System Filter + + + + + + + + + + + diff --git a/src/ui/QGCMAVLinkLogPlayer.cc b/src/ui/QGCMAVLinkLogPlayer.cc index 3ba61fb1181ae31739b348837226fc5586398f49..a05aeb5c8491f7e52e59727b0288ed4e78d11e25 100644 --- a/src/ui/QGCMAVLinkLogPlayer.cc +++ b/src/ui/QGCMAVLinkLogPlayer.cc @@ -20,6 +20,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare loopCounter(0), mavlinkLogFormat(true), binaryBaudRate(57600), + isPlaying(false), ui(new Ui::QGCMAVLinkLogPlayer) { ui->setupUi(this); @@ -33,8 +34,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare // Setup buttons connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectLogFile())); - connect(ui->pauseButton, SIGNAL(clicked()), this, SLOT(pause())); - connect(ui->playButton, SIGNAL(clicked()), this, SLOT(play())); + connect(ui->playButton, SIGNAL(clicked()), this, SLOT(playPauseToggle())); connect(ui->speedSlider, SIGNAL(valueChanged(int)), this, SLOT(setAccelerationFactorInt(int))); connect(ui->positionSlider, SIGNAL(valueChanged(int)), this, SLOT(jumpToSliderVal(int))); connect(ui->positionSlider, SIGNAL(sliderPressed()), this, SLOT(pause())); @@ -49,12 +49,37 @@ QGCMAVLinkLogPlayer::~QGCMAVLinkLogPlayer() delete ui; } +void QGCMAVLinkLogPlayer::playPause(bool enabled) +{ + if (enabled) + { + play(); + } + else + { + pause(); + } +} + +void QGCMAVLinkLogPlayer::playPauseToggle() +{ + if (isPlaying) + { + pause(); + } + else + { + play(); + } +} + void QGCMAVLinkLogPlayer::play() { - if (logFile.isOpen()) { - ui->pauseButton->setChecked(false); + if (logFile.isOpen()) + { ui->selectFileButton->setEnabled(false); - if (logLink) { + if (logLink) + { logLink->disconnect(); LinkManager::instance()->removeLink(logLink); delete logLink; @@ -62,9 +87,12 @@ void QGCMAVLinkLogPlayer::play() logLink = new MAVLinkSimulationLink(""); // Start timer - if (mavlinkLogFormat) { + if (mavlinkLogFormat) + { loopTimer.start(1); - } else { + } + else + { // Read len bytes at a time int len = 100; // Calculate the number of times to read 100 bytes per second @@ -73,7 +101,11 @@ void QGCMAVLinkLogPlayer::play() int interval = 1000 / ((binaryBaudRate / 10) / len); loopTimer.start(interval*accelerationFactor); } - } else { + isPlaying = true; + ui->playButton->setIcon(QIcon(":images/actions/media-playback-pause.svg")); + } + else + { ui->playButton->setChecked(false); QMessageBox msgBox; msgBox.setIcon(QMessageBox::Information); @@ -87,10 +119,12 @@ void QGCMAVLinkLogPlayer::play() void QGCMAVLinkLogPlayer::pause() { + isPlaying = false; loopTimer.stop(); - ui->playButton->setChecked(false); + ui->playButton->setIcon(QIcon(":images/actions/media-playback-start.svg")); ui->selectFileButton->setEnabled(true); - if (logLink) { + if (logLink) + { logLink->disconnect(); LinkManager::instance()->removeLink(logLink); delete logLink; @@ -101,36 +135,48 @@ void QGCMAVLinkLogPlayer::pause() bool QGCMAVLinkLogPlayer::reset(int packetIndex) { // Reset only for valid values - if (packetIndex >= 0 && packetIndex <= logFile.size() - (packetLen+timeLen)) { - + const unsigned int packetSize = timeLen + packetLen; + if (packetIndex >= 0 && packetIndex*packetSize <= logFile.size() - packetSize) + { bool result = true; pause(); loopCounter = 0; logFile.reset(); - if (!logFile.seek(packetIndex*(timeLen + packetLen))) { + + if (!logFile.seek(packetIndex*packetSize)) + { // Fallback: Start from scratch logFile.reset(); ui->logStatsLabel->setText(tr("Changing packet index failed, back to start.")); result = false; } - ui->pauseButton->setChecked(true); + ui->playButton->setIcon(QIcon(":images/actions/media-playback-start.svg")); ui->positionSlider->blockSignals(true); - int sliderVal = (packetIndex / (double)(logFile.size()/(packetLen+timeLen))) * (ui->positionSlider->maximum() - ui->positionSlider->minimum()); + int sliderVal = (packetIndex / (double)(logFile.size()/packetSize)) * (ui->positionSlider->maximum() - ui->positionSlider->minimum()); ui->positionSlider->setValue(sliderVal); ui->positionSlider->blockSignals(false); startTime = 0; return result; - } else { + } + else + { return false; } } -void QGCMAVLinkLogPlayer::selectLogFile() +bool QGCMAVLinkLogPlayer::selectLogFile() { - QString fileName = QFileDialog::getOpenFileName(this, tr("Specify MAVLink log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink or Binary Logfile (*.mavlink *.bin)")); + QString fileName = QFileDialog::getOpenFileName(this, tr("Specify MAVLink log file name to replay"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink or Binary Logfile (*.mavlink *.bin *.log)")); - loadLogFile(fileName); + if (fileName == "") + { + return false; + } + else + { + return loadLogFile(fileName); + } } /** @@ -141,14 +187,18 @@ void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor) float f = factor+1.0f; f -= 50.0f; - if (f < 0.0f) { + if (f < 0.0f) + { accelerationFactor = 1.0f / (-f/2.0f); - } else { + } + else + { accelerationFactor = 1+(f/2.0f); } // Update timer interval - if (!mavlinkLogFormat) { + if (!mavlinkLogFormat) + { // Read len bytes at a time int len = 100; // Calculate the number of times to read 100 bytes per second @@ -164,25 +214,31 @@ void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor) ui->speedLabel->setText(tr("Speed: %1X").arg(accelerationFactor, 5, 'f', 2, '0')); } -void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) +bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file) { // Check if logging is still enabled - if (mavlink->loggingEnabled()) { + if (mavlink->loggingEnabled()) + { mavlink->enableLogging(false); MainWindow::instance()->showInfoMessage(tr("MAVLink Logging Stopped during Replay"), tr("MAVLink logging has been stopped during the log replay. To re-enable logging, use the link properties in the communication menu.")); } // Ensure that the playback process is stopped - if (logFile.isOpen()) { + if (logFile.isOpen()) + { pause(); logFile.close(); } logFile.setFileName(file); - if (!logFile.open(QFile::ReadOnly)) { + if (!logFile.open(QFile::ReadOnly)) + { MainWindow::instance()->showCriticalMessage(tr("The selected logfile is unreadable"), tr("Please make sure that the file %1 is readable or select a different file").arg(file)); logFile.setFileName(""); - } else { + return false; + } + else + { QFileInfo logFileInfo(file); logFile.reset(); startTime = 0; @@ -191,7 +247,8 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) // Select if binary or MAVLink log format is used mavlinkLogFormat = file.endsWith(".mavlink"); - if (mavlinkLogFormat) { + if (mavlinkLogFormat) + { // Get the time interval from the logfile QByteArray timestamp = logFile.read(timeLen); @@ -216,17 +273,21 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2); ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))).arg(timelabel)); - } else { + } + else + { // Load in binary mode // Set baud rate if any present QStringList parts = logFileInfo.baseName().split("_"); - if (parts.count() > 1) { + if (parts.count() > 1) + { bool ok; int rate = parts.last().toInt(&ok); // 9600 baud to 100 MBit - if (ok && (rate > 9600 && rate < 100000000)) { + if (ok && (rate > 9600 && rate < 100000000)) + { // Accept this as valid baudrate binaryBaudRate = rate; } @@ -241,6 +302,7 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2); ui->logStatsLabel->setText(tr("%2 MB, %4 at %5 KB/s").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(timelabel).arg(binaryBaudRate/10.0f/1024.0f, 0, 'f', 2)); } + return true; } } @@ -256,8 +318,10 @@ void QGCMAVLinkLogPlayer::jumpToSliderVal(int slidervalue) int packetIndex = (packetCount - 1) * (slidervalue / (double)(ui->positionSlider->maximum() - ui->positionSlider->minimum())); // Do only accept valid jumps - if (reset(packetIndex)) { - if (mavlinkLogFormat) { + if (reset(packetIndex)) + { + if (mavlinkLogFormat) + { ui->logStatsLabel->setText(tr("Jumped to packet %1").arg(packetIndex)); } } @@ -273,15 +337,18 @@ void QGCMAVLinkLogPlayer::jumpToSliderVal(int slidervalue) */ void QGCMAVLinkLogPlayer::logLoop() { - if (mavlinkLogFormat) { + if (mavlinkLogFormat) + { bool ok; // First check initialization - if (startTime == 0) { + if (startTime == 0) + { QByteArray startBytes = logFile.read(timeLen); // Check if the correct number of bytes could be read - if (startBytes.length() != timeLen) { + if (startBytes.length() != timeLen) + { ui->logStatsLabel->setText(tr("Error reading first %1 bytes").arg(timeLen)); MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Error reading first %1 bytes from logfile. Got %2 instead of %1 bytes. Is the logfile readable?").arg(timeLen).arg(startBytes.length())); reset(); @@ -296,7 +363,8 @@ void QGCMAVLinkLogPlayer::logLoop() //qDebug() << "START TIME: " << startTime; // Check if these bytes could be correctly decoded - if (!ok) { + if (!ok) + { ui->logStatsLabel->setText(tr("Error decoding first timestamp, aborting.")); MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Could not load initial timestamp from file %1. Is the file corrupted?").arg(logFile.fileName())); reset(); @@ -313,7 +381,8 @@ void QGCMAVLinkLogPlayer::logLoop() emit bytesReady(logLink, packet); // Check if reached end of file before reading next timestamp - if (chunk.length() < timeLen+packetLen || logFile.atEnd()) { + if (chunk.length() < timeLen+packetLen || logFile.atEnd()) + { // Reached end of file reset(); @@ -329,12 +398,15 @@ void QGCMAVLinkLogPlayer::logLoop() // This is the timestamp of the next packet quint64 time = *((quint64*)(rawTime.constData())); ok = true; - if (!ok) { + if (!ok) + { // Convert it to 64bit number QString status = tr("Time conversion error during log replay. Continuing.."); ui->logStatsLabel->setText(status); MainWindow::instance()->showStatusMessage(status); - } else { + } + else + { // Normal processing, passed all checks // start timer to match time offset between // this and next packet @@ -350,13 +422,18 @@ void QGCMAVLinkLogPlayer::logLoop() //qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime; - if (nextExecutionTime < 2) { + if (nextExecutionTime < 2) + { logLoop(); - } else { + } + else + { loopTimer.start(nextExecutionTime); } } - } else { + } + else + { // Binary format - read at fixed rate const int len = 100; QByteArray chunk = logFile.read(len); @@ -365,7 +442,8 @@ void QGCMAVLinkLogPlayer::logLoop() emit bytesReady(logLink, chunk); // Check if reached end of file before reading next timestamp - if (chunk.length() < len || logFile.atEnd()) { + if (chunk.length() < len || logFile.atEnd()) + { // Reached end of file reset(); @@ -380,7 +458,8 @@ void QGCMAVLinkLogPlayer::logLoop() // Update status label // Update progress bar - if (loopCounter % 40 == 0) { + if (loopCounter % 40 == 0) + { QFileInfo logFileInfo(logFile); int progress = (ui->positionSlider->maximum()-ui->positionSlider->minimum())*(logFile.pos()/static_cast(logFileInfo.size())); //qDebug() << "Progress:" << progress; @@ -394,7 +473,8 @@ void QGCMAVLinkLogPlayer::logLoop() void QGCMAVLinkLogPlayer::changeEvent(QEvent *e) { QWidget::changeEvent(e); - switch (e->type()) { + switch (e->type()) + { case QEvent::LanguageChange: ui->retranslateUi(this); break; diff --git a/src/ui/QGCMAVLinkLogPlayer.h b/src/ui/QGCMAVLinkLogPlayer.h index f79a02f3e6d57c194edbdf2da1dd3b6357eee65b..b9850a5fa65a82b07efa6ccd6be1077c34312343 100644 --- a/src/ui/QGCMAVLinkLogPlayer.h +++ b/src/ui/QGCMAVLinkLogPlayer.h @@ -27,8 +27,21 @@ class QGCMAVLinkLogPlayer : public QWidget public: explicit QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent = 0); ~QGCMAVLinkLogPlayer(); + bool isPlayingLogFile() + { + return isPlaying; + } + + bool isLogFileSelected() + { + return logFile.isOpen(); + } public slots: + /** @brief Toggle between play and pause */ + void playPauseToggle(); + /** @brief Play / pause the log */ + void playPause(bool play); /** @brief Replay the logfile */ void play(); /** @brief Pause the logfile */ @@ -36,9 +49,9 @@ public slots: /** @brief Reset the logfile */ bool reset(int packetIndex=0); /** @brief Select logfile */ - void selectLogFile(); + bool selectLogFile(); /** @brief Load log file */ - void loadLogFile(const QString& file); + bool loadLogFile(const QString& file); /** @brief Jump to a position in the logfile */ void jumpToSliderVal(int slidervalue); /** @brief The logging mainloop */ @@ -64,6 +77,7 @@ protected: int loopCounter; bool mavlinkLogFormat; int binaryBaudRate; + bool isPlaying; static const int packetLen = MAVLINK_MAX_PACKET_LEN; static const int timeLen = sizeof(quint64); void changeEvent(QEvent *e); diff --git a/src/ui/QGCMAVLinkLogPlayer.ui b/src/ui/QGCMAVLinkLogPlayer.ui index 3dd76b807acb03aba7672eda073a68d854a01f53..48427ca3c8b2e3e7bc475d94b08afe06f7d103c4 100644 --- a/src/ui/QGCMAVLinkLogPlayer.ui +++ b/src/ui/QGCMAVLinkLogPlayer.ui @@ -75,32 +75,6 @@ - - - - Pause the logfile - - - Pause the logfile - - - Pause the logfile - - - ... - - - - :/images/actions/media-playback-pause.svg:/images/actions/media-playback-pause.svg - - - true - - - true - - - @@ -117,7 +91,23 @@ - + + + + 10000 + + + 100 + + + false + + + Qt::Horizontal + + + + Start to replay the logfile @@ -132,7 +122,7 @@ ... - + :/images/actions/media-playback-start.svg:/images/actions/media-playback-start.svg @@ -140,26 +130,10 @@ - - - - 10000 - - - 100 - - - false - - - Qt::Horizontal - - - - + diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc index c5883b0a998e438e0ceed2d6b2f811346d9ef203..f79ba30da68aef44bedcdaefc3d72a723b5efcf6 100644 --- a/src/ui/QGCParamWidget.cc +++ b/src/ui/QGCParamWidget.cc @@ -32,6 +32,8 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#include +#include #include "QGCParamWidget.h" #include "UASInterface.h" @@ -49,6 +51,9 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : // Load settings loadSettings(); + // Load default values and tooltips + loadParameterInfoCSV(uas->getAutopilotTypeName(), uas->getSystemTypeName()); + // Create tree widget tree = new QTreeWidget(this); statusLabel = new QLabel(); @@ -120,13 +125,14 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : tree->setExpandsOnDoubleClick(true); // Connect signals/slots - connect(this, SIGNAL(parameterChanged(int,QString,float)), mav, SLOT(setParameter(int,QString,float))); + connect(this, SIGNAL(parameterChanged(int,QString,QVariant)), mav, SLOT(setParameter(int,QString,QVariant))); connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), this, SLOT(parameterItemChanged(QTreeWidgetItem*,int))); // New parameters from UAS - connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(addParameter(int,int,int,int,QString,float))); + connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(addParameter(int,int,int,int,QString,QVariant))); // Connect retransmission guard + connect(this, SIGNAL(requestParameter(int,QString)), uas, SLOT(requestParameter(int,QString))); connect(this, SIGNAL(requestParameter(int,int)), uas, SLOT(requestParameter(int,int))); connect(&retransmissionTimer, SIGNAL(timeout()), this, SLOT(retransmissionGuardTick())); } @@ -143,6 +149,130 @@ void QGCParamWidget::loadSettings() settings.endGroup(); } +void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QString& airframe) +{ + QDir appDir = QApplication::applicationDirPath(); + appDir.cd("files"); + QString fileName = QString("%1/%2/%3/parameter_tooltips/tooltips.txt").arg(appDir.canonicalPath()).arg(autopilot.toLower()).arg(airframe.toLower()); + QFile paramMetaFile(fileName); + + // Load CSV data + if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text)) + { + qDebug() << "COULD NOT OPEN PARAM META INFO FILE:" << fileName; + return; + } + + // Extract header + + // Read in values + // Find all keys + QTextStream in(¶mMetaFile); + + // First line is header + // there might be more lines, but the first + // line is assumed to be at least header + QString header = in.readLine(); + + // Ignore top-level comment lines + while (header.startsWith('#') || header.startsWith('/') || header.startsWith('=')) + { + header = in.readLine(); + } + + bool charRead = false; + QString separator = ""; + QList sepCandidates; + sepCandidates << '\t'; + sepCandidates << ','; + sepCandidates << ';'; + //sepCandidates << ' '; + sepCandidates << '~'; + sepCandidates << '|'; + + // Iterate until separator is found + // or full header is parsed + for (int i = 0; i < header.length(); i++) + { + if (sepCandidates.contains(header.at(i))) + { + // Separator found + if (charRead) + { + separator += header[i]; + } + } + else + { + // Char found + charRead = true; + // If the separator is not empty, this char + // has been read after a separator, so detection + // is now complete + if (separator != "") break; + } + } + + bool stripFirstSeparator = false; + bool stripLastSeparator = false; + + // Figure out if the lines start with the separator (e.g. wiki syntax) + if (header.startsWith(separator)) stripFirstSeparator = true; + + // Figure out if the lines end with the separator (e.g. wiki syntax) + if (header.endsWith(separator)) stripLastSeparator = true; + + QString out = separator; + out.replace("\t", ""); + qDebug() << " Separator: \"" << out << "\""; + //qDebug() << "READING CSV:" << header; + + + // Read data + while (!in.atEnd()) + { + QString line = in.readLine(); + + //qDebug() << "LINE PRE-STRIP" << line; + + // Strip separtors if necessary + if (stripFirstSeparator) line.remove(0, separator.length()); + if (stripLastSeparator) line.remove(line.length()-separator.length(), line.length()-1); + + //qDebug() << "LINE POST-STRIP" << line; + + // Keep empty parts here - we still have to act on them + QStringList parts = line.split(separator, QString::KeepEmptyParts); + + // Each line is: + // variable name, Min, Max, Default, Multiplier, Enabled (0 = no, 1 = yes), Comment + + + // Fill in min, max and default values + if (parts.count() > 1) + { + // min + paramMin.insert(parts.at(0), parts.at(1).toDouble()); + } + if (parts.count() > 2) + { + // max + paramMax.insert(parts.at(0), parts.at(2).toDouble()); + } + if (parts.count() > 3) + { + // default + paramDefault.insert(parts.at(0), parts.at(3).toDouble()); + } + // IGNORING 4 and 5 for now + if (parts.count() > 6) + { + // tooltip + paramToolTips.insert(parts.at(0), parts.at(6).trimmed()); + } + } +} + /** * @return The MAV of this widget. Unless the MAV object has been destroyed, this * pointer is never zero. @@ -163,14 +293,14 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName) Q_UNUSED(uas); if (components->contains(component)) { // Update existing - components->value(component)->setData(0, Qt::DisplayRole, componentName); - components->value(component)->setData(1, Qt::DisplayRole, QString::number(component)); + components->value(component)->setData(0, Qt::DisplayRole, QString("%1 (#%2)").arg(componentName).arg(component)); + //components->value(component)->setData(1, Qt::DisplayRole, QString::number(component)); + components->value(component)->setFirstColumnSpanned(true); } else { // Add new - QStringList list; - list.append(componentName); - list.append(QString::number(component)); + QStringList list(QString("%1 (#%2)").arg(componentName).arg(component)); QTreeWidgetItem* comp = new QTreeWidgetItem(list); + comp->setFirstColumnSpanned(true); components->insert(component, comp); // Create grouping and update maps paramGroups.insert(component, new QMap()); @@ -178,11 +308,11 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName) tree->update(); // Create map in parameters if (!parameters.contains(component)) { - parameters.insert(component, new QMap()); + parameters.insert(component, new QMap()); } // Create map in changed parameters if (!changedValues.contains(component)) { - changedValues.insert(component, new QMap()); + changedValues.insert(component, new QMap()); } } } @@ -192,7 +322,7 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName) * @param component id of the component * @param parameterName human friendly name of the parameter */ -void QGCParamWidget::addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value) +void QGCParamWidget::addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value) { addParameter(uas, component, parameterName, value); @@ -205,13 +335,16 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa if (transmissionListMode) { // Only accept the list size once on the first packet from // each component - if (!transmissionListSizeKnown.contains(component)) { + if (!transmissionListSizeKnown.contains(component)) + { // Mark list size as known transmissionListSizeKnown.insert(component, true); // Mark all parameters as missing - for (int i = 0; i < paramCount; ++i) { - if (!transmissionMissingPackets.value(component)->contains(i)) { + for (int i = 0; i < paramCount; ++i) + { + if (!transmissionMissingPackets.value(component)->contains(i)) + { transmissionMissingPackets.value(component)->append(i); } } @@ -220,7 +353,8 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa // since components do not manage their transmission, // the longest timeout is safe for all components. quint64 thisTransmissionTimeout = QGC::groundTimeMilliseconds() + ((paramCount/retransmissionBurstRequestSize+5)*retransmissionTimeout); - if (thisTransmissionTimeout > transmissionTimeout) { + if (thisTransmissionTimeout > transmissionTimeout) + { transmissionTimeout = thisTransmissionTimeout; } } @@ -239,61 +373,75 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa bool writeMismatch = false; //bool lastWritten = false; // Mark this parameter as received in write ACK list - QMap* map = transmissionMissingWriteAckPackets.value(component); - if (map && map->contains(parameterName)) { + QMap* map = transmissionMissingWriteAckPackets.value(component); + if (map && map->contains(parameterName)) + { justWritten = true; - if (map->value(parameterName) != value) { + if (map->value(parameterName) != value) + { writeMismatch = true; } map->remove(parameterName); } int missCount = 0; - foreach (int key, transmissionMissingPackets.keys()) { + foreach (int key, transmissionMissingPackets.keys()) + { missCount += transmissionMissingPackets.value(key)->count(); } int missWriteCount = 0; - foreach (int key, transmissionMissingWriteAckPackets.keys()) { + foreach (int key, transmissionMissingWriteAckPackets.keys()) + { missWriteCount += transmissionMissingWriteAckPackets.value(key)->count(); } - if (justWritten && !writeMismatch && missWriteCount == 0) { + if (justWritten && !writeMismatch && missWriteCount == 0) + { // Just wrote one and count went to 0 - this was the last missing write parameter statusLabel->setText(tr("SUCCESS: WROTE ALL PARAMETERS")); QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorGreen); statusLabel->setPalette(pal); - } else if (justWritten && !writeMismatch) { - statusLabel->setText(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(parameterName).arg(value).arg(paramCount)); + } else if (justWritten && !writeMismatch) + { + statusLabel->setText(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(parameterName).arg(value.toDouble()).arg(paramCount)); QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorGreen); statusLabel->setPalette(pal); - } else if (justWritten && writeMismatch) { + } else if (justWritten && writeMismatch) + { // Mismatch, tell user QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorRed); statusLabel->setPalette(pal); - statusLabel->setText(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(parameterName).arg(map->value(parameterName)).arg(value)); - } else { - if (missCount > 0) { + statusLabel->setText(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(parameterName).arg(map->value(parameterName).toDouble()).arg(value.toDouble())); + } + else + { + if (missCount > 0) + { QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorOrange); statusLabel->setPalette(pal); - } else { + } + else + { QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorGreen); statusLabel->setPalette(pal); } - statusLabel->setText(tr("Got %2 (#%1/%5): %3 (%4 missing)").arg(paramId+1).arg(parameterName).arg(value).arg(missCount).arg(paramCount)); + statusLabel->setText(tr("Got %2 (#%1/%5): %3 (%4 missing)").arg(paramId+1).arg(parameterName).arg(value.toDouble()).arg(missCount).arg(paramCount)); } // Check if last parameter was received - if (missCount == 0 && missWriteCount == 0) { + if (missCount == 0 && missWriteCount == 0) + { this->transmissionActive = false; this->transmissionListMode = false; transmissionListSizeKnown.clear(); - foreach (int key, transmissionMissingPackets.keys()) { + foreach (int key, transmissionMissingPackets.keys()) + { transmissionMissingPackets.value(key)->clear(); } } @@ -304,27 +452,30 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa * @param component id of the component * @param parameterName human friendly name of the parameter */ -void QGCParamWidget::addParameter(int uas, int component, QString parameterName, float value) +void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QVariant value) { + qDebug() << "PARAM WIDGET GOT PARAM:" << value; Q_UNUSED(uas); // Reference to item in tree QTreeWidgetItem* parameterItem = NULL; // Get component - if (!components->contains(component)) { - QString componentName; - switch (component) { - case MAV_COMP_ID_CAMERA: - componentName = tr("Camera (#%1)").arg(component); - break; - case MAV_COMP_ID_IMU: - componentName = tr("IMU (#%1)").arg(component); - break; - default: - componentName = tr("Component #").arg(component); - break; - } - + if (!components->contains(component)) + { +// QString componentName; +// switch (component) +// { +// case MAV_COMP_ID_CAMERA: +// componentName = tr("Camera (#%1)").arg(component); +// break; +// case MAV_COMP_ID_IMU: +// componentName = tr("IMU (#%1)").arg(component); +// break; +// default: +// componentName = tr("Component #").arg(component); +// break; +// } + QString componentName = tr("Component #%1").arg(component); addComponent(uas, component, componentName); } @@ -337,10 +488,12 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QString splitToken = "_"; // Check if auto-grouping can work - if (parameterName.contains(splitToken)) { + if (parameterName.contains(splitToken)) + { QString parent = parameterName.section(splitToken, 0, 0, QString::SectionSkipEmpty); QMap* compParamGroups = paramGroups.value(component); - if (!compParamGroups->contains(parent)) { + if (!compParamGroups->contains(parent)) + { // Insert group item QStringList glist; glist.append(parent); @@ -355,7 +508,8 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, for (int i = 0; i < parentItem->childCount(); i++) { QTreeWidgetItem* child = parentItem->child(i); QString key = child->data(0, Qt::DisplayRole).toString(); - if (key == parameterName) { + if (key == parameterName) + { //qDebug() << "UPDATED CHILD"; parameterItem = child; parameterItem->setData(1, Qt::DisplayRole, value); @@ -363,25 +517,30 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, } } - if (!found) { + if (!found) + { // Insert parameter into map QStringList plist; plist.append(parameterName); - plist.append(QString::number(value)); // CREATE PARAMETER ITEM parameterItem = new QTreeWidgetItem(plist); // CONFIGURE PARAMETER ITEM + parameterItem->setData(1, Qt::DisplayRole, value); compParamGroups->value(parent)->addChild(parameterItem); parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable); } - } else { + } + else + { bool found = false; QTreeWidgetItem* parent = components->value(component); - for (int i = 0; i < parent->childCount(); i++) { + for (int i = 0; i < parent->childCount(); i++) + { QTreeWidgetItem* child = parent->child(i); QString key = child->data(0, Qt::DisplayRole).toString(); - if (key == parameterName) { + if (key == parameterName) + { //qDebug() << "UPDATED CHILD"; parameterItem = child; parameterItem->setData(1, Qt::DisplayRole, value); @@ -389,14 +548,15 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, } } - if (!found) { + if (!found) + { // Insert parameter into map QStringList plist; plist.append(parameterName); - plist.append(QString::number(value)); // CREATE PARAMETER ITEM parameterItem = new QTreeWidgetItem(plist); // CONFIGURE PARAMETER ITEM + parameterItem->setData(1, Qt::DisplayRole, value); components->value(component)->addChild(parameterItem); parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable); @@ -406,6 +566,20 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, // Reset background color parameterItem->setBackground(0, QBrush(QColor(0, 0, 0))); parameterItem->setBackground(1, Qt::NoBrush); + // Add tooltip + QString tooltipFormat; + if (paramDefault.contains(parameterName)) + { + tooltipFormat = tr("Default: %1, %2"); + tooltipFormat = tooltipFormat.arg(paramDefault.value(parameterName, 0.0f)).arg(paramToolTips.value(parameterName, "")); + } + else + { + tooltipFormat = paramToolTips.value(parameterName, ""); + } + parameterItem->setToolTip(0, tooltipFormat); + parameterItem->setToolTip(1, tooltipFormat); + //tree->update(); if (changedValues.contains(component)) changedValues.value(component)->remove(parameterName); } @@ -416,6 +590,7 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, */ void QGCParamWidget::requestParameterList() { + qDebug() << "LOADING PARAM LIST"; if (!mav) return; // FIXME This call does not belong here // Once the comm handling is moved to a new @@ -441,8 +616,6 @@ void QGCParamWidget::requestParameterList() // Request twice as mean of forward error correction mav->requestParameters(); - QGC::SLEEP::msleep(10); - mav->requestParameters(); } void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column) @@ -455,32 +628,49 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column) // Parent is now top-level component int key = components->key(parent); if (!changedValues.contains(key)) { - changedValues.insert(key, new QMap()); + changedValues.insert(key, new QMap()); } - QMap* map = changedValues.value(key, NULL); + QMap* map = changedValues.value(key, NULL); if (map) { - bool ok; QString str = current->data(0, Qt::DisplayRole).toString(); - float value = current->data(1, Qt::DisplayRole).toDouble(&ok); + QVariant value = current->data(1, Qt::DisplayRole); + qDebug() << "CHANGED PARAM:" << value; // Set parameter on changed list to be transmitted to MAV - if (ok) { - if (ok) { - statusLabel->setText(tr("Changed Param %1:%2: %3").arg(key).arg(str).arg(value)); - //qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value; - // Changed values list - if (map->contains(str)) map->remove(str); - map->insert(str, value); - - // Check if the value was numerically changed - if (!parameters.value(key)->contains(str) || parameters.value(key)->value(str, 0.0f) != value) { - current->setBackground(0, QBrush(QColor(QGC::colorOrange))); - current->setBackground(1, QBrush(QColor(QGC::colorOrange))); - } + statusLabel->setText(tr("Changed Param %1:%2: %3").arg(key).arg(str).arg(value.toDouble())); + //qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value; + // Changed values list + if (map->contains(str)) map->remove(str); + map->insert(str, value); + + // Check if the value was numerically changed + if (!parameters.value(key)->contains(str) || parameters.value(key)->value(str, value.toDouble()-1) != value) { + current->setBackground(0, QBrush(QColor(QGC::colorOrange))); + current->setBackground(1, QBrush(QColor(QGC::colorOrange))); + } - // All parameters list - if (parameters.value(key)->contains(str)) parameters.value(key)->remove(str); - parameters.value(key)->insert(str, value); + switch (parameters.value(key)->value(str).type()) + { + case QVariant::Int: + { + QVariant fixedValue(value.toInt()); + parameters.value(key)->insert(str, fixedValue); + } + break; + case QVariant::UInt: + { + QVariant fixedValue(value.toUInt()); + parameters.value(key)->insert(str, fixedValue); } + break; + case QMetaType::Float: + { + QVariant fixedValue(value.toFloat()); + parameters.value(key)->insert(str, fixedValue); + } + break; + default: + qCritical() << "ABORTED PARAM UPDATE, NO VALID QVARIANT TYPE"; + return; } } } @@ -502,17 +692,36 @@ void QGCParamWidget::saveParameters() in << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n"; // Iterate through all components, through all parameters and emit them - QMap*>::iterator i; + QMap*>::iterator i; for (i = parameters.begin(); i != parameters.end(); ++i) { // Iterate through the parameters of the component int compid = i.key(); - QMap* comp = i.value(); + QMap* comp = i.value(); { - QMap::iterator j; - for (j = comp->begin(); j != comp->end(); ++j) { + QMap::iterator j; + for (j = comp->begin(); j != comp->end(); ++j) + { QString paramValue("%1"); - paramValue = paramValue.arg(j.value(), 25, 'g', 12); - in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\n"; + QString paramType("%1"); + switch (j.value().type()) + { + case QVariant::Int: + paramValue = paramValue.arg(j.value().toInt()); + paramType.arg(MAVLINK_TYPE_INT32_T); + break; + case QVariant::UInt: + paramValue = paramValue.arg(j.value().toUInt()); + paramType.arg(MAVLINK_TYPE_UINT32_T); + break; + case QMetaType::Float: + paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12); + paramType.arg(MAVLINK_TYPE_FLOAT); + break; + default: + qCritical() << "ABORTED PARAM WRITE TO FILE, NO VALID QVARIANT TYPE" << j.value(); + return; + } + in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\t" << paramType << "\n"; in.flush(); } } @@ -536,14 +745,14 @@ void QGCParamWidget::loadParameters() QString line = in.readLine(); if (!line.startsWith("#")) { QStringList wpParams = line.split("\t"); - if (wpParams.size() == 4) { + if (wpParams.size() == 5) { // Only load parameters for right mav if (mav->getUASID() == wpParams.at(0).toInt()) { bool changed = false; int component = wpParams.at(1).toInt(); QString parameterName = wpParams.at(2); - if (!parameters.contains(component) || parameters.value(component)->value(parameterName, 0.0f) != (float)wpParams.at(3).toDouble()) { + if (!parameters.contains(component) || parameters.value(component)->value(parameterName, wpParams.at(3).toDouble()-3.0f) != (float)wpParams.at(3).toDouble()) { changed = true; } @@ -553,7 +762,7 @@ void QGCParamWidget::loadParameters() if (changed) { // Create changed values data structure if necessary if (!changedValues.contains(wpParams.at(1).toInt())) { - changedValues.insert(wpParams.at(1).toInt(), new QMap()); + changedValues.insert(wpParams.at(1).toInt(), new QMap()); } // Add to changed values @@ -561,9 +770,20 @@ void QGCParamWidget::loadParameters() changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(2)); } - changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), (float)wpParams.at(3).toDouble()); + switch (wpParams.at(3).toUInt()) + { + case MAVLINK_TYPE_FLOAT: + changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toFloat()); + break; + case MAVLINK_TYPE_UINT32_T: + changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toUInt()); + break; + case MAVLINK_TYPE_INT32_T: + changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toInt()); + break; + } - //qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED"; + qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED"; // Mark in UI @@ -625,7 +845,7 @@ void QGCParamWidget::retransmissionGuardTick() // Re-request at maximum retransmissionBurstRequestSize parameters at once // to prevent link flooding - QMap*>::iterator i; + QMap*>::iterator i; for (i = parameters.begin(); i != parameters.end(); ++i) { // Iterate through the parameters of the component int component = i.key(); @@ -652,12 +872,36 @@ void QGCParamWidget::retransmissionGuardTick() QList writeKeys = transmissionMissingWriteAckPackets.keys(); foreach (int component, writeKeys) { int count = 0; - QMap * missingParams = transmissionMissingWriteAckPackets.value(component); + QMap * missingParams = transmissionMissingWriteAckPackets.value(component); foreach (QString key, missingParams->keys()) { if (count < retransmissionBurstRequestSize) { // Re-request write operation - emit parameterChanged(component, key, missingParams->value(key)); - statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key))); + QVariant value = missingParams->value(key); + switch (parameters.value(component)->value(key).type()) + { + case QVariant::Int: + { + QVariant fixedValue(value.toInt()); + emit parameterChanged(component, key, fixedValue); + } + break; + case QVariant::UInt: + { + QVariant fixedValue(value.toUInt()); + emit parameterChanged(component, key, fixedValue); + } + break; + case QMetaType::Float: + { + QVariant fixedValue(value.toFloat()); + emit parameterChanged(component, key, fixedValue); + } + break; + default: + qCritical() << "ABORTED PARAM RETRANSMISSION, NO VALID QVARIANT TYPE"; + return; + } + statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key).toDouble())); count++; } else { break; @@ -676,7 +920,7 @@ void QGCParamWidget::retransmissionGuardTick() */ void QGCParamWidget::requestParameterUpdate(int component, const QString& parameter) { - // FIXME - IMPLEMENT THIS! + if (mav) mav->requestParameter(component, parameter); } @@ -685,13 +929,52 @@ void QGCParamWidget::requestParameterUpdate(int component, const QString& parame * @param parameterName name of the parameter, as delivered by the system * @param value value of the parameter */ -void QGCParamWidget::setParameter(int component, QString parameterName, float value) +void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value) { - emit parameterChanged(component, parameterName, value); + if (paramMin.contains(parameterName) && value.toDouble() < paramMin.value(parameterName)) + { + statusLabel->setText(tr("REJ. %1 < min").arg(value.toDouble())); + return; + } + if (paramMax.contains(parameterName) && value.toDouble() > paramMax.value(parameterName)) + { + statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble())); + return; + } + + switch (parameters.value(component)->value(parameterName).type()) + { + case QVariant::Int: + { + QVariant fixedValue(value.toInt()); + emit parameterChanged(component, parameterName, fixedValue); + qDebug() << "PARAM WIDGET SENT:" << fixedValue; + } + break; + case QVariant::UInt: + { + QVariant fixedValue(value.toUInt()); + emit parameterChanged(component, parameterName, fixedValue); + qDebug() << "PARAM WIDGET SENT:" << fixedValue; + } + break; + case QMetaType::Float: + { + QVariant fixedValue(value.toFloat()); + emit parameterChanged(component, parameterName, fixedValue); + qDebug() << "PARAM WIDGET SENT:" << fixedValue; + } + break; + default: + qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE"; + return; + } + // Wait for parameter to be written back // mark it therefore as missing - if (!transmissionMissingWriteAckPackets.contains(component)) { - transmissionMissingWriteAckPackets.insert(component, new QMap()); + if (!transmissionMissingWriteAckPackets.contains(component)) + { + transmissionMissingWriteAckPackets.insert(component, new QMap()); } // Insert it in missing write ACK list @@ -714,13 +997,13 @@ void QGCParamWidget::setParameters() { // Iterate through all components, through all parameters and emit them int parametersSent = 0; - QMap*>::iterator i; + QMap*>::iterator i; for (i = changedValues.begin(); i != changedValues.end(); ++i) { // Iterate through the parameters of the component int compid = i.key(); - QMap* comp = i.value(); + QMap* comp = i.value(); { - QMap::iterator j; + QMap::iterator j; for (j = comp->begin(); j != comp->end(); ++j) { setParameter(compid, j.key(), j.value()); parametersSent++; @@ -742,8 +1025,6 @@ void QGCParamWidget::setParameters() // Enable guard setRetransmissionGuardEnabled(true); } - - changedValues.clear(); } /** @@ -752,8 +1033,33 @@ void QGCParamWidget::setParameters() */ void QGCParamWidget::writeParameters() { - if (!mav) return; - mav->writeParametersToStorage(); + int changedParamCount = 0; + + QMap*>::iterator i; + for (i = changedValues.begin(); i != changedValues.end(); ++i) + { + // Iterate through the parameters of the component + QMap* comp = i.value(); + { + QMap::iterator j; + for (j = comp->begin(); j != comp->end(); ++j) + { + changedParamCount++; + } + } + } + + if (changedParamCount > 0) + { + QMessageBox msgBox; + msgBox.setText(tr("There are locally changed parameters. Please transmit them first () or update them with the onboard values () before storing onboard from RAM to ROM.")); + msgBox.exec(); + } + else + { + if (!mav) return; + mav->writeParametersToStorage(); + } } void QGCParamWidget::readParameters() diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h index c558fd6deffaaadabb23a6eb0d60cc3df1d5592f..ad031a15461ef51280c7a4cc6e439618beb912ad 100644 --- a/src/ui/QGCParamWidget.h +++ b/src/ui/QGCParamWidget.h @@ -50,24 +50,34 @@ public: QGCParamWidget(UASInterface* uas, QWidget *parent = 0); /** @brief Get the UAS of this widget */ UASInterface* getUAS(); + + bool isParamMinKnown(const QString& param) { return paramMin.contains(param); } + bool isParamMaxKnown(const QString& param) { return paramMax.contains(param); } + bool isParamDefaultKnown(const QString& param) { return paramDefault.contains(param); } + double getParamMin(const QString& param) { return paramMin.value(param, 0.0f); } + double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); } + double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); } + signals: /** @brief A parameter was changed in the widget, NOT onboard */ //void parameterChanged(int component, QString parametername, float value); // defined in QGCUASParamManager already /** @brief Request a single parameter */ void requestParameter(int component, int parameter); + /** @brief Request a single parameter by name */ + void requestParameter(int component, const QString& parameter); public slots: /** @brief Add a component to the list */ void addComponent(int uas, int component, QString componentName); /** @brief Add a parameter to the list with retransmission / safety checks */ - void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value); + void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value); /** @brief Add a parameter to the list */ - void addParameter(int uas, int component, QString parameterName, float value); + void addParameter(int uas, int component, QString parameterName, QVariant value); /** @brief Request list of parameters from MAV */ void requestParameterList(); /** @brief Request one single parameter */ void requestParameterUpdate(int component, const QString& parameter); /** @brief Set one parameter, changes value in RAM of MAV */ - void setParameter(int component, QString parameterName, float value); + void setParameter(int component, QString parameterName, QVariant value); /** @brief Set all parameters, changes the value in RAM of MAV */ void setParameters(); /** @brief Write the current parameters to permanent storage (EEPROM/HDD) */ @@ -93,10 +103,19 @@ protected: QMap* components; ///< The list of components QMap* > paramGroups; ///< Parameter groups + // Tooltip data structures + QMap paramToolTips; ///< Tooltip values + // Min / Default / Max data structures + QMap paramMin; ///< Minimum param values + QMap paramDefault; ///< Default param values + QMap paramMax; ///< Minimum param values + /** @brief Activate / deactivate parameter retransmission */ void setRetransmissionGuardEnabled(bool enabled); /** @brief Load settings */ void loadSettings(); + /** @brief Load meta information from CSV */ + void loadParameterInfoCSV(const QString& autopilot, const QString& airframe); }; #endif // QGCPARAMWIDGET_H diff --git a/src/ui/QGCRemoteControlView.cc b/src/ui/QGCRemoteControlView.cc index dc817cf5dc436f9a2c2199f3bf20be6712340ca2..f694ec5f0b9b5fa246754ca48879fdd0cac57705 100644 --- a/src/ui/QGCRemoteControlView.cc +++ b/src/ui/QGCRemoteControlView.cc @@ -64,6 +64,9 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) : connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show())); connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(setUASId(int))); + + connect(&updateTimer, SIGNAL(timeout()), this, SLOT(redraw())); + updateTimer.start(1500); } QGCRemoteControlView::~QGCRemoteControlView() @@ -74,20 +77,45 @@ QGCRemoteControlView::~QGCRemoteControlView() void QGCRemoteControlView::setUASId(int id) { - if (uasId != -1) { - UASInterface* uas = UASManager::instance()->getUASForId(id); - if (uas) { + if (uasId != -1) + { + UASInterface* uas = UASManager::instance()->getUASForId(uasId); + if (uas) + { // The UAS exists, disconnect any existing connections disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float))); disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float))); disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer&)), calibrationWindow, SLOT(receive(const QPointer&))); disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float))); + disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float))); } } + // Clear channel count + raw.clear(); + raw.resize(0); + normalized.clear(); + normalized.resize(0); + + foreach (QLabel* label, rawLabels) + { + label->deleteLater(); + } + + foreach(QProgressBar* bar, progressBars) + { + bar->deleteLater(); + } + + rawLabels.clear(); + rawLabels.resize(0); + progressBars.clear(); + progressBars.resize(0); + // Connect the new UAS UASInterface* newUAS = UASManager::instance()->getUASForId(id); - if (newUAS) { + if (newUAS) + { // New UAS exists, connect nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName())); calibrationWindow->setUASId(id); @@ -110,40 +138,35 @@ void QGCRemoteControlView::setChannelRaw(int channelId, float raw) this->raw.append(raw); //this->normalized.append(0); appendChannelWidget(channelId); + updated = true; } else { // This is an existing channel, aupdate it + if (this->raw[channelId] != raw) updated = true; this->raw[channelId] = raw; } - updated = true; - - // FIXME Will be timer based in the future - redraw(); } void QGCRemoteControlView::setChannelScaled(int channelId, float normalized) { - if (this->raw.size() <= channelId) // using raw vector as size indicator + if (this->normalized.size() <= channelId) // using raw vector as size indicator { // This is a new channel, append it this->normalized.append(normalized); - this->raw.append(0); appendChannelWidget(channelId); + updated = true; } else { // This is an existing channel, update it + if (this->normalized[channelId] != normalized) updated = true; this->normalized[channelId] = normalized; } -// updated = true; - -// // FIXME Will be timer based in the future -// redraw(); } void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized) { + if (rssi != rssiNormalized) updated = true; rssi = rssiNormalized; - updated = true; } void QGCRemoteControlView::appendChannelWidget(int channelId) @@ -169,7 +192,8 @@ void QGCRemoteControlView::appendChannelWidget(int channelId) void QGCRemoteControlView::redraw() { - if(isVisible() && updated) { + if(isVisible() && updated) + { // Update raw values //for(int i = 0; i < rawLabels.count(); i++) //{ @@ -177,7 +201,8 @@ void QGCRemoteControlView::redraw() //} // Update percent bars - for(int i = 0; i < progressBars.count(); i++) { + for(int i = 0; i < progressBars.count(); i++) + { rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0'))); int vv = normalized.at(i)*100.0f; //progressBars.at(i)->setValue(vv); diff --git a/src/ui/QGCRemoteControlView.h b/src/ui/QGCRemoteControlView.h index 63c964f99d6302ecd33f51f777f067e1c85b9b1e..49b501a18952e992556581425eefae87be4b380a 100644 --- a/src/ui/QGCRemoteControlView.h +++ b/src/ui/QGCRemoteControlView.h @@ -76,6 +76,7 @@ protected: QLabel* nameLabel; QPushButton *calibrate; RadioCalibrationWindow *calibrationWindow; + QTimer updateTimer; private: Ui::QGCRemoteControlView *ui; diff --git a/src/ui/QGCToolBar.cc b/src/ui/QGCToolBar.cc index e041c5b6eaaba0dd22955f8fd75fb6fc7b73189e..583c486883f74484ff080db084318185ad4a59ec 100644 --- a/src/ui/QGCToolBar.cc +++ b/src/ui/QGCToolBar.cc @@ -25,22 +25,178 @@ This file is part of the QGROUNDCONTROL project #include #include "QGCToolBar.h" #include "UASManager.h" +#include "MainWindow.h" QGCToolBar::QGCToolBar(QWidget *parent) : QToolBar(parent), toggleLoggingAction(NULL), logReplayAction(NULL), - mav(NULL) + mav(NULL), + player(NULL), + changed(true), + batteryPercent(0), + batteryVoltage(0), + wpId(0), + wpDistance(0), + systemArmed(false) { setObjectName("QGC_TOOLBAR"); - createCustomWidgets(); + + toggleLoggingAction = new QAction(QIcon(":"), "Logging", this); + toggleLoggingAction->setCheckable(true); + logReplayAction = new QAction(QIcon(":"), "Replay", this); + logReplayAction->setCheckable(true); + + addAction(toggleLoggingAction); + addAction(logReplayAction); +// addSeparator(); + + // CREATE TOOLBAR ITEMS + // Add internal actions + // Add MAV widget + symbolButton = new QToolButton(this); + toolBarNameLabel = new QLabel("------", this); + toolBarSafetyLabel = new QLabel("SAFE", this); + toolBarSafetyLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #14C814; }"); + toolBarModeLabel = new QLabel("------", this); + toolBarModeLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #3C7B9E; }"); + toolBarStateLabel = new QLabel("------", this); + toolBarStateLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #FEC654; }"); + toolBarWpLabel = new QLabel("WP--", this); + toolBarWpLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 18px; color: #3C7B9E; }"); + toolBarDistLabel = new QLabel("--- ---- m", this); + toolBarMessageLabel = new QLabel("No system messages.", this); + toolBarMessageLabel->setStyleSheet("QLabel { margin: 0px 4px; font: 12px; font-style: italic; color: #3C7B9E; }"); + toolBarBatteryBar = new QProgressBar(this); + toolBarBatteryBar->setStyleSheet("QProgressBar:horizontal { margin: 0px 4px 0px 0px; border: 1px solid #4A4A4F; border-radius: 4px; text-align: center; padding: 2px; color: #111111; background-color: #111118; height: 10px; } QProgressBar:horizontal QLabel { font-size: 9px; color: #111111; } QProgressBar::chunk { background-color: green; }"); + toolBarBatteryBar->setMinimum(0); + toolBarBatteryBar->setMaximum(100); + toolBarBatteryBar->setMinimumWidth(20); + toolBarBatteryBar->setMaximumWidth(100); + toolBarBatteryBar->setToolTip(tr("Battery charge level")); + toolBarBatteryVoltageLabel = new QLabel("xx.x V"); + toolBarBatteryVoltageLabel->setStyleSheet(QString("QLabel { margin: 0px 0px 0px 4px; font: 14px; color: %1; }").arg(QColor(Qt::green).name())); + symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 0px 0px 20px; background-color: none; }"); + addWidget(symbolButton); + addWidget(toolBarNameLabel); + addWidget(toolBarSafetyLabel); + addWidget(toolBarModeLabel); + addWidget(toolBarStateLabel); + addWidget(toolBarBatteryBar); + addWidget(toolBarBatteryVoltageLabel); + addWidget(toolBarWpLabel); + addWidget(toolBarDistLabel); + addWidget(toolBarMessageLabel); + //addWidget(new QSpacerItem(20, 0, QSizePolicy::Expanding)); + + // DONE INITIALIZING BUTTONS + setActiveUAS(UASManager::instance()->getActiveUAS()); connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); + + connect(&updateViewTimer, SIGNAL(timeout()), this, SLOT(updateView())); + updateViewTimer.start(2000); +} + +void QGCToolBar::setLogPlayer(QGCMAVLinkLogPlayer* player) +{ + this->player = player; + connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool))); + connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool))); +} + +void QGCToolBar::playLogFile(bool enabled) +{ + // Check if player exists + if (player) + { + // If a logfile is already replayed, stop the replay + // and select a new logfile + if (player->isPlayingLogFile()) + { + player->playPause(false); + if (enabled) + { + if (!player->selectLogFile()) return; + } + } + // If no replaying happens already, start it + else + { + if (!player->selectLogFile()) return; + } + player->playPause(enabled); + } +} + +void QGCToolBar::logging(bool enabled) +{ + // Stop logging in any case + MainWindow::instance()->getMAVLink()->enableLogging(false); + if (enabled) + { + QString fileName = QFileDialog::getSaveFileName(this, tr("Specify MAVLink log file to save to"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink Logfile (*.mavlink *.log *.bin);;")); + + if (!fileName.endsWith(".mavlink")) + { + fileName.append(".mavlink"); + } + + QFileInfo file(fileName); + if (file.exists() && !file.isWritable()) + { + QMessageBox msgBox; + msgBox.setIcon(QMessageBox::Critical); + msgBox.setText(tr("The selected logfile is not writable")); + msgBox.setInformativeText(tr("Please make sure that the file %1 is writable or select a different file").arg(fileName)); + msgBox.setStandardButtons(QMessageBox::Ok); + msgBox.setDefaultButton(QMessageBox::Ok); + msgBox.exec(); + } + else + { + MainWindow::instance()->getMAVLink()->setLogfileName(fileName); + MainWindow::instance()->getMAVLink()->enableLogging(true); + } + } } void QGCToolBar::addPerspectiveChangeAction(QAction* action) { - addAction(action); + insertAction(toggleLoggingAction, action); + + // Set tab style + QWidget* widget = widgetForAction(action); + widget->setStyleSheet("\ + * { font-weight: bold; min-height: 16px; min-width: 24px; \ + border-top: 1px solid #BBBBBB; \ + border-bottom: 0px; \ + border-left: 1px solid #BBBBBB; \ + border-right: 1px solid #BBBBBB; \ + border-top-left-radius: 5px; \ + border-top-right-radius: 5px; \ + border-bottom-left-radius: 0px; \ + border-bottom-right-radius: 0px; \ + max-height: 22px; \ + margin-top: 4px; \ + margin-left: 2px; \ + margin-bottom: 0px; \ + margin-right: 2px; \ + background-color: #222222; \ + } \ + *:checked { \ + background-color: #000000; \ + border-top: 2px solid #379AC3; \ + border-bottom: 0px; \ + border-left: 2px solid #379AC3; \ + border-right: 2px solid #379AC3; \ + } \ + *:pressed { \ + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0); \ + border-top: 2px solid #379AC3; \ + border-bottom: 0px; \ + border-left: 2px solid #379AC3; \ + border-right: 2px solid #379AC3; }"); } void QGCToolBar::setActiveUAS(UASInterface* active) @@ -56,6 +212,13 @@ void QGCToolBar::setActiveUAS(UASInterface* active) disconnect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString))); disconnect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint))); disconnect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString))); + disconnect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int))); + disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool))); + if (mav->getWaypointManager()) + { + disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16))); + disconnect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double))); + } } // Connect new system @@ -65,61 +228,103 @@ void QGCToolBar::setActiveUAS(UASInterface* active) connect(active, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString))); connect(active, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint))); connect(active, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString))); + connect(active, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int))); + connect(active, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool))); + if (active->getWaypointManager()) + { + connect(active->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16))); + connect(active->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double))); + } // Update all values once - nameLabel->setText(mav->getUASName()); - modeLabel->setText(mav->getShortMode()); - stateLabel->setText(mav->getShortState()); + systemName = mav->getUASName(); + systemArmed = mav->isArmed(); + toolBarNameLabel->setText(mav->getUASName()); + toolBarNameLabel->setStyleSheet(QString("QLabel { font: bold 16px; color: %1; }").arg(mav->getColor().name())); + symbolButton->setStyleSheet(QString("QWidget { background-color: %1; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 4px 0px 20px; background-color: none; }").arg(mav->getColor().name())); + toolBarModeLabel->setText(mav->getShortMode()); + toolBarStateLabel->setText(mav->getShortState()); setSystemType(mav, mav->getSystemType()); } void QGCToolBar::createCustomWidgets() { - // Add internal actions - // Add MAV widget - symbolButton = new QToolButton(this); - nameLabel = new QLabel("------", this); - modeLabel = new QLabel("------", this); - stateLabel = new QLabel("------", this); - wpLabel = new QLabel("---", this); - distlabel = new QLabel("--- ---- m", this); - messageLabel = new QLabel("No system messages.", this); - //symbolButton->setIcon(":"); - symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px; background-color: none; }"); - addWidget(symbolButton); - addWidget(nameLabel); - addWidget(modeLabel); - addWidget(stateLabel); - addWidget(wpLabel); - addWidget(distlabel); - addWidget(messageLabel); - toggleLoggingAction = new QAction(QIcon(":"), "Start Logging", this); - logReplayAction = new QAction(QIcon(":"), "Start Replay", this); +} - //addAction(toggleLoggingAction); - //addAction(logReplayAction); +void QGCToolBar::updateArmingState(bool armed) +{ + systemArmed = armed; + changed = true; +} - addSeparator(); +void QGCToolBar::updateView() +{ + if (!changed) return; + toolBarDistLabel->setText(tr("%1 m").arg(wpDistance, 6, 'f', 2, '0')); + toolBarWpLabel->setText(tr("WP%1").arg(wpId)); + toolBarBatteryBar->setValue(batteryPercent); + toolBarBatteryVoltageLabel->setText(tr("%1 V").arg(batteryVoltage, 4, 'f', 1, ' ')); + toolBarStateLabel->setText(tr("%1").arg(state)); + toolBarModeLabel->setText(tr("%1").arg(mode)); + toolBarNameLabel->setText(systemName); + toolBarMessageLabel->setText(lastSystemMessage); + + if (systemArmed) + { + toolBarSafetyLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorRed.name()).arg(QGC::colorYellow.name())); + toolBarSafetyLabel->setText(tr("ARMED")); + } + else + { + toolBarSafetyLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #14C814; }"); + toolBarSafetyLabel->setText(tr("SAFE")); + } + + changed = false; +} + +void QGCToolBar::updateWaypointDistance(double distance) +{ + if (wpDistance != distance) changed = true; + wpDistance = distance; +} + +void QGCToolBar::updateCurrentWaypoint(quint16 id) +{ + if (wpId != id) changed = true; + wpId = id; +} + +void QGCToolBar::updateBatteryRemaining(UASInterface* uas, double voltage, double percent, int seconds) +{ + Q_UNUSED(uas); + Q_UNUSED(seconds); + if (batteryPercent != percent || batteryVoltage != voltage) changed = true; + batteryPercent = percent; + batteryVoltage = voltage; } void QGCToolBar::updateState(UASInterface* system, QString name, QString description) { Q_UNUSED(system); Q_UNUSED(description); - stateLabel->setText(tr(" State: %1").arg(name)); + if (state != name) changed = true; + state = name; } void QGCToolBar::updateMode(int system, QString name, QString description) { Q_UNUSED(system); Q_UNUSED(description); - modeLabel->setText(tr(" Mode: %1").arg(name)); + if (mode != name) changed = true; + mode = name; } void QGCToolBar::updateName(const QString& name) { - nameLabel->setText(name); + if (systemName != name) changed = true; + systemName = name; } /** @@ -163,7 +368,8 @@ void QGCToolBar::receiveTextMessage(int uasid, int componentid, int severity, QS Q_UNUSED(uasid); Q_UNUSED(componentid); Q_UNUSED(severity); - messageLabel->setText(text); + if (lastSystemMessage != text) changed = true; + lastSystemMessage = text; } QGCToolBar::~QGCToolBar() diff --git a/src/ui/QGCToolBar.h b/src/ui/QGCToolBar.h index cf054ca468102c3a2ce2166e7ca20ffa82ac2689..e02eca683a0e2a0b903c8fdefed05f72d1bfdcf9 100644 --- a/src/ui/QGCToolBar.h +++ b/src/ui/QGCToolBar.h @@ -28,14 +28,16 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#include #include "UASInterface.h" +#include "QGCMAVLinkLogPlayer.h" class QGCToolBar : public QToolBar { Q_OBJECT public: - explicit QGCToolBar(QWidget *parent = 0); + explicit QGCToolBar(QWidget* parent = 0); void addPerspectiveChangeAction(QAction* action); ~QGCToolBar(); @@ -52,6 +54,22 @@ public slots: void setSystemType(UASInterface* uas, unsigned int systemType); /** @brief Received system text message */ void receiveTextMessage(int uasid, int componentid, int severity, QString text); + /** @brief Start / stop logging */ + void logging(bool enabled); + /** @brief Start playing logfile */ + void playLogFile(bool enabled); + /** @brief Set log playing component */ + void setLogPlayer(QGCMAVLinkLogPlayer* player); + /** @brief Update battery charge state */ + void updateBatteryRemaining(UASInterface* uas, double voltage, double percent, int seconds); + /** @brief Update current waypoint */ + void updateCurrentWaypoint(quint16 id); + /** @brief Update distance to current waypoint */ + void updateWaypointDistance(double distance); + /** @brief Update arming state */ + void updateArmingState(bool armed); + /** @brief Repaint widgets */ + void updateView(); protected: void createCustomWidgets(); @@ -60,12 +78,27 @@ protected: QAction* logReplayAction; UASInterface* mav; QToolButton* symbolButton; - QLabel* nameLabel; - QLabel* modeLabel; - QLabel* stateLabel; - QLabel* wpLabel; - QLabel* distlabel; - QLabel* messageLabel; + QLabel* toolBarNameLabel; + QLabel* toolBarSafetyLabel; + QLabel* toolBarModeLabel; + QLabel* toolBarStateLabel; + QLabel* toolBarWpLabel; + QLabel* toolBarDistLabel; + QLabel* toolBarMessageLabel; + QProgressBar* toolBarBatteryBar; + QLabel* toolBarBatteryVoltageLabel; + QGCMAVLinkLogPlayer* player; + bool changed; + float batteryPercent; + float batteryVoltage; + int wpId; + double wpDistance; + QString state; + QString mode; + QString systemName; + QString lastSystemMessage; + QTimer updateViewTimer; + bool systemArmed; }; #endif // QGCTOOLBAR_H diff --git a/src/ui/QGCWaypointListMulti.cc b/src/ui/QGCWaypointListMulti.cc index d63c60dbf75414eb8ec4a21c51b9a4e08aea2b51..d460d9b49f08801884f2f9f600a241342b3f2052 100644 --- a/src/ui/QGCWaypointListMulti.cc +++ b/src/ui/QGCWaypointListMulti.cc @@ -7,6 +7,7 @@ QGCWaypointListMulti::QGCWaypointListMulti(QWidget *parent) : ui(new Ui::QGCWaypointListMulti) { ui->setupUi(this); + setMinimumSize(600, 80); connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(systemCreated(UASInterface*))); connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(systemSetActive(int))); } @@ -14,10 +15,12 @@ QGCWaypointListMulti::QGCWaypointListMulti(QWidget *parent) : void QGCWaypointListMulti::systemDeleted(QObject* uas) { UASInterface* mav = dynamic_cast(uas); - if (mav) { + if (mav) + { int id = mav->getUASID(); WaypointList* list = lists.value(id, NULL); - if (list) { + if (list) + { delete list; lists.remove(id); } diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.cc b/src/ui/RadioCalibration/RadioCalibrationWindow.cc index 21ae680661abd5d9749f5d3d9ec372fa16037fe8..5933f7e3dfc50c5215dbdfdf7ac10faa55f4afd5 100644 --- a/src/ui/RadioCalibration/RadioCalibrationWindow.cc +++ b/src/ui/RadioCalibration/RadioCalibrationWindow.cc @@ -270,13 +270,14 @@ void RadioCalibrationWindow::send() void RadioCalibrationWindow::request() { - qDebug() << __FILE__ << __LINE__ << "READ FROM UAV"; - UAS *uas = dynamic_cast(UASManager::instance()->getUASForId(uasId)); - if (uas) { - mavlink_message_t msg; - mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC); - uas->sendMessage(msg); - } + // FIXME MAVLINKV10PORTINGNEEDED +// qDebug() << __FILE__ << __LINE__ << "READ FROM UAV"; +// UAS *uas = dynamic_cast(UASManager::instance()->getUASForId(uasId)); +// if (uas) { +// mavlink_message_t msg; +// mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC); +// uas->sendMessage(msg); +// } } void RadioCalibrationWindow::receive(const QPointer& radio) diff --git a/src/ui/SerialConfigurationWindow.cc b/src/ui/SerialConfigurationWindow.cc index f9121c98b869fc0dca7bbe515527309a5cb22b9a..0d086f5d0e82e8c4d44299198485cbe525fd20b7 100644 --- a/src/ui/SerialConfigurationWindow.cc +++ b/src/ui/SerialConfigurationWindow.cc @@ -35,205 +35,19 @@ This file is part of the QGROUNDCONTROL project #include #include #include -#ifdef _WIN32 -#include -#endif -#if defined (__APPLE__) && defined (__MACH__) -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#ifdef __MWERKS__ -#define __CF_USE_FRAMEWORK_INCLUDES__ -#endif - - -#include - -#include -#include -#if defined(MAC_OS_X_VERSION_10_3) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_3) -#include -#endif -#include - -// Apple internal modems default to local echo being on. If your modem has local echo disabled, -// undefine the following macro. -#define LOCAL_ECHO - -#define kATCommandString "AT\r" - -#ifdef LOCAL_ECHO -#define kOKResponseString "AT\r\r\nOK\r\n" -#else -#define kOKResponseString "\r\nOK\r\n" -#endif -#endif - - -// Some helper functions for serial port enumeration -#if defined (__APPLE__) && defined (__MACH__) - -enum { - kNumRetries = 3 -}; - -// Function prototypes -static kern_return_t FindModems(io_iterator_t *matchingServices); -static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize); - -// Returns an iterator across all known modems. Caller is responsible for -// releasing the iterator when iteration is complete. -static kern_return_t FindModems(io_iterator_t *matchingServices) -{ - kern_return_t kernResult; - CFMutableDictionaryRef classesToMatch; - - /*! @function IOServiceMatching - @abstract Create a matching dictionary that specifies an IOService class match. - @discussion A very common matching criteria for IOService is based on its class. IOServiceMatching will create a matching dictionary that specifies any IOService of a class, or its subclasses. The class is specified by C-string name. - @param name The class name, as a const C-string. Class matching is successful on IOService's of this class or any subclass. - @result The matching dictionary created, is returned on success, or zero on failure. The dictionary is commonly passed to IOServiceGetMatchingServices or IOServiceAddNotification which will consume a reference, otherwise it should be released with CFRelease by the caller. */ - - // Serial devices are instances of class IOSerialBSDClient - classesToMatch = IOServiceMatching(kIOSerialBSDServiceValue); - if (classesToMatch == NULL) { - printf("IOServiceMatching returned a NULL dictionary.\n"); - } else { - /*! - @function CFDictionarySetValue - Sets the value of the key in the dictionary. - @param theDict The dictionary to which the value is to be set. If this - parameter is not a valid mutable CFDictionary, the behavior is - undefined. If the dictionary is a fixed-capacity dictionary and - it is full before this operation, and the key does not exist in - the dictionary, the behavior is undefined. - @param key The key of the value to set into the dictionary. If a key - which matches this key is already present in the dictionary, only - the value is changed ("add if absent, replace if present"). If - no key matches the given key, the key-value pair is added to the - dictionary. If added, the key is retained by the dictionary, - using the retain callback provided - when the dictionary was created. If the key is not of the sort - expected by the key retain callback, the behavior is undefined. - @param value The value to add to or replace into the dictionary. The value - is retained by the dictionary using the retain callback provided - when the dictionary was created, and the previous value if any is - released. If the value is not of the sort expected by the - retain or release callbacks, the behavior is undefined. - */ - CFDictionarySetValue(classesToMatch, - CFSTR(kIOSerialBSDTypeKey), - CFSTR(kIOSerialBSDModemType)); - - // Each serial device object has a property with key - // kIOSerialBSDTypeKey and a value that is one of kIOSerialBSDAllTypes, - // kIOSerialBSDModemType, or kIOSerialBSDRS232Type. You can experiment with the - // matching by changing the last parameter in the above call to CFDictionarySetValue. - - // As shipped, this sample is only interested in modems, - // so add this property to the CFDictionary we're matching on. - // This will find devices that advertise themselves as modems, - // such as built-in and USB modems. However, this match won't find serial modems. - } - - /*! @function IOServiceGetMatchingServices - @abstract Look up registered IOService objects that match a matching dictionary. - @discussion This is the preferred method of finding IOService objects currently registered by IOKit. IOServiceAddNotification can also supply this information and install a notification of new IOServices. The matching information used in the matching dictionary may vary depending on the class of service being looked up. - @param masterPort The master port obtained from IOMasterPort(). - @param matching A CF dictionary containing matching information, of which one reference is consumed by this function. IOKitLib can contruct matching dictionaries for common criteria with helper functions such as IOServiceMatching, IOOpenFirmwarePathMatching. - @param existing An iterator handle is returned on success, and should be released by the caller when the iteration is finished. - @result A kern_return_t error code. */ - - kernResult = IOServiceGetMatchingServices(kIOMasterPortDefault, classesToMatch, matchingServices); - if (KERN_SUCCESS != kernResult) { - printf("IOServiceGetMatchingServices returned %d\n", kernResult); - goto exit; - } - -exit: - return kernResult; -} - -/** Given an iterator across a set of modems, return the BSD path to the first one. - * If no modems are found the path name is set to an empty string. - */ -static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize) -{ - io_object_t modemService; - kern_return_t kernResult = KERN_FAILURE; - Boolean modemFound = false; - - // Initialize the returned path - *bsdPath = '\0'; - - // Iterate across all modems found. In this example, we bail after finding the first modem. - - while ((modemService = IOIteratorNext(serialPortIterator)) && !modemFound) { - CFTypeRef bsdPathAsCFString; - - // Get the callout device's path (/dev/cu.xxxxx). The callout device should almost always be - // used: the dialin device (/dev/tty.xxxxx) would be used when monitoring a serial port for - // incoming calls, e.g. a fax listener. - - bsdPathAsCFString = IORegistryEntryCreateCFProperty(modemService, - CFSTR(kIOCalloutDeviceKey), - kCFAllocatorDefault, - 0); - if (bsdPathAsCFString) { - Boolean result; - - // Convert the path from a CFString to a C (NUL-terminated) string for use - // with the POSIX open() call. - - result = CFStringGetCString((CFStringRef)bsdPathAsCFString, - bsdPath, - maxPathSize, - kCFStringEncodingUTF8); - CFRelease(bsdPathAsCFString); - - if (result) { - //printf("Modem found with BSD path: %s", bsdPath); - modemFound = true; - kernResult = KERN_SUCCESS; - } - } - - printf("\n"); - - // Release the io_service_t now that we are done with it. - - (void) IOObjectRelease(modemService); - } - - return kernResult; -} -#endif SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags), userConfigured(false) { SerialLinkInterface* serialLink = dynamic_cast(link); - if(serialLink != 0) { + if(serialLink != 0) + { serialLink->loadSettings(); this->link = serialLink; // Setup the user interface according to link type ui.setupUi(this); - //this->setVisible(false); - //this->hide(); // Create action to open this menu // Create configuration action for this link @@ -244,8 +58,6 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge setupPortList(); // Set up baud rates - ui.baudRate->addItem("115200", 115200); - ui.baudRate->clear(); ui.baudRate->addItem("50", 50); ui.baudRate->addItem("70", 70); @@ -264,7 +76,7 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge ui.baudRate->addItem("14400", 14400); #endif ui.baudRate->addItem("19200", 19200); - ui.baudRate->addItem("34800", 34800); + ui.baudRate->addItem("38400", 38400); #ifdef Q_OS_WIN ui.baudRate->addItem("56000", 56000); #endif @@ -341,10 +153,10 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge // Display the widget this->window()->setWindowTitle(tr("Serial Communication Settings")); - //this->show(); - } else { + } + else + { qDebug() << "Link is NOT a serial link, can't open configuration window"; - } } @@ -380,109 +192,39 @@ void SerialConfigurationWindow::configureCommunication() void SerialConfigurationWindow::setupPortList() { - //ui.portName->clear(); - // Get list of existing items - - -#ifdef __linux - - // TODO Linux has no standard way of enumerating serial ports - // However the device files are only present when the physical - // device is connected, therefore listing the files should be - // sufficient. + if (!link) return; - QString devdir = "/dev"; - QDir dir(devdir); - dir.setFilter(QDir::System); - - QFileInfoList list = dir.entryInfoList(); - for (int i = 0; i < list.size(); ++i) { - QFileInfo fileInfo = list.at(i); - if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("ttyACM"))) { - if (ui.portName->findText(fileInfo.canonicalFilePath()) == -1) { - ui.portName->addItem(fileInfo.canonicalFilePath()); - if (!userConfigured) ui.portName->setEditText(fileInfo.canonicalFilePath()); - } - } + if (!userConfigured) + { + ui.portName->clear(); + ui.portName->clearEditText(); } -#endif - -#if defined (__APPLE__) && defined (__MACH__) - - // Enumerate serial ports - //int fileDescriptor; - kern_return_t kernResult; // on PowerPC this is an int (4 bytes) - - io_iterator_t serialPortIterator; - char bsdPath[MAXPATHLEN]; - - kernResult = FindModems(&serialPortIterator); - - kernResult = GetModemPath(serialPortIterator, bsdPath, sizeof(bsdPath)); - - IOObjectRelease(serialPortIterator); // Release the iterator. - - // Add found modems - if (bsdPath[0]) { - if (ui.portName->findText(QString(bsdPath)) == -1) { - ui.portName->addItem(QString(bsdPath)); - if (!userConfigured) ui.portName->setEditText(QString(bsdPath)); - } - } - - // Add USB serial port adapters - // TODO Strangely usb serial port adapters are not enumerated, even when connected - QString devdir = "/dev"; - QDir dir(devdir); - dir.setFilter(QDir::System); - - QFileInfoList list = dir.entryInfoList(); - for (int i = list.size() - 1; i >= 0; i--) { - QFileInfo fileInfo = list.at(i); - if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("tty.usbserial")) || fileInfo.fileName().contains(QString("ttyACM"))) { - if (ui.portName->findText(fileInfo.canonicalFilePath()) == -1) { - ui.portName->addItem(fileInfo.canonicalFilePath()); - if (!userConfigured) ui.portName->setEditText(fileInfo.canonicalFilePath()); - } - } - } - - -#endif - -#ifdef _WIN32 // Get the ports available on this system - QList ports = QextSerialEnumerator::getPorts(); + QVector* ports = link->getCurrentPorts(); // Add the ports in reverse order, because we prepend them to the list - for (int i = ports.size() - 1; i >= 0; i--) { - QString portString = QString(ports.at(i).portName.toLocal8Bit().constData()) + " - " + QString(ports.at(i).friendName.toLocal8Bit().constData()).split("(").first(); + for (int i = ports->size() - 1; i >= 0; --i) + { // Prepend newly found port to the list - if (ui.portName->findText(portString) == -1) { - ui.portName->insertItem(0, portString); - if (!userConfigured) ui.portName->setEditText(portString); + if (ui.portName->findText(ports->at(i)) == -1) + { + ui.portName->insertItem(0, ports->at(i)); + if (!userConfigured) ui.portName->setEditText(ports->at(i)); } } - //printf("port name: %s\n", ports.at(i).portName.toLocal8Bit().constData()); - //printf("friendly name: %s\n", ports.at(i).friendName.toLocal8Bit().constData()); - //printf("physical name: %s\n", ports.at(i).physName.toLocal8Bit().constData()); - //printf("enumerator name: %s\n", ports.at(i).enumName.toLocal8Bit().constData()); - //printf("===================================\n\n"); -#endif - if (this->link) { - if (this->link->getPortName() != "") { - ui.portName->setEditText(this->link->getPortName()); - } - } + ui.portName->setEditText(this->link->getPortName()); } void SerialConfigurationWindow::enableFlowControl(bool flow) { - if(flow) { + if(flow) + { link->setFlowType(1); - } else { + } + else + { link->setFlowType(0); } } diff --git a/src/ui/SlugsHilSim.h b/src/ui/SlugsHilSim.h index 8ace2cd0a7141b03b7f60823737ec9fee0914cbd..22c2e933507f8cd20a46eba0579987f00c951b39 100644 --- a/src/ui/SlugsHilSim.h +++ b/src/ui/SlugsHilSim.h @@ -67,13 +67,13 @@ protected: QUdpSocket* rxSocket; UAS* activeUas; - mavlink_local_position_t tmpLocalPositionData; + mavlink_local_position_ned_t tmpLocalPositionData; mavlink_attitude_t tmpAttitudeData; mavlink_raw_imu_t tmpRawImuData; #ifdef MAVLINK_ENABLED_SLUGS mavlink_air_data_t tmpAirData; #endif - mavlink_gps_raw_t tmpGpsData; + mavlink_gps_raw_int_t tmpGpsData; #ifdef MAVLINK_ENABLED_SLUGS mavlink_gps_date_time_t tmpGpsTime; #endif @@ -155,4 +155,4 @@ private: }; -#endif // SLUGSHILSIM_H \ No newline at end of file +#endif // SLUGSHILSIM_H diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointEditableView.cc similarity index 68% rename from src/ui/WaypointView.cc rename to src/ui/WaypointEditableView.cc index 9d157ca142c2dd5ee323bb0f2d1ece6323ba4007..156a2189c8026c3d00ad7d69e9027b83968dfd98 100644 --- a/src/ui/WaypointView.cc +++ b/src/ui/WaypointEditableView.cc @@ -17,15 +17,15 @@ #include #include -#include "WaypointView.h" -#include "ui_WaypointView.h" +#include "WaypointEditableView.h" +#include "ui_WaypointEditableView.h" #include "ui_QGCCustomWaypointAction.h" -WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : +WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) : QWidget(parent), customCommand(new Ui_QGCCustomWaypointAction), - viewMode(QGC_WAYPOINTVIEW_MODE_NAV), - m_ui(new Ui::WaypointView) + viewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV), + m_ui(new Ui::WaypointEditableView) { m_ui->setupUi(this); @@ -52,7 +52,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : // add frames m_ui->comboBox_frame->addItem("Abs. Alt/Global",MAV_FRAME_GLOBAL); m_ui->comboBox_frame->addItem("Rel. Alt/Global", MAV_FRAME_GLOBAL_RELATIVE_ALT); - m_ui->comboBox_frame->addItem("Local/Abs. Alt.",MAV_FRAME_LOCAL); + m_ui->comboBox_frame->addItem("Local/Abs. Alt.",MAV_FRAME_LOCAL_NED); m_ui->comboBox_frame->addItem("Mission",MAV_FRAME_MISSION); // Initialize view correctly @@ -63,7 +63,8 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : updateValues(); // Check for mission frame - if (wp->getFrame() == MAV_FRAME_MISSION) { + if (wp->getFrame() == MAV_FRAME_MISSION) + { m_ui->comboBox_action->setCurrentIndex(m_ui->comboBox_action->count()-1); } @@ -102,24 +103,24 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : connect(customCommand->param7SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam7(double))); } -void WaypointView::moveUp() +void WaypointEditableView::moveUp() { emit moveUpWaypoint(wp); } -void WaypointView::moveDown() +void WaypointEditableView::moveDown() { emit moveDownWaypoint(wp); } -void WaypointView::remove() +void WaypointEditableView::remove() { emit removeWaypoint(wp); deleteLater(); } -void WaypointView::changedAutoContinue(int state) +void WaypointEditableView::changedAutoContinue(int state) { if (state == 0) wp->setAutocontinue(false); @@ -127,7 +128,7 @@ void WaypointView::changedAutoContinue(int state) wp->setAutocontinue(true); } -void WaypointView::updateActionView(int action) +void WaypointEditableView::updateActionView(int action) { // Remove stretch item at index 17 (m_ui->removeSpacer) m_ui->horizontalLayout->takeAt(17); @@ -231,7 +232,7 @@ void WaypointView::updateActionView(int action) /** * @param index The index of the combo box of the action entry, NOT the action ID */ -void WaypointView::changedAction(int index) +void WaypointEditableView::changedAction(int index) { // set waypoint action int actionIndex = m_ui->comboBox_action->itemData(index).toUInt(); @@ -252,7 +253,7 @@ void WaypointView::changedAction(int index) case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_TURNS: case MAV_CMD_NAV_LOITER_TIME: - changeViewMode(QGC_WAYPOINTVIEW_MODE_NAV); + changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV); // Update frame view updateFrameView(m_ui->comboBox_frame->currentIndex()); // Update view @@ -261,23 +262,23 @@ void WaypointView::changedAction(int index) case MAV_CMD_ENUM_END: default: // Switch to mission frame - changeViewMode(QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING); + changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING); break; } } -void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode) +void WaypointEditableView::changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode) { viewMode = mode; switch (mode) { - case QGC_WAYPOINTVIEW_MODE_NAV: - case QGC_WAYPOINTVIEW_MODE_CONDITION: + case QGC_WAYPOINTEDITABLEVIEW_MODE_NAV: + case QGC_WAYPOINTEDITABLEVIEW_MODE_CONDITION: // Hide everything, show condition widget // TODO - case QGC_WAYPOINTVIEW_MODE_DO: + case QGC_WAYPOINTEDITABLEVIEW_MODE_DO: break; - case QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING: + case QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING: // Hide almost everything m_ui->orbitSpinBox->hide(); m_ui->takeOffAngleSpinBox->hide(); @@ -307,7 +308,7 @@ void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode) } -void WaypointView::updateFrameView(int frame) +void WaypointEditableView::updateFrameView(int frame) { switch(frame) { case MAV_FRAME_GLOBAL: @@ -322,7 +323,7 @@ void WaypointView::updateFrameView(int frame) m_ui->comboBox_frame->show(); m_ui->customActionWidget->hide(); break; - case MAV_FRAME_LOCAL: + case MAV_FRAME_LOCAL_NED: m_ui->lonSpinBox->hide(); m_ui->latSpinBox->hide(); m_ui->altSpinBox->hide(); @@ -338,7 +339,7 @@ void WaypointView::updateFrameView(int frame) } } -void WaypointView::deleted(QObject* waypoint) +void WaypointEditableView::deleted(QObject* waypoint) { Q_UNUSED(waypoint); // if (waypoint == this->wp) @@ -347,7 +348,7 @@ void WaypointView::deleted(QObject* waypoint) // } } -void WaypointView::changedFrame(int index) +void WaypointEditableView::changedFrame(int index) { // set waypoint action MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt(); @@ -356,19 +357,35 @@ void WaypointView::changedFrame(int index) updateFrameView(frame); } -void WaypointView::changedCurrent(int state) +void WaypointEditableView::changedCurrent(int state) { - if (state == 0) { - m_ui->selectedBox->setChecked(true); - m_ui->selectedBox->setCheckState(Qt::Checked); - wp->setCurrent(false); - } else { + //m_ui->selectedBox->blockSignals(true); + if (state == 0) + { + if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current + { + qDebug() << "Editable " << wp->getId() << " changedCurrent: State 0, current true" ; + m_ui->selectedBox->setChecked(true); + m_ui->selectedBox->setCheckState(Qt::Checked); + } + else + { + qDebug() << "Editable " << wp->getId() << " changedCurrent: State 0, current false"; + m_ui->selectedBox->setChecked(false); + m_ui->selectedBox->setCheckState(Qt::Unchecked); + //wp->setCurrent(false); + } + } + else + { + qDebug() << "Editable " << wp->getId() << " changedCurrent: State 2"; wp->setCurrent(true); emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false } + //m_ui->selectedBox->blockSignals(false); } -void WaypointView::updateValues() +void WaypointEditableView::updateValues() { // Check if we just lost the wp, delete the widget // accordingly @@ -376,8 +393,73 @@ void WaypointView::updateValues() deleteLater(); return; } - // Deactivate signals from the WP - wp->blockSignals(true); + + //wp->blockSignals(true); + + // Deactivate all QDoubleSpinBox signals due to + // unwanted rounding effects + for (int j = 0; j < children().size(); ++j) + { + // Store only QGCToolWidgetItems + QDoubleSpinBox* spin = dynamic_cast(children().at(j)); + if (spin) + { + //qDebug() << "DEACTIVATED SPINBOX #" << j; + spin->blockSignals(true); + } + else + { + // Store only QGCToolWidgetItems + QWidget* item = dynamic_cast(children().at(j)); + if (item) + { + //qDebug() << "FOUND WIDGET BOX"; + for (int k = 0; k < item->children().size(); ++k) + { + // Store only QGCToolWidgetItems + QDoubleSpinBox* spin = dynamic_cast(item->children().at(k)); + if (spin) + { + //qDebug() << "DEACTIVATED SPINBOX #" << k; + spin->blockSignals(true); + } + } + } + } + } + + // Block all custom action widget actions + for (int j = 0; j < m_ui->customActionWidget->children().size(); ++j) + { + // Store only QGCToolWidgetItems + QDoubleSpinBox* spin = dynamic_cast(m_ui->customActionWidget->children().at(j)); + if (spin) + { + //qDebug() << "DEACTIVATED SPINBOX #" << j; + spin->blockSignals(true); + } + else + { + // Store only QGCToolWidgetItems + QWidget* item = dynamic_cast(m_ui->customActionWidget->children().at(j)); + if (item) + { + //qDebug() << "CUSTOM ACTIONS FOUND WIDGET BOX"; + for (int k = 0; k < item->children().size(); ++k) + { + // Store only QGCToolWidgetItems + QDoubleSpinBox* spin = dynamic_cast(item->children().at(k)); + if (spin) + { + //qDebug() << "DEACTIVATED SPINBOX #" << k; + spin->blockSignals(true); + } + } + } + } + } + + // update frame MAV_FRAME frame = wp->getFrame(); int frame_index = m_ui->comboBox_frame->findData(frame); @@ -386,7 +468,7 @@ void WaypointView::updateValues() updateFrameView(frame); } switch(frame) { - case MAV_FRAME_LOCAL: { + case MAV_FRAME_LOCAL_NED: { if (m_ui->posNSpinBox->value() != wp->getX()) { m_ui->posNSpinBox->setValue(wp->getX()); } @@ -403,23 +485,17 @@ void WaypointView::updateValues() if (m_ui->latSpinBox->value() != wp->getLatitude()) { // Rounding might occur, prevent spin box from // firing back changes - m_ui->latSpinBox->blockSignals(true); m_ui->latSpinBox->setValue(wp->getLatitude()); - m_ui->latSpinBox->blockSignals(false); } if (m_ui->lonSpinBox->value() != wp->getLongitude()) { // Rounding might occur, prevent spin box from // firing back changes - m_ui->lonSpinBox->blockSignals(true); m_ui->lonSpinBox->setValue(wp->getLongitude()); - m_ui->lonSpinBox->blockSignals(false); } if (m_ui->altSpinBox->value() != wp->getAltitude()) { // Rounding might occur, prevent spin box from // firing back changes - m_ui->altSpinBox->blockSignals(true); m_ui->altSpinBox->setValue(wp->getAltitude()); - m_ui->altSpinBox->blockSignals(false); } } break; @@ -432,77 +508,81 @@ void WaypointView::updateValues() MAV_CMD action = wp->getAction(); int action_index = m_ui->comboBox_action->findData(action); // Set to "Other" action if it was -1 - if (action_index == -1) { + if (action_index == -1) + { action_index = m_ui->comboBox_action->findData(MAV_CMD_ENUM_END); } // Only update if changed - if (m_ui->comboBox_action->currentIndex() != action_index) { + if (m_ui->comboBox_action->currentIndex() != action_index) + { // If action is unknown, set direct editing mode - if (wp->getAction() < 0 || wp->getAction() > MAV_CMD_NAV_TAKEOFF) { - changeViewMode(QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING); - } else { - if (viewMode != QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING) { + if (wp->getAction() < 0 || wp->getAction() > MAV_CMD_NAV_TAKEOFF) + { + changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING); + } + else + { + if (viewMode != QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING) + { // Action ID known, update m_ui->comboBox_action->setCurrentIndex(action_index); updateActionView(action); } } } - // Do something on actions - currently unused -// switch(action) { -// case MAV_CMD_NAV_TAKEOFF: -// break; -// case MAV_CMD_NAV_LAND: -// break; -// case MAV_CMD_NAV_WAYPOINT: -// break; -// case MAV_CMD_NAV_LOITER_UNLIM: -// break; -// default: -// std::cerr << "unknown action" << std::endl; -// } - if (m_ui->yawSpinBox->value() != wp->getYaw()) { - if (!m_ui->yawSpinBox->isVisible()) m_ui->yawSpinBox->blockSignals(true); +// // Do something on actions - currently unused +//// switch(action) { +//// case MAV_CMD_NAV_TAKEOFF: +//// break; +//// case MAV_CMD_NAV_LAND: +//// break; +//// case MAV_CMD_NAV_WAYPOINT: +//// break; +//// case MAV_CMD_NAV_LOITER_UNLIM: +//// break; +//// default: +//// std::cerr << "unknown action" << std::endl; +//// } + + if (m_ui->yawSpinBox->value() != wp->getYaw()) + { m_ui->yawSpinBox->setValue(wp->getYaw()); - if (!m_ui->yawSpinBox->isVisible()) m_ui->yawSpinBox->blockSignals(false); } - if (m_ui->selectedBox->isChecked() != wp->getCurrent()) { + if (m_ui->selectedBox->isChecked() != wp->getCurrent()) + { m_ui->selectedBox->setChecked(wp->getCurrent()); } - if (m_ui->autoContinue->isChecked() != wp->getAutoContinue()) { + if (m_ui->autoContinue->isChecked() != wp->getAutoContinue()) + { m_ui->autoContinue->setChecked(wp->getAutoContinue()); } m_ui->idLabel->setText(QString("%1").arg(wp->getId())); - if (m_ui->orbitSpinBox->value() != wp->getLoiterOrbit()) { - if (!m_ui->orbitSpinBox->isVisible()) m_ui->orbitSpinBox->blockSignals(true); + if (m_ui->orbitSpinBox->value() != wp->getLoiterOrbit()) + { m_ui->orbitSpinBox->setValue(wp->getLoiterOrbit()); - if (!m_ui->orbitSpinBox->isVisible()) m_ui->orbitSpinBox->blockSignals(false); } - if (m_ui->acceptanceSpinBox->value() != wp->getAcceptanceRadius()) { - if (!m_ui->acceptanceSpinBox->isVisible()) m_ui->acceptanceSpinBox->blockSignals(true); + if (m_ui->acceptanceSpinBox->value() != wp->getAcceptanceRadius()) + { m_ui->acceptanceSpinBox->setValue(wp->getAcceptanceRadius()); - if (!m_ui->acceptanceSpinBox->isVisible()) m_ui->acceptanceSpinBox->blockSignals(false); } - if (m_ui->holdTimeSpinBox->value() != wp->getHoldTime()) { - if (!m_ui->holdTimeSpinBox->isVisible()) m_ui->holdTimeSpinBox->blockSignals(true); + if (m_ui->holdTimeSpinBox->value() != wp->getHoldTime()) + { m_ui->holdTimeSpinBox->setValue(wp->getHoldTime()); - if (!m_ui->holdTimeSpinBox->isVisible()) m_ui->holdTimeSpinBox->blockSignals(false); } - if (m_ui->turnsSpinBox->value() != wp->getTurns()) { - if (!m_ui->turnsSpinBox->isVisible()) m_ui->turnsSpinBox->blockSignals(true); + if (m_ui->turnsSpinBox->value() != wp->getTurns()) + { m_ui->turnsSpinBox->setValue(wp->getTurns()); - if (!m_ui->turnsSpinBox->isVisible()) m_ui->turnsSpinBox->blockSignals(false); } - if (m_ui->takeOffAngleSpinBox->value() != wp->getParam1()) { - if (!m_ui->takeOffAngleSpinBox->isVisible()) m_ui->takeOffAngleSpinBox->blockSignals(true); + if (m_ui->takeOffAngleSpinBox->value() != wp->getParam1()) + { m_ui->takeOffAngleSpinBox->setValue(wp->getParam1()); - if (!m_ui->takeOffAngleSpinBox->isVisible()) m_ui->takeOffAngleSpinBox->blockSignals(false); } - // UPDATE CUSTOM ACTION WIDGET +// // UPDATE CUSTOM ACTION WIDGET - if (customCommand->commandSpinBox->value() != wp->getAction()) { + if (customCommand->commandSpinBox->value() != wp->getAction()) + { customCommand->commandSpinBox->setValue(wp->getAction()); // qDebug() << "Changed action"; } @@ -535,8 +615,6 @@ void WaypointView::updateValues() customCommand->param7SpinBox->setValue(wp->getParam7()); } - wp->blockSignals(false); - QColor backGroundColor = QGC::colorBackground; static int lastId = -1; @@ -568,21 +646,86 @@ void WaypointView::updateValues() m_ui->groupBox->setStyleSheet(groupBoxStyle); lastId = currId; } + + // Activate all QDoubleSpinBox signals due to + // unwanted rounding effects + for (int j = 0; j < children().size(); ++j) + { + // Store only QGCToolWidgetItems + QDoubleSpinBox* spin = dynamic_cast(children().at(j)); + if (spin) + { + //qDebug() << "ACTIVATED SPINBOX #" << j; + spin->blockSignals(false); + } + else + { + // Store only QGCToolWidgetItems + QGroupBox* item = dynamic_cast(children().at(j)); + if (item) + { + //qDebug() << "FOUND GROUP BOX"; + for (int k = 0; k < item->children().size(); ++k) + { + // Store only QGCToolWidgetItems + QDoubleSpinBox* spin = dynamic_cast(item->children().at(k)); + if (spin) + { + //qDebug() << "ACTIVATED SPINBOX #" << k; + spin->blockSignals(false); + } + } + } + } + } + + // Unblock all custom action widget actions + for (int j = 0; j < m_ui->customActionWidget->children().size(); ++j) + { + // Store only QGCToolWidgetItems + QDoubleSpinBox* spin = dynamic_cast(m_ui->customActionWidget->children().at(j)); + if (spin) + { + //qDebug() << "ACTIVATED SPINBOX #" << j; + spin->blockSignals(false); + } + else + { + // Store only QGCToolWidgetItems + QWidget* item = dynamic_cast(m_ui->customActionWidget->children().at(j)); + if (item) + { + //qDebug() << "FOUND WIDGET BOX"; + for (int k = 0; k < item->children().size(); ++k) + { + // Store only QGCToolWidgetItems + QDoubleSpinBox* spin = dynamic_cast(item->children().at(k)); + if (spin) + { + //qDebug() << "ACTIVATED SPINBOX #" << k; + spin->blockSignals(false); + } + } + } + } + } + +// wp->blockSignals(false); } -void WaypointView::setCurrent(bool state) +void WaypointEditableView::setCurrent(bool state) { m_ui->selectedBox->blockSignals(true); m_ui->selectedBox->setChecked(state); m_ui->selectedBox->blockSignals(false); } -WaypointView::~WaypointView() +WaypointEditableView::~WaypointEditableView() { delete m_ui; } -void WaypointView::changeEvent(QEvent *e) +void WaypointEditableView::changeEvent(QEvent *e) { switch (e->type()) { case QEvent::LanguageChange: diff --git a/src/ui/WaypointView.h b/src/ui/WaypointEditableView.h similarity index 75% rename from src/ui/WaypointView.h rename to src/ui/WaypointEditableView.h index 21de9247fa3e43eef347910a4b768e9190931045..d2b6c3322b85251f5e788347d76ab51ede36c4b4 100644 --- a/src/ui/WaypointView.h +++ b/src/ui/WaypointEditableView.h @@ -30,33 +30,33 @@ This file is part of the QGROUNDCONTROL project * */ -#ifndef WAYPOINTVIEW_H -#define WAYPOINTVIEW_H +#ifndef WAYPOINTEDITABLEVIEW_H +#define WAYPOINTEDITABLEVIEW_H #include #include "Waypoint.h" #include -enum QGC_WAYPOINTVIEW_MODE { - QGC_WAYPOINTVIEW_MODE_NAV, - QGC_WAYPOINTVIEW_MODE_CONDITION, - QGC_WAYPOINTVIEW_MODE_DO, - QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING +enum QGC_WAYPOINTEDITABLEVIEW_MODE { + QGC_WAYPOINTEDITABLEVIEW_MODE_NAV, + QGC_WAYPOINTEDITABLEVIEW_MODE_CONDITION, + QGC_WAYPOINTEDITABLEVIEW_MODE_DO, + QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING }; namespace Ui { -class WaypointView; +class WaypointEditableView; } class Ui_QGCCustomWaypointAction; -class WaypointView : public QWidget +class WaypointEditableView : public QWidget { Q_OBJECT - Q_DISABLE_COPY(WaypointView) + Q_DISABLE_COPY(WaypointEditableView) public: - explicit WaypointView(Waypoint* wp, QWidget* parent); - virtual ~WaypointView(); + explicit WaypointEditableView(Waypoint* wp, QWidget* parent); + virtual ~WaypointEditableView(); public: void setCurrent(bool state); @@ -76,7 +76,7 @@ public slots: void updateValues(void); protected slots: - void changeViewMode(QGC_WAYPOINTVIEW_MODE mode); + void changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode); protected: virtual void changeEvent(QEvent *e); @@ -84,18 +84,18 @@ protected: // Special widgets extendending the // waypoint view to mission capabilities Ui_QGCCustomWaypointAction* customCommand; - QGC_WAYPOINTVIEW_MODE viewMode; + QGC_WAYPOINTEDITABLEVIEW_MODE viewMode; private: - Ui::WaypointView *m_ui; + Ui::WaypointEditableView *m_ui; signals: void moveUpWaypoint(Waypoint*); void moveDownWaypoint(Waypoint*); void removeWaypoint(Waypoint*); - void currentWaypointChanged(quint16); + //void currentWaypointChanged(quint16); //unused void changeCurrentWaypoint(quint16); void setYaw(double); }; -#endif // WAYPOINTVIEW_H +#endif // WAYPOINTEDITABLEVIEW_H diff --git a/src/ui/WaypointView.ui b/src/ui/WaypointEditableView.ui similarity index 98% rename from src/ui/WaypointView.ui rename to src/ui/WaypointEditableView.ui index 7e19b7f4a67681feede5ba78a8402ac78884d7a1..99c564a07c911bdbd3ac978dc1d32634a66128ae 100644 --- a/src/ui/WaypointView.ui +++ b/src/ui/WaypointEditableView.ui @@ -1,7 +1,7 @@ - WaypointView - + WaypointEditableView + 0 @@ -604,7 +604,7 @@ Time to stay at this position before advancing - + :/images/actions/go-up.svg:/images/actions/go-up.svg @@ -630,7 +630,7 @@ Time to stay at this position before advancing - + :/images/actions/go-down.svg:/images/actions/go-down.svg @@ -653,7 +653,7 @@ Time to stay at this position before advancing - + :/images/actions/list-remove.svg:/images/actions/list-remove.svg @@ -664,7 +664,7 @@ Time to stay at this position before advancing - + diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc index e2013f5c21909b10a134b771750259cf27e03a65..4b323e44239db05f604727167eb62d40d7ad7c6a 100644 --- a/src/ui/WaypointList.cc +++ b/src/ui/WaypointList.cc @@ -51,19 +51,21 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) : { m_ui->setupUi(this); - listLayout = new QVBoxLayout(m_ui->listWidget); - listLayout->setSpacing(0); - listLayout->setMargin(0); - listLayout->setAlignment(Qt::AlignTop); - m_ui->listWidget->setLayout(listLayout); + //EDIT TAB + + editableListLayout = new QVBoxLayout(m_ui->editableListWidget); + editableListLayout->setSpacing(0); + editableListLayout->setMargin(0); + editableListLayout->setAlignment(Qt::AlignTop); + m_ui->editableListWidget->setLayout(editableListLayout); // ADD WAYPOINT // Connect add action, set right button icon and connect action to this class connect(m_ui->addButton, SIGNAL(clicked()), m_ui->actionAddWaypoint, SIGNAL(triggered())); - connect(m_ui->actionAddWaypoint, SIGNAL(triggered()), this, SLOT(add())); + connect(m_ui->actionAddWaypoint, SIGNAL(triggered()), this, SLOT(addEditable())); // ADD WAYPOINT AT CURRENT POSITION - connect(m_ui->positionAddButton, SIGNAL(clicked()), this, SLOT(addCurrentPositonWaypoint())); + connect(m_ui->positionAddButton, SIGNAL(clicked()), this, SLOT(addCurrentPositionWaypoint())); // SEND WAYPOINTS connect(m_ui->transmitButton, SIGNAL(clicked()), this, SLOT(transmit())); @@ -77,6 +79,17 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) : //connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*))); + //VIEW TAB + + viewOnlyListLayout = new QVBoxLayout(m_ui->viewOnlyListWidget); + viewOnlyListLayout->setSpacing(0); + viewOnlyListLayout->setMargin(0); + viewOnlyListLayout->setAlignment(Qt::AlignTop); + m_ui->viewOnlyListWidget->setLayout(viewOnlyListLayout); + + // REFRESH VIEW TAB + + connect(m_ui->refreshButton, SIGNAL(clicked()), this, SLOT(refresh())); // SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED @@ -118,25 +131,28 @@ void WaypointList::updateAttitude(UASInterface* uas, double roll, double pitch, void WaypointList::setUAS(UASInterface* uas) { - if (this->uas == NULL && uas != NULL) { + if (this->uas == NULL && uas != NULL) + { this->uas = uas; connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64))); connect(uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &))); - connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void))); - connect(uas->getWaypointManager(), SIGNAL(waypointChanged(int,Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*))); - connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); + connect(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(void)), this, SLOT(waypointEditableListChanged(void))); + connect(uas->getWaypointManager(), SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*))); + connect(uas->getWaypointManager(), SIGNAL(waypointViewOnlyListChanged(void)), this, SLOT(waypointViewOnlyListChanged(void))); + connect(uas->getWaypointManager(), SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*))); + connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointViewOnlyChanged(quint16))); //connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP())); //connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool))); - } } void WaypointList::saveWaypoints() { - if (uas) { + if (uas) + { QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)")); uas->getWaypointManager()->saveWaypoints(fileName); } @@ -144,7 +160,8 @@ void WaypointList::saveWaypoints() void WaypointList::loadWaypoints() { - if (uas) { + if (uas) + { QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)")); uas->getWaypointManager()->loadWaypoints(fileName); } @@ -152,94 +169,190 @@ void WaypointList::loadWaypoints() void WaypointList::transmit() { - if (uas) { + if (uas) + { uas->getWaypointManager()->writeWaypoints(); } } void WaypointList::read() { - if (uas) { - uas->getWaypointManager()->readWaypoints(); + if (uas) + { + uas->getWaypointManager()->readWaypoints(true); } } -void WaypointList::add() +void WaypointList::refresh() { - if (uas) { - const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); - Waypoint *wp; + if (uas) + { + uas->getWaypointManager()->readWaypoints(false); + } +} +void WaypointList::addEditable() +{ + if (uas) + { + const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); + Waypoint *wp; + if (waypoints.size() > 0) + { + // Create waypoint with last frame + Waypoint *last = waypoints.at(waypoints.size()-1); + wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getParam1(), last->getParam2(), last->getParam3(), last->getParam4(), + last->getAutoContinue(), false, last->getFrame(), last->getAction()); + uas->getWaypointManager()->addWaypointEditable(wp); + } + else + { + // Create first waypoint at current MAV position + addCurrentPositionWaypoint(); + } + } +} - if (waypoints.size() > 0) { +/* +void WaypointList::addViewOnly() +{ + if (uas) + { + const QVector &waypoints = uas->getWaypointManager()->getWaypointViewOnlyList(); + Waypoint *wp; + if (waypoints.size() > 0) + { // Create waypoint with last frame Waypoint *last = waypoints.at(waypoints.size()-1); wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getParam1(), last->getParam2(), last->getParam3(), last->getParam4(), last->getAutoContinue(), false, last->getFrame(), last->getAction()); - uas->getWaypointManager()->addWaypoint(wp); - } else { - // Create global frame waypoint per default - wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0.0, 0.0, 0.0, 0.0, true, true, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT); - uas->getWaypointManager()->addWaypoint(wp); + uas->getWaypointManager()->addWaypointEditable(wp); + } + else + { + // Create first waypoint at current MAV position + addCurrentPositionWaypoint(); } } } +*/ -void WaypointList::addCurrentPositonWaypoint() +void WaypointList::addCurrentPositionWaypoint() { - /* TODO: implement with new waypoint structure if (uas) { - // For Global Waypoints - //if(isGlobalWP) - //{ - //isLocalWP = false; - //} - //else + const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); + Waypoint *wp; + Waypoint *last = 0; + if (waypoints.size() > 0) + { + last = waypoints.at(waypoints.size()-1); + } + + if (uas->globalPositionKnown()) { - const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); - if (waypoints.size() > 0) + float acceptanceRadiusGlobal = 10.0f; + float holdTime = 0.0f; + float yawGlobal = 0.0f; + if (last) { - Waypoint *last = waypoints.at(waypoints.size()-1); - Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime()); - uas->getWaypointManager()->addWaypoint(wp); + acceptanceRadiusGlobal = last->getAcceptanceRadius(); + holdTime = last->getHoldTime(); + yawGlobal = last->getYaw(); } - else + // Create global frame waypoint per default + wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, acceptanceRadiusGlobal, holdTime, yawGlobal, true, true, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT); + uas->getWaypointManager()->addWaypointEditable(wp); + updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint")); + } + else if (uas->localPositionKnown()) + { + float acceptanceRadiusLocal = 0.2f; + float holdTime = 0.5f; + if (last) { - Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000); - uas->getWaypointManager()->addWaypoint(wp); + acceptanceRadiusLocal = last->getAcceptanceRadius(); + holdTime = last->getHoldTime(); } - - //isLocalWP = true; + // Create local frame waypoint as second option + wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT); + uas->getWaypointManager()->addWaypointEditable(wp); + updateStatusLabel(tr("Added LOCAL (NED) waypoint")); + } + else + { + // Do nothing + updateStatusLabel(tr("Not adding waypoint, no position known of MAV known yet.")); } } - */ } void WaypointList::updateStatusLabel(const QString &string) { + // Status label in write widget m_ui->statusLabel->setText(string); + // Status label in read only widget + m_ui->viewStatusLabel->setText(string); } void WaypointList::changeCurrentWaypoint(quint16 seq) { - if (uas) { + if (uas) + { uas->getWaypointManager()->setCurrentWaypoint(seq); } } -void WaypointList::currentWaypointChanged(quint16 seq) + +void WaypointList::currentWaypointEditableChanged(quint16 seq) { - if (uas) { - const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); + qDebug() << "WaypointList::currentWaypointEditableChanged"; + + if (uas) + { + uas->getWaypointManager()->setCurrentEditable(seq); + /* + const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); - if (seq < waypoints.size()) { - for(int i = 0; i < waypoints.size(); i++) { - WaypointView* widget = wpViews.find(waypoints[i]).value(); + if (seq < waypoints.size()) + { + for(int i = 0; i < waypoints.size(); i++) + { + WaypointEditableView* widget = wpEditableViews.find(waypoints[i]).value(); + + if (waypoints[i]->getId() == seq) + { + widget->setCurrent(true); + } + else + { + widget->setCurrent(false); + } + } + } + */ + } + +} + +void WaypointList::currentWaypointViewOnlyChanged(quint16 seq) +{ + if (uas) + { + const QVector &waypoints = uas->getWaypointManager()->getWaypointViewOnlyList(); - if (waypoints[i]->getId() == seq) { + if (seq < waypoints.size()) + { + for(int i = 0; i < waypoints.size(); i++) + { + WaypointViewOnlyView* widget = wpViewOnlyViews.find(waypoints[i]).value(); + + if (waypoints[i]->getId() == seq) + { widget->setCurrent(true); - } else { + } + else + { widget->setCurrent(false); } } @@ -247,22 +360,82 @@ void WaypointList::currentWaypointChanged(quint16 seq) } } -void WaypointList::updateWaypoint(int uas, Waypoint* wp) +void WaypointList::updateWaypointEditable(int uas, Waypoint* wp) +{ + Q_UNUSED(uas); + WaypointEditableView *wpv = wpEditableViews.value(wp); + wpv->updateValues(); +} + +void WaypointList::updateWaypointViewOnly(int uas, Waypoint* wp) { Q_UNUSED(uas); - WaypointView *wpv = wpViews.value(wp); + WaypointViewOnlyView *wpv = wpViewOnlyViews.value(wp); wpv->updateValues(); } -void WaypointList::waypointListChanged() +void WaypointList::waypointViewOnlyListChanged() +{ + if (uas) { + // Prevent updates to prevent visual flicker + this->setUpdatesEnabled(false); + const QVector &waypoints = uas->getWaypointManager()->getWaypointViewOnlyList(); + + if (!wpViewOnlyViews.empty()) { + QMapIterator viewIt(wpViewOnlyViews); + viewIt.toFront(); + while(viewIt.hasNext()) { + viewIt.next(); + Waypoint *cur = viewIt.key(); + int i; + for (i = 0; i < waypoints.size(); i++) { + if (waypoints[i] == cur) { + break; + } + } + if (i == waypoints.size()) { + WaypointViewOnlyView* widget = wpViewOnlyViews.find(cur).value(); + widget->hide(); + viewOnlyListLayout->removeWidget(widget); + wpViewOnlyViews.remove(cur); + } + } + } + + // then add/update the views for each waypoint in the list + for(int i = 0; i < waypoints.size(); i++) { + Waypoint *wp = waypoints[i]; + if (!wpViewOnlyViews.contains(wp)) { + WaypointViewOnlyView* wpview = new WaypointViewOnlyView(wp, this); + wpViewOnlyViews.insert(wp, wpview); + connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16))); + viewOnlyListLayout->insertWidget(i, wpview); + } + WaypointViewOnlyView *wpv = wpViewOnlyViews.value(wp); + + //check if ordering has changed + if(viewOnlyListLayout->itemAt(i)->widget() != wpv) { + viewOnlyListLayout->removeWidget(wpv); + viewOnlyListLayout->insertWidget(i, wpv); + } + + wpv->updateValues(); // update the values of the ui elements in the view + } + this->setUpdatesEnabled(true); + loadFileGlobalWP = false; + } +} + + +void WaypointList::waypointEditableListChanged() { if (uas) { // Prevent updates to prevent visual flicker this->setUpdatesEnabled(false); - const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); + const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); - if (!wpViews.empty()) { - QMapIterator viewIt(wpViews); + if (!wpEditableViews.empty()) { + QMapIterator viewIt(wpEditableViews); viewIt.toFront(); while(viewIt.hasNext()) { viewIt.next(); @@ -274,10 +447,10 @@ void WaypointList::waypointListChanged() } } if (i == waypoints.size()) { - WaypointView* widget = wpViews.find(cur).value(); + WaypointEditableView* widget = wpEditableViews.find(cur).value(); widget->hide(); - listLayout->removeWidget(widget); - wpViews.remove(cur); + editableListLayout->removeWidget(widget); + wpEditableViews.remove(cur); } } } @@ -285,22 +458,22 @@ void WaypointList::waypointListChanged() // then add/update the views for each waypoint in the list for(int i = 0; i < waypoints.size(); i++) { Waypoint *wp = waypoints[i]; - if (!wpViews.contains(wp)) { - WaypointView* wpview = new WaypointView(wp, this); - wpViews.insert(wp, wpview); + if (!wpEditableViews.contains(wp)) { + WaypointEditableView* wpview = new WaypointEditableView(wp, this); + wpEditableViews.insert(wp, wpview); connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*))); connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*))); connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*))); - connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); - connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16))); - listLayout->insertWidget(i, wpview); + //connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); + connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(currentWaypointEditableChanged(quint16))); + editableListLayout->insertWidget(i, wpview); } - WaypointView *wpv = wpViews.value(wp); + WaypointEditableView *wpv = wpEditableViews.value(wp); //check if ordering has changed - if(listLayout->itemAt(i)->widget() != wpv) { - listLayout->removeWidget(wpv); - listLayout->insertWidget(i, wpv); + if(editableListLayout->itemAt(i)->widget() != wpv) { + editableListLayout->removeWidget(wpv); + editableListLayout->insertWidget(i, wpv); } wpv->updateValues(); // update the values of the ui elements in the view @@ -310,38 +483,38 @@ void WaypointList::waypointListChanged() } } -//void WaypointList::waypointListChanged() +//void WaypointList::waypointEditableListChanged() //{ // if (uas) // { // // Prevent updates to prevent visual flicker // this->setUpdatesEnabled(false); // // Get all waypoints -// const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); +// const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); //// // Store the current state, then check which widgets to update //// // and which ones to delete -//// QList oldWaypoints = wpViews.keys(); +//// QList oldWaypoints = wpEditableViews.keys(); //// foreach (Waypoint* wp, waypoints) //// { -//// WaypointView* wpview; +//// WaypointEditableView* wpview; //// // Create any new waypoint -//// if (!wpViews.contains(wp)) +//// if (!wpEditableViews.contains(wp)) //// { -//// wpview = new WaypointView(wp, this); -//// wpViews.insert(wp, wpview); +//// wpview = new WaypointEditableView(wp, this); +//// wpEditableViews.insert(wp, wpview); //// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*))); //// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*))); //// connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*))); //// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); //// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16))); -//// listLayout->addWidget(wpview); +//// editableListLayout->addWidget(wpview); //// } //// else //// { //// // Update existing waypoints -//// wpview = wpViews.value(wp); +//// wpview = wpEditableViews.value(wp); //// } //// // Mark as updated by removing from old list @@ -355,18 +528,18 @@ void WaypointList::waypointListChanged() //// foreach (Waypoint* wp, oldWaypoints) //// { //// // Delete waypoint view and entry in list -//// WaypointView* wpv = wpViews.value(wp); +//// WaypointEditableView* wpv = wpEditableViews.value(wp); //// if (wpv) //// { -//// listLayout->removeWidget(wpv); +//// editableListLayout->removeWidget(wpv); //// delete wpv; //// } -//// wpViews.remove(wp); +//// wpEditableViews.remove(wp); //// } -// if (!wpViews.empty()) +// if (!wpEditableViews.empty()) // { -// QMapIterator viewIt(wpViews); +// QMapIterator viewIt(wpEditableViews); // viewIt.toFront(); // while(viewIt.hasNext()) // { @@ -382,13 +555,13 @@ void WaypointList::waypointListChanged() // } // if (i == waypoints.size()) // { -// WaypointView* widget = wpViews.find(cur).value(); +// WaypointEditableView* widget = wpEditableViews.find(cur).value(); // if (widget) // { // widget->hide(); -// listLayout->removeWidget(widget); +// editableListLayout->removeWidget(widget); // } -// wpViews.remove(cur); +// wpEditableViews.remove(cur); // } // } // } @@ -397,19 +570,19 @@ void WaypointList::waypointListChanged() // for(int i = 0; i < waypoints.size(); i++) // { // Waypoint *wp = waypoints[i]; -// if (!wpViews.contains(wp)) +// if (!wpEditableViews.contains(wp)) // { -// WaypointView* wpview = new WaypointView(wp, this); -// wpViews.insert(wp, wpview); +// WaypointEditableView* wpview = new WaypointEditableView(wp, this); +// wpEditableViews.insert(wp, wpview); // connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*))); // connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*))); // connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*))); // connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); // connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16))); // } -// WaypointView *wpv = wpViews.value(wp); +// WaypointEditableView *wpv = wpEditableViews.value(wp); // wpv->updateValues(); // update the values of the ui elements in the view -// listLayout->addWidget(wpv); +// editableListLayout->addWidget(wpv); // } // this->setUpdatesEnabled(true); @@ -420,7 +593,7 @@ void WaypointList::waypointListChanged() void WaypointList::moveUp(Waypoint* wp) { if (uas) { - const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); + const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); //get the current position of wp in the local storage int i; @@ -439,7 +612,7 @@ void WaypointList::moveUp(Waypoint* wp) void WaypointList::moveDown(Waypoint* wp) { if (uas) { - const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); + const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); //get the current position of wp in the local storage int i; @@ -481,9 +654,9 @@ void WaypointList::on_clearWPListButton_clicked() if (uas) { emit clearPathclicked(); - const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); + const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++) - WaypointView* widget = wpViews.find(waypoints[0]).value(); + WaypointEditableView* widget = wpEditableViews.find(waypoints[0]).value(); widget->remove(); } } else { @@ -500,7 +673,7 @@ void WaypointList::on_clearWPListButton_clicked() //{ // if (uas) // { -// const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); +// const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); // if (waypoints.size() > 0) // { // Waypoint *temp = waypoints.at(indexWP); @@ -532,9 +705,9 @@ void WaypointList::on_clearWPListButton_clicked() void WaypointList::clearWPWidget() { if (uas) { - const QVector &waypoints = uas->getWaypointManager()->getWaypointList(); + const QVector &waypoints = uas->getWaypointManager()->getWaypointEditableList(); while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++) - WaypointView* widget = wpViews.find(waypoints[0]).value(); + WaypointEditableView* widget = wpEditableViews.find(waypoints[0]).value(); widget->remove(); } } diff --git a/src/ui/WaypointList.h b/src/ui/WaypointList.h index e5a77f017510872b3c2d0c64b7b41fd241e1cc10..3af991589ba29b71afcd1b619db3ff57d93ad5a2 100644 --- a/src/ui/WaypointList.h +++ b/src/ui/WaypointList.h @@ -40,8 +40,8 @@ This file is part of the QGROUNDCONTROL project #include #include "Waypoint.h" #include "UASInterface.h" -#include "WaypointView.h" - +#include "WaypointEditableView.h" +#include "WaypointViewOnlyView.h" namespace Ui { @@ -69,12 +69,16 @@ public slots: void loadWaypoints(); /** @brief Transmit the local waypoint list to the UAS */ void transmit(); - /** @brief Read the remote waypoint list */ + /** @brief Read the remote waypoint list to both tabs */ void read(); - /** @brief Add a waypoint */ - void add(); + /** @brief Read the remote waypoint list to "view"-tab only*/ + void refresh(); + /** @brief Add a waypoint to "edit"-tab */ + void addEditable(); + /** @brief Add a waypoint to "view"-tab */ + // void addViewOnly(); /** @brief Add a waypoint at the current MAV position */ - void addCurrentPositonWaypoint(); + void addCurrentPositionWaypoint(); /** @brief Add a waypoint by mouse click over the map */ //Update events @@ -82,12 +86,18 @@ public slots: void updateStatusLabel(const QString &string); /** @brief The user wants to change the current waypoint */ void changeCurrentWaypoint(quint16 seq); - /** @brief The waypoint planner changed the current waypoint */ - void currentWaypointChanged(quint16 seq); - /** @brief The waypoint manager informs that one waypoint was changed */ - void updateWaypoint(int uas, Waypoint* wp); - /** @brief The waypoint manager informs that the waypoint list was changed */ - void waypointListChanged(void); + /** @brief Current waypoint in edit-tab was changed, so the list must be updated (to contain only one waypoint checked as "current") */ + void currentWaypointEditableChanged(quint16 seq); + /** @brief Current waypoint on UAV was changed, update view-tab */ + void currentWaypointViewOnlyChanged(quint16 seq); + /** @brief The waypoint manager informs that one editable waypoint was changed */ + void updateWaypointEditable(int uas, Waypoint* wp); + /** @brief The waypoint manager informs that one viewonly waypoint was changed */ + void updateWaypointViewOnly(int uas, Waypoint* wp); + /** @brief The waypoint manager informs that the editable waypoint list was changed */ + void waypointEditableListChanged(void); + /** @brief The waypoint manager informs that the waypoint list on the MAV was changed */ + void waypointViewOnlyListChanged(void); // /** @brief The MapWidget informs that a waypoint global was changed on the map */ // void waypointGlobalChanged(const QPointF coordinate, const int indexWP); @@ -115,8 +125,10 @@ protected: virtual void changeEvent(QEvent *e); protected: - QMap wpViews; - QVBoxLayout* listLayout; + QMap wpEditableViews; + QMap wpViewOnlyViews; + QVBoxLayout* viewOnlyListLayout; + QVBoxLayout* editableListLayout; UASInterface* uas; double mavX; double mavY; diff --git a/src/ui/WaypointList.ui b/src/ui/WaypointList.ui index c00a83ca2b503274df6a39e6486a6c748ba7a4d4..b728e5271dac9c4484a87f3d3859a8a85a88911b 100644 --- a/src/ui/WaypointList.ui +++ b/src/ui/WaypointList.ui @@ -6,8 +6,8 @@ 0 0 - 476 - 218 + 854 + 398 @@ -19,44 +19,355 @@ Form - - - 4 + + + 0 + + + 8 + + + 0 + + + 0 - 4 + 0 - - - - true - - - - - 0 - 0 - 464 - 158 - - - + + + + 0 + + + + Edit Waypoints + + + + 6 + + + 0 + + + 6 + + + 6 + + 6 + + + + + true + + + + + 0 + 0 + 834 + 325 + + + + + 0 + + + 4 + + + 8 + + + 4 + + + 4 + + + + + Waypoint list. The list is empty until you issue a read command or add waypoints. + + + Waypoint list. The list is empty until you issue a read command or add waypoints. + + + Waypoint list. The list is empty until you issue a read command or add waypoints. + + + + + + + + + + + Save waypoints to a file on the local harddisk. Does not save them on the MAV. + + + Save waypoints to a file on the local harddisk. Does not save them on the MAV. + + + Save waypoints to a file on the local harddisk. Does not save them on the MAV. + + + Save WPs + + + + + + + Load waypoints from a file on the local harddisk. Does not load the waypoints on the MAV. + + + Load waypoints from a file on the local harddisk. Does not load the waypoints on the MAV. + + + Load waypoints from a file on the local harddisk. Does not load the waypoints on the MAV. + + + Load WPs + + + + + + + Qt::Horizontal + + + + 127 + 20 + + + + + + + + Set the current vehicle position as new waypoint + + + Set the current vehicle position as new waypoint + + + Set the current vehicle position as new waypoint + + + ... + + + + :/images/actions/go-bottom.svg:/images/actions/go-bottom.svg + + + + + + + Add a new waypoint to this list. Transmit via write to the MAV. + + + Add a new waypoint to this list. Transmit via write to the MAV. + + + Add a new waypoint to this list. Transmit via write to the MAV. + + + ... + + + + :/images/actions/list-add.svg:/images/actions/list-add.svg + + + + + + + Delete all waypoints from this list. You have to click write to clear the list on the MAV as well. + + + Delete all waypoints from this list. You have to click write to clear the list on the MAV as well. + + + Delete all waypoints from this list. You have to click write to clear the list on the MAV as well. + + + ... + + + + :/images/actions/process-stop.svg:/images/actions/process-stop.svg + + + + + + + Read all waypoints from the MAV. Clears the list on this computer. + + + Read all waypoints from the MAV. Clears the list on this computer. + + + Read all waypoints from the MAV. Clears the list on this computer. + + + Read + + + + :/images/status/software-update-available.svg:/images/status/software-update-available.svg + + + + + + + Transmit all waypoints on this list to the MAV. + + + Transmit all waypoints on this list to the MAV. + + + Transmit all waypoints on this list to the MAV. + + + Write + + + + :/images/devices/network-wireless.svg:/images/devices/network-wireless.svg + + + + + + + The current waypoint transmission status + + + The current waypoint transmission status + + + The current waypoint transmission status + + + Please add first waypoint. + + + + + + + + Onboard Waypoints + + + + 6 + + 0 - - 4 + + 6 + + + 6 + + + 6 - - + + + + true + + + + + 0 + 0 + 834 + 331 + + + + true + + + + 4 + + + 8 + + + 4 + + + 4 + + + + + true + + + + + + + + + + + Qt::Horizontal + + + + 714 + 20 + + + + + + - Waypoint list. The list is empty until you issue a read command or add waypoints. + Read all waypoints from the MAV and display in View tab.. - Waypoint list. The list is empty until you issue a read command or add waypoints. + Read all waypoints from the MAV and display in View tab.. - Waypoint list. The list is empty until you issue a read command or add waypoints. + Read all waypoints from the MAV and display in View tab. + + + Refresh + + + + :/images/actions/go-jump.svg:/images/actions/go-jump.svg + + + + + + + TextLabel @@ -64,171 +375,10 @@ - - - - Read all waypoints from the MAV. Clears the list on this computer. - - - Read all waypoints from the MAV. Clears the list on this computer. - - - Read all waypoints from the MAV. Clears the list on this computer. - - - Read - - - - :/images/status/software-update-available.svg:/images/status/software-update-available.svg - - - - - - - Transmit all waypoints on this list to the MAV. - - - Transmit all waypoints on this list to the MAV. - - - Transmit all waypoints on this list to the MAV. - - - Write - - - - :/images/devices/network-wireless.svg:/images/devices/network-wireless.svg - - - - - - - The current waypoint transmission status - - - The current waypoint transmission status - - - The current waypoint transmission status - - - TextLabel - - - - - - - Add a new waypoint to this list. Transmit via write to the MAV. - - - Add a new waypoint to this list. Transmit via write to the MAV. - - - Add a new waypoint to this list. Transmit via write to the MAV. - - - ... - - - - :/images/actions/list-add.svg:/images/actions/list-add.svg - - - - - - - Load waypoints from a file on the local harddisk. Does not load the waypoints on the MAV. - - - Load waypoints from a file on the local harddisk. Does not load the waypoints on the MAV. - - - Load waypoints from a file on the local harddisk. Does not load the waypoints on the MAV. - - - Load WPs - - - - - - - Save waypoints to a file on the local harddisk. Does not save them on the MAV. - - - Save waypoints to a file on the local harddisk. Does not save them on the MAV. - - - Save waypoints to a file on the local harddisk. Does not save them on the MAV. - - - Save WPs - - - - - - - Qt::Horizontal - - - - 127 - 20 - - - - - - - - Set the current vehicle position as new waypoint - - - Set the current vehicle position as new waypoint - - - Set the current vehicle position as new waypoint - - - ... - - - - :/images/actions/go-bottom.svg:/images/actions/go-bottom.svg - - - - - - - Delete all waypoints from this list. You have to click write to clear the list on the MAV as well. - - - Delete all waypoints from this list. You have to click write to clear the list on the MAV as well. - - - Delete all waypoints from this list. You have to click write to clear the list on the MAV as well. - - - ... - - - - :/images/actions/process-stop.svg:/images/actions/process-stop.svg - - - - + :/images/actions/list-add.svg:/images/actions/list-add.svg @@ -240,7 +390,7 @@ - + :/images/devices/network-wireless.svg:/images/devices/network-wireless.svg @@ -252,7 +402,7 @@ - + :/images/status/software-update-available.svg:/images/status/software-update-available.svg @@ -261,7 +411,7 @@ - + diff --git a/src/ui/WaypointViewOnlyView.cc b/src/ui/WaypointViewOnlyView.cc new file mode 100644 index 0000000000000000000000000000000000000000..2980972b0a65c01582668ce86947de40536b28ed --- /dev/null +++ b/src/ui/WaypointViewOnlyView.cc @@ -0,0 +1,209 @@ +#include +#include "WaypointViewOnlyView.h" +#include "ui_WaypointViewOnlyView.h" + +WaypointViewOnlyView::WaypointViewOnlyView(Waypoint* wp, QWidget *parent) : + QWidget(parent), + m_ui(new Ui::WaypointViewOnlyView) +{ + m_ui->setupUi(this); + this->wp = wp; + updateValues(); + + connect(m_ui->current, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int))); + connect(m_ui->autoContinue, SIGNAL(stateChanged(int)),this, SLOT(changedAutoContinue(int))); +} + +void WaypointViewOnlyView::changedAutoContinue(int state) +{ + bool new_value = false; + if (state != 0) + { + new_value = true; + } + m_ui->autoContinue->blockSignals(true); + m_ui->autoContinue->setChecked(state); + m_ui->autoContinue->blockSignals(false); + wp->setAutocontinue(new_value); + emit changeAutoContinue(wp->getId(),new_value); +} + +void WaypointViewOnlyView::changedCurrent(int state) +{ + qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId(); + m_ui->current->blockSignals(true); + if (state == 0) + { + /* + + m_ui->current->setStyleSheet(""); + + */ + if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current + { + m_ui->current->setChecked(true); + m_ui->current->setCheckState(Qt::Checked); + } + else + { + m_ui->current->setChecked(false); + m_ui->current->setCheckState(Qt::Unchecked); + wp->setCurrent(false); + } + } + else + { + /* + FIXME: The checkbox should turn gray to indicate, that set_current request has been sent to UAV. It should become blue (checked) after receiving set_current_ack from waypointplanner. + + m_ui->current->setStyleSheet("*::indicator { \ + border: 1px solid #777777; \ + border-radius: 2px; \ + color: #999999; \ + width: 10px; \ + height: 10px; \ + }"); + */ + wp->setCurrent(true); + emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false + } + m_ui->current->blockSignals(false); +} + +void WaypointViewOnlyView::setCurrent(bool state) +{ + m_ui->current->blockSignals(true); + m_ui->current->setChecked(state); + m_ui->current->blockSignals(false); +} + +void WaypointViewOnlyView::updateValues() +{ + qDebug() << "Trof: WaypointViewOnlyView::updateValues() ID:" << wp->getId(); + // Check if we just lost the wp, delete the widget + // accordingly + if (!wp) + { + deleteLater(); + return; + } + + // Update style + + QColor backGroundColor = QGC::colorBackground; + + static int lastId = -1; + int currId = wp->getId() % 2; + + if (currId != lastId) + { + + // qDebug() << "COLOR ID: " << currId; + if (currId == 1) + { + backGroundColor = QColor("#252528").lighter(150); + } + else + { + backGroundColor = QColor("#252528").lighter(250); + } + + // Update color based on id + QString groupBoxStyle = QString("QGroupBox {padding: 0px; margin: 0px; border: 0px; background-color: %1; min-height: 12px; }").arg(backGroundColor.name()); + QString labelStyle = QString("QWidget {background-color: %1; color: #DDDDDF; border-color: #EEEEEE; }").arg(backGroundColor.name()); + QString displayBarStyle = QString("QWidget {background-color: %1; color: #DDDDDF; border: none; }").arg(backGroundColor.name()); + QString checkBoxStyle = QString("QCheckBox {background-color: %1; color: #454545; border-color: #EEEEEE; }").arg(backGroundColor.name()); + + m_ui->autoContinue->setStyleSheet(checkBoxStyle); + m_ui->current->setStyleSheet(checkBoxStyle); + m_ui->idLabel->setStyleSheet(labelStyle); + m_ui->displayBar->setStyleSheet(displayBarStyle); + m_ui->groupBox->setStyleSheet(groupBoxStyle); + lastId = currId; + } + + // update frame + + m_ui->idLabel->setText(QString("%1").arg(wp->getId())); + + if (m_ui->current->isChecked() != wp->getCurrent()) + { + m_ui->current->blockSignals(true); + m_ui->current->setChecked(wp->getCurrent()); + m_ui->current->blockSignals(false); + } + if (m_ui->autoContinue->isChecked() != wp->getAutoContinue()) + { + m_ui->autoContinue->blockSignals(true); + m_ui->autoContinue->setChecked(wp->getAutoContinue()); + m_ui->autoContinue->blockSignals(false); + } + + switch (wp->getAction()) + { + case MAV_CMD_NAV_WAYPOINT: + { + if (wp->getParam1()>0) + { + m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2())); + } + else + { + m_ui->displayBar->setText(QString("Go to (%1, %2, %3); yaw: %4; rad: %5").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()).arg(wp->getParam2())); + } + break; + } + case MAV_CMD_NAV_LAND: + { + m_ui->displayBar->setText(QString("LAND. Go to (%1, %2, %3) and descent; yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4())); + break; + } + case MAV_CMD_NAV_TAKEOFF: + { + m_ui->displayBar->setText(QString("TAKEOFF. Go to (%1, %2, %3); yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4())); + break; + } + case MAV_CMD_DO_JUMP: + { + if (wp->getParam2()>0) + { + m_ui->displayBar->setText(QString("Jump to waypoint %1. Jumps left: %2").arg(wp->getParam1()).arg(wp->getParam2())); + } + else + { + m_ui->displayBar->setText(QString("No jumps left. Proceed to next waypoint.")); + } + break; + } + case MAV_CMD_CONDITION_DELAY: + { + m_ui->displayBar->setText(QString("Delay: %1 sec").arg(wp->getParam1())); + break; + } + case 237: //MAV_CMD_DO_START_SEARCH + { + m_ui->displayBar->setText(QString("Start searching for pattern. Success when got more than %2 detections with confidence %1").arg(wp->getParam1()).arg(wp->getParam2())); + break; + } + case 238: //MAV_CMD_DO_FINISH_SEARCH + { + m_ui->displayBar->setText(QString("Check if search was successful. yes -> jump to %1, no -> jump to %2. Jumps left: %3").arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3())); + break; + } + case 240: //MAV_CMD_DO_SWEEP + { + m_ui->displayBar->setText(QString("Sweep. Corners: (%1,%2) and (%3,%4); z: %5; scan radius: %6").arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()).arg(wp->getParam1())); + break; + } + default: + { + m_ui->displayBar->setText(QString("Unknown Command ID (%1) : %2, %3, %4, %5, %6, %7, %8").arg(wp->getAction()).arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7())); + break; + } + } +} + +WaypointViewOnlyView::~WaypointViewOnlyView() +{ + delete m_ui; +} diff --git a/src/ui/WaypointViewOnlyView.h b/src/ui/WaypointViewOnlyView.h new file mode 100644 index 0000000000000000000000000000000000000000..099a3d8b2a425b2dec44b93161c090e59076c2ad --- /dev/null +++ b/src/ui/WaypointViewOnlyView.h @@ -0,0 +1,37 @@ +#ifndef WAYPOINTVIEWONLYVIEW_H +#define WAYPOINTVIEWONLYVIEW_H + +#include +#include "Waypoint.h" +#include + +namespace Ui { + class WaypointViewOnlyView; +} + +class WaypointViewOnlyView : public QWidget +{ + Q_OBJECT + +public: + explicit WaypointViewOnlyView(Waypoint* wp, QWidget *parent = 0); + ~WaypointViewOnlyView(); + +public slots: +void changedCurrent(int state); +void changedAutoContinue(int state); +void updateValues(void); +void setCurrent(bool state); + +signals: + void changeCurrentWaypoint(quint16); + void changeAutoContinue(quint16, bool); + +protected: +Waypoint* wp; + +private: + Ui::WaypointViewOnlyView *m_ui; +}; + +#endif // WAYPOINTVIEWONLYVIEW_H diff --git a/src/ui/WaypointViewOnlyView.ui b/src/ui/WaypointViewOnlyView.ui new file mode 100644 index 0000000000000000000000000000000000000000..eb35191b1e7eb177f0aae79903008c8b8466ba8a --- /dev/null +++ b/src/ui/WaypointViewOnlyView.ui @@ -0,0 +1,141 @@ + + + WaypointViewOnlyView + + + + 0 + 0 + 381 + 40 + + + + + 0 + 0 + + + + Form + + + + + + + 0 + + + 2 + + + 0 + + + 2 + + + 0 + + + + + true + + + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + + false + + + false + + + + 6 + + + 2 + + + 0 + + + 2 + + + 0 + + + + + Currently executed waypoint + + + Currently executed waypoint + + + + + + + + + + ID + + + + + + + + 0 + 0 + + + + + 16777215 + 31 + + + + + 8 + + + + QFrame::NoFrame + + + QFrame::Sunken + + + + + + + Automatically continue after this waypoint + + + Automatically continue after this waypoint + + + + + + + + + + + + + + diff --git a/src/ui/designer/QGCActionButton.cc b/src/ui/designer/QGCActionButton.cc deleted file mode 100644 index 72753e91ff1f804369e3aa76b1ad29a91c3b6ab6..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCActionButton.cc +++ /dev/null @@ -1,136 +0,0 @@ -#include "QGCActionButton.h" -#include "ui_QGCActionButton.h" - -#include "MAVLinkProtocol.h" -#include "UASManager.h" - -const char* kActionLabels[MAV_ACTION_NB] = { - "HOLD", - "START MOTORS", - "LAUNCH", - "RETURN", - "EMERGENCY LAND", - "EMERGENCY KILL", - "CONFIRM KILL", - "CONTINUE", - "STOP MOTORS", - "HALT", - "SHUTDOWN", - "REBOOT", - "SET MANUAL", - "SET AUTO", - "READ STORAGE", - "WRITE STORAGE", - "CALIBRATE RC", - "CALIBRATE GYRO", - "CALIBRATE MAG", - "CALIBRATE ACC", - "CALIBRATE PRESSURE", - "START REC", - "PAUSE REC", - "STOP REC", - "TAKEOFF", - "NAVIGATE", - "LAND", - "LOITER", - "SET ORIGIN", - "RELAY ON", -//"RELAY OFF", -//"GET IMAGE", -//"START VIDEO", -//"STOP VIDEO", - "RESET MAP", - "RESET PLAN" -}; - -QGCActionButton::QGCActionButton(QWidget *parent) : - QGCToolWidgetItem("Button", parent), - ui(new Ui::QGCActionButton), - uas(NULL) -{ - ui->setupUi(this); - - connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction())); - connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode())); - connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString))); - connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString))); - - // Hide all edit items - ui->editActionComboBox->hide(); - ui->editActionsRefreshButton->hide(); - ui->editFinishButton->hide(); - ui->editNameLabel->hide(); - ui->editButtonName->hide(); - - // add action labels to combobox - for (int i = 0; i < MAV_ACTION_NB; i++) { - ui->editActionComboBox->addItem(kActionLabels[i]); - } -} - -QGCActionButton::~QGCActionButton() -{ - delete ui; -} - -void QGCActionButton::sendAction() -{ - if (QGCToolWidgetItem::uas) { - MAV_ACTION action = static_cast( - ui->editActionComboBox->currentIndex()); - - QGCToolWidgetItem::uas->setAction(action); - } else { - qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING"; - } -} - -void QGCActionButton::setActionButtonName(QString text) -{ - ui->actionButton->setText(text); -} - -void QGCActionButton::startEditMode() -{ - ui->editActionComboBox->show(); - ui->editActionsRefreshButton->show(); - ui->editFinishButton->show(); - ui->editNameLabel->show(); - ui->editButtonName->show(); - isInEditMode = true; -} - -void QGCActionButton::endEditMode() -{ - ui->editActionComboBox->hide(); - ui->editActionsRefreshButton->hide(); - ui->editFinishButton->hide(); - ui->editNameLabel->hide(); - ui->editButtonName->hide(); - - // Write to settings - emit editingFinished(); - - isInEditMode = false; -} - -void QGCActionButton::writeSettings(QSettings& settings) -{ - settings.setValue("TYPE", "BUTTON"); - settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text()); - settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->actionButton->text()); - settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editActionComboBox->currentIndex()); - settings.sync(); -} - -void QGCActionButton::readSettings(const QSettings& settings) -{ - ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); - ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); - ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt()); - - ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); - ui->actionButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); - ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt()); - qDebug() << "DONE READING SETTINGS"; -} diff --git a/src/ui/designer/QGCActionButton.h b/src/ui/designer/QGCActionButton.h deleted file mode 100644 index a145e9a00be5c3d947eff113c293296a0ccb82ec..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCActionButton.h +++ /dev/null @@ -1,34 +0,0 @@ -#ifndef QGCACTIONBUTTON_H -#define QGCACTIONBUTTON_H - -#include "QGCToolWidgetItem.h" - -namespace Ui -{ -class QGCActionButton; -} - -class UASInterface; - -class QGCActionButton : public QGCToolWidgetItem -{ - Q_OBJECT - -public: - explicit QGCActionButton(QWidget *parent = 0); - ~QGCActionButton(); - -public slots: - void sendAction(); - void setActionButtonName(QString text); - void startEditMode(); - void endEditMode(); - void writeSettings(QSettings& settings); - void readSettings(const QSettings& settings); - -private: - Ui::QGCActionButton *ui; - UASInterface* uas; -}; - -#endif // QGCACTIONBUTTON_H diff --git a/src/ui/designer/QGCCommandButton.cc b/src/ui/designer/QGCCommandButton.cc index eae29346821e81363086d9e212262c67969857b6..c1430175d13993885b558c5b1241dcabdf4809f6 100644 --- a/src/ui/designer/QGCCommandButton.cc +++ b/src/ui/designer/QGCCommandButton.cc @@ -37,6 +37,38 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) : // Add commands to combo box ui->editCommandComboBox->addItem("DO: Control Video", MAV_CMD_DO_CONTROL_VIDEO); ui->editCommandComboBox->addItem("PREFLIGHT: Calibration", MAV_CMD_PREFLIGHT_CALIBRATION); + ui->editCommandComboBox->addItem("CUSTOM 0", 0); + ui->editCommandComboBox->addItem("CUSTOM 1", 1); + ui->editCommandComboBox->addItem("CUSTOM 2", 2); + ui->editCommandComboBox->addItem("CUSTOM 3", 3); + ui->editCommandComboBox->addItem("CUSTOM 4", 4); + ui->editCommandComboBox->addItem("CUSTOM 5", 5); + ui->editCommandComboBox->addItem("CUSTOM 6", 6); + ui->editCommandComboBox->addItem("CUSTOM 7", 7); + ui->editCommandComboBox->addItem("CUSTOM 8", 8); + ui->editCommandComboBox->addItem("CUSTOM 9", 9); + ui->editCommandComboBox->addItem("CUSTOM 10", 10); + ui->editCommandComboBox->addItem("CUSTOM 11", 11); + ui->editCommandComboBox->addItem("CUSTOM 12", 12); + ui->editCommandComboBox->addItem("CUSTOM 13", 13); + ui->editCommandComboBox->addItem("CUSTOM 14", 14); + ui->editCommandComboBox->addItem("CUSTOM 15", 15); + ui->editCommandComboBox->addItem("NAV_WAYPOINT", 16); + ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", 17); + ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", 18); + ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", 19); + ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", 20); + ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", 21); + ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", 22); + ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", 80); + ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", 81); + ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", 176); + ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", 178); + ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", 179); + ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", 181); + ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", 182); + ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", 183); + ui->editCommandComboBox->setEditable(true); } QGCCommandButton::~QGCCommandButton() @@ -58,6 +90,7 @@ void QGCCommandButton::sendCommand() int component = ui->editComponentSpinBox->value(); QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, component); + qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index; } else { qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING"; } @@ -120,10 +153,11 @@ void QGCCommandButton::endEditMode() void QGCCommandButton::writeSettings(QSettings& settings) { + qDebug() << "COMMAND BUTTON WRITING SETTINGS"; settings.setValue("TYPE", "COMMANDBUTTON"); settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text()); settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->commandButton->text()); - settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editCommandComboBox->currentIndex()); + settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt()); settings.setValue("QGC_COMMAND_BUTTON_PARAMS_VISIBLE", ui->editParamsVisibleCheckBox->isChecked()); settings.sync(); } @@ -136,14 +170,29 @@ void QGCCommandButton::readSettings(const QSettings& settings) ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); ui->commandButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); - ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt()); + + int commandId = settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt(); + ui->editCommandComboBox->setCurrentIndex(0); + + // Find combobox entry for this data + for (int i = 0; i < ui->editCommandComboBox->count(); ++i) + { + if (commandId == ui->editCommandComboBox->itemData(i).toInt()) + { + ui->editCommandComboBox->setCurrentIndex(i); + } + } + ui->editParamsVisibleCheckBox->setChecked(settings.value("QGC_COMMAND_BUTTON_PARAMS_VISIBLE").toBool()); - if (ui->editParamsVisibleCheckBox->isChecked()) { + if (ui->editParamsVisibleCheckBox->isChecked()) + { ui->editParam1SpinBox->show(); ui->editParam2SpinBox->show(); ui->editParam3SpinBox->show(); ui->editParam4SpinBox->show(); - } else { + } + else + { ui->editParam1SpinBox->hide(); ui->editParam2SpinBox->hide(); ui->editParam3SpinBox->hide(); diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc index 9b97b588e14f460c3f7bb2ed8e5a69bea3cf68e9..c73f460bdf22024f589be90225b68a3b96c49e3c 100644 --- a/src/ui/designer/QGCParamSlider.cc +++ b/src/ui/designer/QGCParamSlider.cc @@ -17,10 +17,10 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) : parameterMin(0.0f), parameterMax(0.0f), component(0), - parameterIndex(-1), ui(new Ui::QGCParamSlider) { ui->setupUi(this); + ui->intValueSpinBox->hide(); uas = NULL; scaledInt = ui->valueSlider->maximum() - ui->valueSlider->minimum(); @@ -46,16 +46,18 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) : connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectComponent(int))); connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectParameter(int))); connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int))); - connect(ui->valueSpinBox, SIGNAL(valueChanged(double)), this, SLOT(setParamValue(double))); + connect(ui->doubleValueSpinBox, SIGNAL(valueChanged(double)), this, SLOT(setParamValue(double))); + connect(ui->intValueSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setParamValue(int))); connect(ui->editNameLabel, SIGNAL(textChanged(QString)), ui->nameLabel, SLOT(setText(QString))); connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter())); connect(ui->editRefreshParamsButton, SIGNAL(clicked()), this, SLOT(refreshParamList())); // Set the current UAS if present + connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); setActiveUAS(UASManager::instance()->getActiveUAS()); - // Get param value - QTimer::singleShot(1000, this, SLOT(requestParameter())); + // Get param value after settings have been loaded + QTimer::singleShot(300, this, SLOT(requestParameter())); } QGCParamSlider::~QGCParamSlider() @@ -67,32 +69,51 @@ void QGCParamSlider::refreshParamList() { ui->editSelectParamComboBox->setEnabled(true); ui->editSelectComponentComboBox->setEnabled(true); - if (uas) { + if (uas) + { uas->getParamManager()->requestParameterList(); } } void QGCParamSlider::setActiveUAS(UASInterface* activeUas) { - if (activeUas) { - if (uas) { - disconnect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(setParameterValue(int,int,int,int,QString,float))); + if (activeUas) + { + if (uas) + { + disconnect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(setParameterValue(int,int,int,int,QString,QVariant))); } // Connect buttons and signals - connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(setParameterValue(int,int,int,int,QString,float)), Qt::UniqueConnection); + connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(setParameterValue(int,int,int,int,QString,QVariant)), Qt::UniqueConnection); uas = activeUas; + // Update current param value + if (parameterName == "") + { + refreshParamList(); + } + else + { + requestParameter(); + } } } void QGCParamSlider::requestParameter() { - if (parameterIndex != -1 && uas) { - uas->requestParameter(this->component, this->parameterIndex); + if (!parameterName.isEmpty() && uas) + { + uas->getParamManager()->requestParameterUpdate(this->component, this->parameterName); } } void QGCParamSlider::setParamValue(double value) +{ + parameterValue = (float)value; + ui->valueSlider->setValue(floatToScaledInt(value)); +} + +void QGCParamSlider::setParamValue(int value) { parameterValue = value; ui->valueSlider->setValue(floatToScaledInt(value)); @@ -105,14 +126,39 @@ void QGCParamSlider::selectComponent(int componentIndex) void QGCParamSlider::selectParameter(int paramIndex) { + // Set name parameterName = ui->editSelectParamComboBox->itemText(paramIndex); - parameterIndex = ui->editSelectParamComboBox->itemData(paramIndex).toInt(); + + // Update min and max values if available + if (uas) + { + if (uas->getParamManager()) + { + // Current value + uas->getParamManager()->requestParameterUpdate(component, parameterName); + + // Minimum + if (uas->getParamManager()->isParamMinKnown(parameterName)) + { + parameterMin = uas->getParamManager()->getParamMin(parameterName); + ui->editMinSpinBox->setValue(parameterMin); + } + + // Maximum + if (uas->getParamManager()->isParamMaxKnown(parameterName)) + { + parameterMax = uas->getParamManager()->getParamMax(parameterName); + ui->editMaxSpinBox->setValue(parameterMax); + } + } + } } void QGCParamSlider::startEditMode() { ui->valueSlider->hide(); - ui->valueSpinBox->hide(); + ui->doubleValueSpinBox->hide(); + ui->intValueSpinBox->hide(); ui->nameLabel->hide(); ui->writeButton->hide(); ui->readButton->hide(); @@ -157,7 +203,21 @@ void QGCParamSlider::endEditMode() ui->writeButton->show(); ui->readButton->show(); ui->valueSlider->show(); - ui->valueSpinBox->show(); + switch (parameterValue.type()) + { + case QVariant::Int: + ui->intValueSpinBox->show(); + break; + case QVariant::UInt: + ui->intValueSpinBox->show(); + break; + case QMetaType::Float: + ui->doubleValueSpinBox->show(); + break; + default: + qCritical() << "ERROR: NO VALID PARAM TYPE"; + return; + } ui->nameLabel->show(); isInEditMode = false; emit editingFinished(); @@ -165,20 +225,44 @@ void QGCParamSlider::endEditMode() void QGCParamSlider::sendParameter() { - if (uas) { + if (uas) + { // Set value, param manager handles retransmission - uas->getParamManager()->setParameter(component, parameterName, parameterValue); - } else { + if (uas->getParamManager()) + { + uas->getParamManager()->setParameter(component, parameterName, parameterValue); + } + else + { + qDebug() << "UAS HAS NO PARAM MANAGER, DOING NOTHING"; + } + } + else + { qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING"; } } void QGCParamSlider::setSliderValue(int sliderValue) { - parameterValue = scaledIntToFloat(sliderValue); - ui->valueSpinBox->setValue(parameterValue); -// QString unit(""); -// ui->valueLabel->setText(QString("%1 %2").arg(parameterValue, 6, 'f', 6, ' ').arg(unit)); + switch (parameterValue.type()) + { + case QVariant::Int: + parameterValue = (int)scaledIntToFloat(sliderValue); + ui->intValueSpinBox->setValue(parameterValue.toInt()); + break; + case QVariant::UInt: + parameterValue = (unsigned int)scaledIntToFloat(sliderValue); + ui->intValueSpinBox->setValue(parameterValue.toUInt()); + break; + case QMetaType::Float: + parameterValue = scaledIntToFloat(sliderValue); + ui->doubleValueSpinBox->setValue(parameterValue.toFloat()); + break; + default: + qCritical() << "ERROR: NO VALID PARAM TYPE"; + return; + } } /** @@ -187,38 +271,67 @@ void QGCParamSlider::setSliderValue(int sliderValue) * @brief parameterName Key/name of the parameter * @brief value Value of the parameter */ -void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, float value) +void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, QVariant value) { Q_UNUSED(paramCount); // Check if this component and parameter are part of the list bool found = false; - for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i) { - if (component == ui->editSelectComponentComboBox->itemData(i).toInt()) { + for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i) + { + if (component == ui->editSelectComponentComboBox->itemData(i).toInt()) + { found = true; } } - if (!found) { + if (!found) + { ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(component), component); } // Parameter checking found = false; - for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i) { - if (parameterName == ui->editSelectParamComboBox->itemText(i)) { + for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i) + { + if (parameterName == ui->editSelectParamComboBox->itemText(i)) + { found = true; } } - if (!found) { + if (!found) + { ui->editSelectParamComboBox->addItem(parameterName, paramIndex); } Q_UNUSED(uas); - if (component == this->component && parameterName == this->parameterName) { + if (component == this->component && parameterName == this->parameterName) + { parameterValue = value; - ui->valueSpinBox->setValue(value); - ui->valueSlider->setValue(floatToScaledInt(value)); + switch (value.type()) + { + case QVariant::Int: + ui->intValueSpinBox->show(); + ui->doubleValueSpinBox->hide(); + ui->intValueSpinBox->setValue(value.toDouble()); + ui->intValueSpinBox->setMinimum(-ui->intValueSpinBox->maximum()); + break; + case QVariant::UInt: + ui->intValueSpinBox->show(); + ui->doubleValueSpinBox->hide(); + ui->intValueSpinBox->setValue(value.toDouble()); + ui->intValueSpinBox->setMinimum(0); + break; + case QMetaType::Float: + ui->doubleValueSpinBox->setValue(value.toDouble()); + ui->doubleValueSpinBox->show(); + ui->intValueSpinBox->hide(); + break; + default: + qCritical() << "ERROR: NO VALID PARAM TYPE"; + return; + } + ui->valueSlider->setValue(floatToScaledInt(value.toDouble())); } } @@ -254,7 +367,6 @@ void QGCParamSlider::writeSettings(QSettings& settings) settings.setValue("QGC_PARAM_SLIDER_DESCRIPTION", ui->nameLabel->text()); //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text()); settings.setValue("QGC_PARAM_SLIDER_PARAMID", parameterName); - settings.setValue("QGC_PARAM_SLIDER_PARAMINDEX", parameterIndex); settings.setValue("QGC_PARAM_SLIDER_COMPONENTID", component); settings.setValue("QGC_PARAM_SLIDER_MIN", ui->editMinSpinBox->value()); settings.setValue("QGC_PARAM_SLIDER_MAX", ui->editMaxSpinBox->value()); @@ -263,11 +375,13 @@ void QGCParamSlider::writeSettings(QSettings& settings) void QGCParamSlider::readSettings(const QSettings& settings) { + parameterName = settings.value("QGC_PARAM_SLIDER_PARAMID").toString(); + component = settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt(); ui->nameLabel->setText(settings.value("QGC_PARAM_SLIDER_DESCRIPTION").toString()); ui->editNameLabel->setText(settings.value("QGC_PARAM_SLIDER_DESCRIPTION").toString()); //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text()); - parameterIndex = settings.value("QGC_PARAM_SLIDER_PARAMINDEX", parameterIndex).toInt(); - ui->editSelectParamComboBox->addItem(settings.value("QGC_PARAM_SLIDER_PARAMID").toString(), parameterIndex); + ui->editSelectParamComboBox->addItem(settings.value("QGC_PARAM_SLIDER_PARAMID").toString()); + ui->editSelectParamComboBox->setCurrentIndex(ui->editSelectParamComboBox->count()-1); ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()), settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()); ui->editMinSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MIN").toFloat()); ui->editMaxSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MAX").toFloat()); diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h index 8bf064b4cbf10bdc8e684829aa1a71883c95db44..6e9612d6842be4d4d59797b7c439329ec2b4c6d8 100644 --- a/src/ui/designer/QGCParamSlider.h +++ b/src/ui/designer/QGCParamSlider.h @@ -28,14 +28,17 @@ public slots: /** @brief Set the slider value as parameter value */ void setSliderValue(int sliderValue); /** @brief Update the UI with the new parameter value */ - void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, float value); + void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, const QVariant value); void writeSettings(QSettings& settings); void readSettings(const QSettings& settings); void refreshParamList(); void setActiveUAS(UASInterface *uas); void selectComponent(int componentIndex); void selectParameter(int paramIndex); + /** @brief Set a double parameter value */ void setParamValue(double value); + /** @brief Set an integer parameter value */ + void setParamValue(int value); protected slots: /** @brief Request the parameter of this widget from the MAV */ @@ -43,12 +46,11 @@ protected slots: protected: QString parameterName; ///< Key/Name of the parameter - float parameterValue; ///< Value of the parameter + QVariant parameterValue; ///< Value of the parameter double parameterScalingFactor; ///< Factor to scale the parameter between slider and true value float parameterMin; float parameterMax; int component; ///< ID of the MAV component to address - int parameterIndex; double scaledInt; void changeEvent(QEvent *e); diff --git a/src/ui/designer/QGCParamSlider.ui b/src/ui/designer/QGCParamSlider.ui index f3509675ed412e6354e0569854ef796be802993e..488be8f12d8db70894033a85228bb0cee159b260 100644 --- a/src/ui/designer/QGCParamSlider.ui +++ b/src/ui/designer/QGCParamSlider.ui @@ -7,7 +7,7 @@ 0 0 789 - 155 + 158 @@ -147,7 +147,7 @@ - + -999999999.000000000000000 @@ -246,6 +246,16 @@ + + + + -999999999 + + + 999999999 + + + diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc index 6a0f7678ca8519bc49c6ece7ee6f84c1c2088ae3..f9889311dc58fa298408602d7e9b8eea5773007e 100644 --- a/src/ui/designer/QGCToolWidget.cc +++ b/src/ui/designer/QGCToolWidget.cc @@ -11,18 +11,26 @@ #include #include "QGCParamSlider.h" -#include "QGCActionButton.h" #include "QGCCommandButton.h" #include "UASManager.h" -QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) : +QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent, QSettings* settings) : QWidget(parent), mav(NULL), mainMenuAction(NULL), + widgetTitle(title), ui(new Ui::QGCToolWidget) { ui->setupUi(this); - setObjectName(title); + if (settings) loadSettings(*settings); + + if (title == "Unnamed Tool") + { + widgetTitle = QString("%1 %2").arg(title).arg(QGCToolWidget::instances()->count()); + } + qDebug() << "WidgetTitle" << widgetTitle; + + setObjectName(widgetTitle); createActions(); toolLayout = ui->toolLayout; toolLayout->setAlignment(Qt::AlignTop); @@ -30,35 +38,54 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) : QDockWidget* dock = dynamic_cast(this->parentWidget()); if (dock) { - dock->setWindowTitle(title); - dock->setObjectName(title+"DOCK"); + dock->setWindowTitle(widgetTitle); + dock->setObjectName(widgetTitle+"DOCK"); } // Try with parent dock = dynamic_cast(parent); if (dock) { - dock->setWindowTitle(title); - dock->setObjectName(title+"DOCK"); + dock->setWindowTitle(widgetTitle); + dock->setObjectName(widgetTitle+"DOCK"); } - this->setWindowTitle(title); - + this->setWindowTitle(widgetTitle); QList systems = UASManager::instance()->getUASList(); - foreach (UASInterface* uas, systems) { + foreach (UASInterface* uas, systems) + { UAS* newMav = dynamic_cast(uas); - if (newMav) { + if (newMav) + { addUAS(uas); } } connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*))); - if (!instances()->contains(title)) instances()->insert(title, this); + if (!instances()->contains(widgetTitle)) instances()->insert(widgetTitle, this); + + // Enforce storage if this not loaded from settings + // is MUST NOT BE SAVED if it was loaded from settings! + if (!settings) storeWidgetsToSettings(); } QGCToolWidget::~QGCToolWidget() { + if (mainMenuAction) mainMenuAction->deleteLater(); + if (QGCToolWidget::instances()) QGCToolWidget::instances()->remove(widgetTitle); delete ui; } +void QGCToolWidget::setParent(QWidget *parent) +{ + QWidget::setParent(parent); + // Try with parent + QDockWidget* dock = dynamic_cast(parent); + if (dock) + { + dock->setWindowTitle(getTitle()); + dock->setObjectName(getTitle()+"DOCK"); + } +} + /** * @param parent Object later holding these widgets, usually the main window * @return List of all widgets @@ -77,22 +104,30 @@ QList QGCToolWidget::createWidgetsFromSettings(QWidget* parent, else { settings = new QSettings(); + qDebug() << "LOADING SETTINGS FROM DEFAULT" << settings->fileName(); } QList newWidgets; int size = settings->beginReadArray("QGC_TOOL_WIDGET_NAMES"); - for (int i = 0; i < size; i++) { + for (int i = 0; i < size; i++) + { settings->setArrayIndex(i); - QString name = settings->value("TITLE", tr("UNKNOWN WIDGET %1").arg(i)).toString(); + QString name = settings->value("TITLE", "").toString(); - if (!instances()->contains(name)) { - QGCToolWidget* tool = new QGCToolWidget(name, parent); - instances()->insert(name, tool); + if (!instances()->contains(name) && name.length() != 0) + { + qDebug() << "CREATED WIDGET:" << name; + QGCToolWidget* tool = new QGCToolWidget(name, parent, settings); newWidgets.append(tool); } + else if (name.length() == 0) + { + // Silently catch empty widget name - sanity check + // to survive broken settings (e.g. from user manipulation) + } else { - qDebug() << "WIDGET DID ALREADY EXIST, REJECTING"; + qDebug() << "WIDGET" << name << "DID ALREADY EXIST, REJECTING"; } } settings->endArray(); @@ -100,7 +135,8 @@ QList QGCToolWidget::createWidgetsFromSettings(QWidget* parent, qDebug() << "NEW WIDGETS: " << newWidgets.size(); // Load individual widget items - for (int i = 0; i < newWidgets.size(); i++) { + for (int i = 0; i < newWidgets.size(); i++) + { newWidgets.at(i)->loadSettings(*settings); } delete settings; @@ -108,46 +144,66 @@ QList QGCToolWidget::createWidgetsFromSettings(QWidget* parent, return instances()->values(); } -void QGCToolWidget::loadSettings(const QString& settings) +/** + * @param singleinstance If this is set to true, the widget settings will only be loaded if not another widget with the same title exists + */ +bool QGCToolWidget::loadSettings(const QString& settings, bool singleinstance) { QSettings set(settings, QSettings::IniFormat); QStringList groups = set.childGroups(); - QString widgetName = groups.first(); - setTitle(widgetName); - qDebug() << "WIDGET TITLE LOADED: " << widgetName; - loadSettings(set); + if (groups.length() > 0) + { + QString widgetName = groups.first(); + if (singleinstance && QGCToolWidget::instances()->keys().contains(widgetName)) return false; + // Do not use setTitle() here, + // interferes with loading settings + widgetTitle = widgetName; + qDebug() << "WIDGET TITLE LOADED: " << widgetName; + loadSettings(set); + return true; + } + else + { + return false; + } } void QGCToolWidget::loadSettings(QSettings& settings) { QString widgetName = getTitle(); settings.beginGroup(widgetName); + qDebug() << "LOADING FOR" << widgetName; int size = settings.beginReadArray("QGC_TOOL_WIDGET_ITEMS"); qDebug() << "CHILDREN SIZE:" << size; - for (int j = 0; j < size; j++) { + for (int j = 0; j < size; j++) + { settings.setArrayIndex(j); QString type = settings.value("TYPE", "UNKNOWN").toString(); - if (type != "UNKNOWN") { + if (type != "UNKNOWN") + { QGCToolWidgetItem* item = NULL; - if (type == "BUTTON") { - item = new QGCActionButton(this); - qDebug() << "CREATED BUTTON"; - } else if (type == "COMMANDBUTTON") { + if (type == "COMMANDBUTTON") + { item = new QGCCommandButton(this); qDebug() << "CREATED COMMANDBUTTON"; - } else if (type == "SLIDER") { + } + else if (type == "SLIDER") + { item = new QGCParamSlider(this); qDebug() << "CREATED PARAM SLIDER"; } - if (item) { + if (item) + { // Configure and add to layout addToolWidget(item); item->readSettings(settings); qDebug() << "Created tool widget"; } - } else { + } + else + { qDebug() << "UNKNOWN TOOL WIDGET TYPE"; } } @@ -162,26 +218,49 @@ void QGCToolWidget::storeWidgetsToSettings(QString settingsFile) if (!settingsFile.isEmpty()) { settings = new QSettings(settingsFile, QSettings::IniFormat); + qDebug() << "STORING SETTINGS TO" << settings->fileName(); } else { settings = new QSettings(); + qDebug() << "STORING SETTINGS TO DEFAULT" << settings->fileName(); } + int preArraySize = settings->beginReadArray("QGC_TOOL_WIDGET_NAMES"); + settings->endArray(); + settings->beginWriteArray("QGC_TOOL_WIDGET_NAMES"); - for (int i = 0; i < instances()->size(); ++i) { + for (int i = 0; i < qMax(preArraySize, instances()->size()); ++i) + { settings->setArrayIndex(i); - settings->setValue("TITLE", instances()->values().at(i)->getTitle()); + if (i < instances()->size()) + { + // Updating value + settings->setValue("TITLE", instances()->values().at(i)->getTitle()); + qDebug() << "WRITING TITLE" << instances()->values().at(i)->getTitle(); + } + else + { + // Deleting old value + settings->remove("TITLE"); + } } settings->endArray(); // Store individual widget items - for (int i = 0; i < instances()->size(); ++i) { + for (int i = 0; i < instances()->size(); ++i) + { instances()->values().at(i)->storeSettings(*settings); } delete settings; } +void QGCToolWidget::storeSettings() +{ + QSettings settings; + storeSettings(settings); +} + void QGCToolWidget::storeSettings(const QString& settingsFile) { QSettings settings(settingsFile, QSettings::IniFormat); @@ -190,19 +269,23 @@ void QGCToolWidget::storeSettings(const QString& settingsFile) void QGCToolWidget::storeSettings(QSettings& settings) { - QString widgetName = getTitle(); - settings.beginGroup(widgetName); + qDebug() << "WRITING WIDGET" << widgetTitle << "TO SETTINGS"; + settings.beginGroup(widgetTitle); settings.beginWriteArray("QGC_TOOL_WIDGET_ITEMS"); int k = 0; // QGCToolItem counter - for (int j = 0; j < children().size(); ++j) { + for (int j = 0; j < children().size(); ++j) + { // Store only QGCToolWidgetItems QGCToolWidgetItem* item = dynamic_cast(children().at(j)); - if (item) { + if (item) + { + // Only count actual tool widget item children settings.setArrayIndex(k++); // Store the ToolWidgetItem item->writeSettings(settings); } } + qDebug() << "WROTE" << k << "SUB-WIDGETS TO SETTINGS"; settings.endArray(); settings.endGroup(); } @@ -210,7 +293,8 @@ void QGCToolWidget::storeSettings(QSettings& settings) void QGCToolWidget::addUAS(UASInterface* uas) { UAS* newMav = dynamic_cast(uas); - if (newMav) { + if (newMav) + { // FIXME Convert to list if (mav == NULL) mav = newMav; } @@ -221,18 +305,17 @@ void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event) QMenu menu(this); menu.addAction(addParamAction); menu.addAction(addCommandAction); + menu.addSeparator(); menu.addAction(setTitleAction); menu.addAction(exportAction); + menu.addAction(importAction); menu.addAction(deleteAction); - menu.addSeparator(); - menu.addAction(addButtonAction); menu.exec(event->globalPos()); } void QGCToolWidget::hideEvent(QHideEvent* event) { // Store settings - storeWidgetsToSettings(); QWidget::hideEvent(event); } @@ -271,11 +354,7 @@ void QGCToolWidget::createActions() importAction = new QAction(tr("Import widget"), this); importAction->setStatusTip(tr("Import this widget from a file (current content will be removed)")); - connect(exportAction, SIGNAL(triggered()), this, SLOT(importWidget())); - - addButtonAction = new QAction(tr("New MAV Action Button (Deprecated)"), this); - addButtonAction->setStatusTip(tr("Add a new action button to the tool")); - connect(addButtonAction, SIGNAL(triggered()), this, SLOT(addAction())); + connect(importAction, SIGNAL(triggered()), this, SLOT(importWidget())); } QMap* QGCToolWidget::instances() @@ -295,7 +374,9 @@ QList* QGCToolWidget::itemList() void QGCToolWidget::addParam() { QGCParamSlider* slider = new QGCParamSlider(this); - if (ui->hintLabel) { + connect(slider, SIGNAL(destroyed()), this, SLOT(storeSettings())); + if (ui->hintLabel) + { ui->hintLabel->deleteLater(); ui->hintLabel = NULL; } @@ -303,21 +384,12 @@ void QGCToolWidget::addParam() slider->startEditMode(); } -void QGCToolWidget::addAction() -{ - QGCActionButton* button = new QGCActionButton(this); - if (ui->hintLabel) { - ui->hintLabel->deleteLater(); - ui->hintLabel = NULL; - } - toolLayout->addWidget(button); - button->startEditMode(); -} - void QGCToolWidget::addCommand() { QGCCommandButton* button = new QGCCommandButton(this); - if (ui->hintLabel) { + connect(button, SIGNAL(destroyed()), this, SLOT(storeSettings())); + if (ui->hintLabel) + { ui->hintLabel->deleteLater(); ui->hintLabel = NULL; } @@ -327,10 +399,12 @@ void QGCToolWidget::addCommand() void QGCToolWidget::addToolWidget(QGCToolWidgetItem* widget) { - if (ui->hintLabel) { + if (ui->hintLabel) + { ui->hintLabel->deleteLater(); ui->hintLabel = NULL; } + connect(widget, SIGNAL(destroyed()), this, SLOT(storeSettings())); toolLayout->addWidget(widget); } @@ -354,51 +428,53 @@ void QGCToolWidget::importWidget() const QString QGCToolWidget::getTitle() { - QDockWidget* parent = dynamic_cast(this->parentWidget()); - if (parent) { - return parent->windowTitle(); - } else { - return this->windowTitle(); - } + return widgetTitle; } - void QGCToolWidget::setTitle() { QDockWidget* parent = dynamic_cast(this->parentWidget()); - if (parent) { + if (parent) + { bool ok; - QString text = QInputDialog::getText(this, tr("QInputDialog::getText()"), + QString text = QInputDialog::getText(this, tr("Enter Widget Title"), tr("Widget title:"), QLineEdit::Normal, parent->windowTitle(), &ok); - if (ok && !text.isEmpty()) { - QSettings settings; - settings.beginGroup(parent->windowTitle()); - settings.remove(""); - settings.endGroup(); - parent->setWindowTitle(text); - setWindowTitle(text); - - storeWidgetsToSettings(); - emit titleChanged(text); - if (mainMenuAction) mainMenuAction->setText(text); + if (ok && !text.isEmpty()) + { + setTitle(text); } } } +void QGCToolWidget::setWindowTitle(const QString& title) +{ + // Sets title and calls setWindowTitle on QWidget + widgetTitle = title; + QWidget::setWindowTitle(title); +} + void QGCToolWidget::setTitle(QString title) { - QDockWidget* parent = dynamic_cast(this->parentWidget()); - if (parent) { - QSettings settings; - settings.beginGroup(parent->windowTitle()); - settings.remove(""); - settings.endGroup(); - parent->setWindowTitle(title); - } - setWindowTitle(title); + // Remove references to old title + QSettings settings; + settings.beginGroup(widgetTitle); + settings.remove(""); + settings.endGroup(); + settings.sync(); + if (instances()->contains(widgetTitle)) instances()->remove(widgetTitle); + + // Switch to new title + widgetTitle = title; + + if (!instances()->contains(title)) instances()->insert(title, this); + QWidget::setWindowTitle(title); + QDockWidget* parent = dynamic_cast(this->parentWidget()); + if (parent) parent->setWindowTitle(title); + // Store all widgets storeWidgetsToSettings(); + emit titleChanged(title); if (mainMenuAction) mainMenuAction->setText(title); } @@ -422,6 +498,5 @@ void QGCToolWidget::deleteWidget() storeWidgetsToSettings(); // Delete - mainMenuAction->deleteLater(); this->deleteLater(); } diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h index 7d8b74dadc8dad24494ff8d495f81f4706f79270..1a897ac1f4578c4e4234e81a785a9049ef8d22c2 100644 --- a/src/ui/designer/QGCToolWidget.h +++ b/src/ui/designer/QGCToolWidget.h @@ -19,7 +19,7 @@ class QGCToolWidget : public QWidget Q_OBJECT public: - explicit QGCToolWidget(const QString& title, QWidget *parent = 0); + explicit QGCToolWidget(const QString& title=QString("Unnamed Tool"), QWidget *parent = 0, QSettings* settings = 0); ~QGCToolWidget(); /** @brief Factory method to instantiate all tool widgets */ @@ -33,6 +33,7 @@ public: int isVisible(int view) { return viewVisible.value(view, false); } Qt::DockWidgetArea getDockWidgetArea(int view) { return dockWidgetArea.value(view, Qt::BottomDockWidgetArea); } + void setParent(QWidget *parent); public slots: void addUAS(UASInterface* uas); @@ -47,11 +48,13 @@ public slots: /** @brief Load this widget from a QSettings object */ void loadSettings(QSettings& settings); /** @brief Load this widget from a settings file */ - void loadSettings(const QString& settings); + bool loadSettings(const QString& settings, bool singleinstance=false); /** @brief Store this widget to a QSettings object */ void storeSettings(QSettings& settings); /** @brief Store this widget to a settings file */ void storeSettings(const QString& settingsFile); + /** @brief Store this widget to a settings file */ + void storeSettings(); /** @brief Store the view id and dock widget area */ void setViewVisibilityAndDockWidgetArea(int view, bool visible, Qt::DockWidgetArea area); @@ -60,7 +63,6 @@ signals: protected: QAction* addParamAction; - QAction* addButtonAction; QAction* addCommandAction; QAction* setTitleAction; QAction* deleteAction; @@ -71,6 +73,8 @@ protected: QAction* mainMenuAction; ///< Main menu action QMap dockWidgetArea; ///< Dock widget area desired by this widget QMap viewVisible; ///< Visibility in one view + QString widgetTitle; + static int instanceCount; ///< Number of instances around void contextMenuEvent(QContextMenuEvent* event); void createActions(); @@ -82,11 +86,10 @@ protected: protected slots: void addParam(); - /** @deprecated */ - void addAction(); void addCommand(); void setTitle(); void setTitle(QString title); + void setWindowTitle(const QString& title); private: diff --git a/src/ui/linechart/LinechartPlot.cc b/src/ui/linechart/LinechartPlot.cc index 74a2b2dc231c3077e2b8e96e8b464adb21ff257e..7697cce358d6385b5375daedf262810956e105dc 100644 --- a/src/ui/linechart/LinechartPlot.cc +++ b/src/ui/linechart/LinechartPlot.cc @@ -1,4 +1,4 @@ -/*===================================================================== + /*===================================================================== ======================================================================*/ /** @@ -126,10 +126,8 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt connect(updateTimer, SIGNAL(timeout()), this, SLOT(paintRealtime())); //updateTimer->start(DEFAULT_REFRESH_RATE); - // QwtPlot::setAutoReplot(); - - // canvas()->setPaintAttribute(QwtPlotCanvas::PaintCached, false); - // canvas()->setPaintAttribute(QwtPlotCanvas::PaintPacked, false); + connect(&timeoutTimer, SIGNAL(timeout()), this, SLOT(removeTimedOutCurves())); + //timeoutTimer.start(5000); } LinechartPlot::~LinechartPlot() @@ -206,6 +204,35 @@ void LinechartPlot::setActive(bool active) m_active = active; } +void LinechartPlot::removeTimedOutCurves() +{ + foreach(QString key, lastUpdate.keys()) + { + quint64 time = lastUpdate.value(key); + if (QGC::groundTimeMilliseconds() - time > 10000) + { + // Remove this curve + // Delete curves + QwtPlotCurve* curve = curves.take(key); + // Delete the object + delete curve; + // Set the pointer null + curve = NULL; + + // Notify connected components about the removal + emit curveRemoved(key); + + // Remove from data list + TimeSeriesData* d = data.take(key); + // Delete the object + delete d; + // Set the pointer null + d = NULL; + emit curveRemoved(key); + } + } +} + /** * @brief Set the zero (center line) value * The zero value defines the centerline of the plot. @@ -235,18 +262,18 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value) // Add new value TimeSeriesData* dataset = data.value(dataname); - quint64 time; + quint64 time = QGC::groundTimeMilliseconds(); // Append data - if (m_groundTime) { - // Use the current (receive) time - time = QGC::groundTimeUsecs()/1000; - } else { + if (!m_groundTime) + { // Use timestamp from dataset time = ms; } dataset->append(time, value); + lastUpdate.insert(dataname, time); + // Scaling values if(ms < minTime) minTime = ms; if(ms > maxTime) maxTime = ms; @@ -417,9 +444,12 @@ void LinechartPlot::setVisible(QString id, bool visible) { if(curves.contains(id)) { curves.value(id)->setVisible(visible); - if(visible) { + if(visible) + { curves.value(id)->attach(this); - } else { + } + else + { curves.value(id)->detach(); } } @@ -639,7 +669,7 @@ void LinechartPlot::paintRealtime() windowLock.unlock(); // Defined both on windows 32- and 64 bit -#ifndef _WIN32 +#if !(defined Q_OS_WIN) // const bool cacheMode = // canvas()->testPaintAttribute(QwtPlotCanvas::PaintCached); @@ -648,11 +678,11 @@ void LinechartPlot::paintRealtime() const QPaintEngine *pe = canvas()->paintEngine(); bool directPaint = pe->hasFeature(QPaintEngine::PaintOutsidePaintEvent); - if ( pe->type() == QPaintEngine::X11 ) { + //if ( pe->type() == QPaintEngine::X11 ) { // Even if not recommended by TrollTech, Qt::WA_PaintOutsidePaintEvent // works on X11. This has an tremendous effect on the performance.. directPaint = true; - } + //} canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, directPaint); #endif @@ -665,7 +695,7 @@ void LinechartPlot::paintRealtime() replot(); } -#ifndef _WIN32 +#if !(defined Q_OS_WIN) canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, oldDirectPaint); #endif diff --git a/src/ui/linechart/LinechartPlot.h b/src/ui/linechart/LinechartPlot.h index dac11fc5e0d9492c70430042231e7e13847b251e..2cf4fc323c1dcd6eded2dfc3c082419907af32c9 100644 --- a/src/ui/linechart/LinechartPlot.h +++ b/src/ui/linechart/LinechartPlot.h @@ -39,6 +39,7 @@ This file is part of the PIXHAWK project #include #include #include +#include #include #include #include @@ -47,7 +48,7 @@ This file is part of the PIXHAWK project #include #include #include -#include +#include "MG.h" class TimeScaleDraw: public QwtScaleDraw { @@ -219,7 +220,7 @@ public: static const int SCALE_BEST_FIT = 1; static const int SCALE_LOGARITHMIC = 2; - static const int DEFAULT_REFRESH_RATE = 50; ///< The default refresh rate is 25 Hz / every 100 ms + static const int DEFAULT_REFRESH_RATE = 100; ///< The default refresh rate is 10 Hz / every 100 ms static const int DEFAULT_PLOT_INTERVAL = 1000 * 8; ///< The default plot interval is 15 seconds static const int DEFAULT_SCALE_INTERVAL = 1000 * 8; @@ -266,13 +267,27 @@ public slots: /** @brief Set the number of values to average over */ void setAverageWindow(int windowSize); + void removeTimedOutCurves(); + + /** @brief Reset color map */ + void shuffleColors() + { + foreach (QwtPlotCurve* curve, curves) + { + QPen pen(curve->pen()); + pen.setColor(getNextColor()); + curve->setPen(pen); + } + } + public: QColor getColorForCurve(QString id); protected: QMap curves; QMap data; QMap scaleMaps; + QMap lastUpdate; ScrollZoomer* zoomer; QList colors; @@ -306,6 +321,7 @@ protected: int plotid; bool m_active; ///< Decides wether the plot is active or not bool m_groundTime; ///< Enforce the use of the receive timestamp instead of the data timestamp + QTimer timeoutTimer; // Methods void addCurve(QString id); diff --git a/src/ui/linechart/LinechartWidget.cc b/src/ui/linechart/LinechartWidget.cc index ae5981f0b7570ae7ddb553aa9f0e01d3185e4b44..0739b558d8225244c35ad9aa0d3c7083b9d78ca1 100644 --- a/src/ui/linechart/LinechartWidget.cc +++ b/src/ui/linechart/LinechartWidget.cc @@ -71,11 +71,12 @@ LinechartWidget::LinechartWidget(int systemid, QWidget *parent) : QWidget(parent logindex(1), logging(false), logStartTime(0), - updateTimer(new QTimer()) + updateTimer(new QTimer()), + selectedMAV(-1) { // Add elements defined in Qt Designer ui.setupUi(this); - this->setMinimumSize(300, 200); + this->setMinimumSize(200, 150); // Add and customize curve list elements (left side) curvesWidget = new QWidget(ui.curveListWidget); @@ -103,7 +104,8 @@ LinechartWidget::LinechartWidget(int systemid, QWidget *parent) : QWidget(parent QLabel* mean; QLabel* variance; - //horizontalLayout->addWidget(checkBox); + connect(ui.recolorButton, SIGNAL(clicked()), this, SLOT(recolor())); + connect(ui.shortNameCheckBox, SIGNAL(clicked(bool)), this, SLOT(setShortNames(bool))); int labelRow = curvesWidgetLayout->rowCount(); @@ -142,7 +144,7 @@ LinechartWidget::LinechartWidget(int systemid, QWidget *parent) : QWidget(parent //connect(this, SIGNAL(plotWindowPositionUpdated(int)), scrollbar, SLOT(setValue(int))); //connect(scrollbar, SIGNAL(sliderMoved(int)), this, SLOT(setPlotWindowPosition(int))); - updateTimer->setInterval(300); + updateTimer->setInterval(updateInterval); connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh())); readSettings(); } @@ -169,6 +171,7 @@ void LinechartWidget::writeSettings() settings.beginGroup("LINECHART"); if (timeButton) settings.setValue("ENFORCE_GROUNDTIME", timeButton->isChecked()); if (unitsCheckBox) settings.setValue("SHOW_UNITS", unitsCheckBox->isChecked()); + if (ui.shortNameCheckBox) settings.setValue("SHORT_NAMES", ui.shortNameCheckBox->isChecked()); settings.endGroup(); settings.sync(); } @@ -182,7 +185,8 @@ void LinechartWidget::readSettings() timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool()); activePlot->enforceGroundTime(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool()); } - if (unitsCheckBox) unitsCheckBox->setChecked(settings.value("SHOW_UNITS").toBool()); + if (unitsCheckBox) unitsCheckBox->setChecked(settings.value("SHOW_UNITS", unitsCheckBox->isChecked()).toBool()); + if (ui.shortNameCheckBox) ui.shortNameCheckBox->setChecked(settings.value("SHORT_NAMES", ui.shortNameCheckBox->isChecked()).toBool()); settings.endGroup(); } @@ -279,7 +283,8 @@ void LinechartWidget::createLayout() connect(this, SIGNAL(curveRemoved(QString)), activePlot, SLOT(hideCurve(QString))); // Update scrollbar when plot window changes (via translator method setPlotWindowPosition() - connect(activePlot, SIGNAL(windowPositionChanged(quint64)), this, SLOT(setPlotWindowPosition(quint64))); +// connect(activePlot, SIGNAL(windowPositionChanged(quint64)), this, SLOT(setPlotWindowPosition(quint64))); + connect(activePlot, SIGNAL(curveRemoved(QString)), this, SLOT(removeCurve(QString))); // Update plot when scrollbar is moved (via translator method setPlotWindowPosition() connect(this, SIGNAL(plotWindowPositionUpdated(quint64)), activePlot, SLOT(setWindowPosition(quint64))); @@ -292,20 +297,24 @@ void LinechartWidget::createLayout() void LinechartWidget::appendData(int uasId, QString curve, double value, quint64 usec) { static const QString unit("-"); - if (isVisible()) { + if ((selectedMAV == -1 && isVisible()) || (selectedMAV == uasId && isVisible())) + { // Order matters here, first append to plot, then update curve list activePlot->appendData(curve+unit, usec, value); // Store data QLabel* label = curveLabels->value(curve+unit, NULL); // Make sure the curve will be created if it does not yet exist - if(!label) { + if(!label) + { addCurve(curve, unit); } } // Log data - if (logging) { - if (activePlot->isVisible(curve+unit)) { + if (logging) + { + if (activePlot->isVisible(curve+unit)) + { if (logStartTime == 0) logStartTime = usec; qint64 time = usec - logStartTime; if (time < 0) time = 0; @@ -319,21 +328,25 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64 void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, double value, quint64 usec) { - if (isVisible()) { + if ((selectedMAV == -1 && isVisible()) || (selectedMAV == uasId && isVisible())) + { // Order matters here, first append to plot, then update curve list activePlot->appendData(curve+unit, usec, value); // Store data QLabel* label = curveLabels->value(curve+unit, NULL); // Make sure the curve will be created if it does not yet exist - if(!label) { + if(!label) + { //qDebug() << "ADDING CURVE IN APPENDDATE DOUBLE"; addCurve(curve, unit); } } // Log data - if (logging) { - if (activePlot->isVisible(curve+unit)) { + if (logging) + { + if (activePlot->isVisible(curve+unit)) + { if (logStartTime == 0) logStartTime = usec; qint64 time = usec - logStartTime; if (time < 0) time = 0; @@ -346,13 +359,25 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString& void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, int value, quint64 usec) { - if (isVisible()) { + appendData(uasId, curve, unit, static_cast(value), usec); +} + +void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, unsigned int value, quint64 usec) +{ + appendData(uasId, curve, unit, static_cast(value), usec); +} + +void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, qint64 value, quint64 usec) +{ + if ((selectedMAV == -1 && isVisible()) || (selectedMAV == uasId && isVisible())) + { // Order matters here, first append to plot, then update curve list activePlot->appendData(curve+unit, usec, value); // Store data QLabel* label = curveLabels->value(curve+unit, NULL); // Make sure the curve will be created if it does not yet exist - if(!label) { + if(!label) + { intData.insert(curve+unit, 0); addCurve(curve, unit); } @@ -362,8 +387,44 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString& } // Log data - if (logging) { - if (activePlot->isVisible(curve+unit)) { + if (logging) + { + if (activePlot->isVisible(curve+unit)) + { + if (logStartTime == 0) logStartTime = usec; + qint64 time = usec - logStartTime; + if (time < 0) time = 0; + + logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1()); + logFile->flush(); + } + } +} + +void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, quint64 value, quint64 usec) +{ + if ((selectedMAV == -1 && isVisible()) || (selectedMAV == uasId && isVisible())) + { + // Order matters here, first append to plot, then update curve list + activePlot->appendData(curve+unit, usec, value); + // Store data + QLabel* label = curveLabels->value(curve+unit, NULL); + // Make sure the curve will be created if it does not yet exist + if(!label) + { + intData.insert(curve+unit, 0); + addCurve(curve, unit); + } + + // Add int data + intData.insert(curve+unit, value); + } + + // Log data + if (logging) + { + if (activePlot->isVisible(curve+unit)) + { if (logStartTime == 0) logStartTime = usec; qint64 time = usec - logStartTime; if (time < 0) time = 0; @@ -376,6 +437,7 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString& void LinechartWidget::refresh() { + setUpdatesEnabled(false); QString str; // Value QMap::iterator i; @@ -427,6 +489,7 @@ void LinechartWidget::refresh() str.sprintf("% 8.3e", activePlot->getVariance(l.key())); l.value()->setText(str); } + setUpdatesEnabled(true); } @@ -453,11 +516,6 @@ void LinechartWidget::startLogging() // QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log") QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.csv *.txt);;")); - if (!fileName.contains(".")) { - // .csv is default extension - fileName.append(".csv"); - } - while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort && fileName != "") { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Critical); @@ -465,14 +523,16 @@ void LinechartWidget::startLogging() msgBox.setInformativeText("Please choose .txt or .csv as file extension. Click OK to change the file extension, cancel to not start logging."); msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); msgBox.setDefaultButton(QMessageBox::Ok); - if(msgBox.exec() == QMessageBox::Cancel) { + if(msgBox.exec() != QMessageBox::Ok) + { abort = true; break; } - fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt, *.csv);;")); - + fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt *.csv);;")); } + qDebug() << "SAVE FILE" << fileName; + // Check if the user did not abort the file save dialog if (!abort && fileName != "") { logFile = new QFile(fileName); @@ -558,6 +618,8 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit) QLabel* mean; QLabel* variance; + curveNames.insert(curve+unit, curve); + int labelRow = curvesWidgetLayout->rowCount(); checkBox = new QCheckBox(this); @@ -569,6 +631,7 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit) curvesWidgetLayout->addWidget(checkBox, labelRow, 0); QWidget* colorIcon = new QWidget(this); + colorIcons.insert(curve+unit, colorIcon); colorIcon->setMinimumSize(QSize(5, 14)); colorIcon->setMaximumSize(4, 14); @@ -578,14 +641,15 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit) curvesWidgetLayout->addWidget(label, labelRow, 2); //checkBox->setText(QString()); - label->setText(curve); - QColor color = plot->getColorForCurve(curve+unit); - if(color.isValid()) { - QString colorstyle; - colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue()); - colorIcon->setStyleSheet(colorstyle); - colorIcon->setAutoFillBackground(true); - } + label->setText(getCurveName(curve+unit, ui.shortNameCheckBox->isChecked())); + QColor color(Qt::gray);// = plot->getColorForCurve(curve+unit); + QString colorstyle; + colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue()); + colorIcon->setStyleSheet(colorstyle); + colorIcon->setAutoFillBackground(true); + + // Label + curveNameLabels.insert(curve+unit, label); // Value value = new QLabel(this); @@ -665,8 +729,112 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit) void LinechartWidget::removeCurve(QString curve) { Q_UNUSED(curve) - //TODO @todo Ensure that the button for a curve gets deleted when the original curve is deleted - // Remove name + + QWidget* widget = NULL; + widget = curveLabels->take(curve); + curvesWidgetLayout->removeWidget(widget); + widget->deleteLater(); + widget = curveMeans->take(curve); + curvesWidgetLayout->removeWidget(widget); + widget->deleteLater(); + widget = curveMedians->take(curve); + curvesWidgetLayout->removeWidget(widget); + widget->deleteLater(); + widget = curveVariances->take(curve); + curvesWidgetLayout->removeWidget(widget); + widget->deleteLater(); +// widget = colorIcons->take(curve); +// curvesWidgetLayout->removeWidget(colorIcons->take(curve)); + widget->deleteLater(); +// intData->remove(curve); +} + +void LinechartWidget::recolor() +{ + activePlot->shuffleColors(); + + foreach (QString key, colorIcons.keys()) + { + + // FIXME +// if (activePlot) + QString colorstyle; + QColor color = activePlot->getColorForCurve(key); + colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue()); + QWidget* colorIcon = colorIcons.value(key, 0); + if (colorIcon) + { + colorIcon->setStyleSheet(colorstyle); + colorIcon->setAutoFillBackground(true); + } + } +} + +QString LinechartWidget::getCurveName(const QString& key, bool shortEnabled) +{ + if (shortEnabled) + { + QString name; + QStringList parts = curveNames.value(key).split("."); + if (parts.length() > 1) + { + name = parts.at(1); + } + else + { + name = parts.at(0); + } + + const int sizeLimit = 20; + + // Replace known words with abbreviations + if (name.length() > sizeLimit) + { + name.replace("gyroscope", "gyro"); + name.replace("accelerometer", "acc"); + name.replace("magnetometer", "mag"); + name.replace("distance", "dist"); + name.replace("ailerons", "ail"); + name.replace("altitude", "alt"); + name.replace("waypoint", "wp"); + name.replace("throttle", "thr"); + name.replace("elevator", "elev"); + name.replace("rudder", "rud"); + name.replace("error", "err"); + name.replace("version", "ver"); + name.replace("message", "msg"); + name.replace("count", "cnt"); + name.replace("value", "val"); + name.replace("source", "src"); + name.replace("index", "idx"); + name.replace("type", "typ"); + name.replace("mode", "mod"); + } + + // Check if sub-part is still exceeding N chars + if (name.length() > sizeLimit) + { + name.replace("a", ""); + name.replace("e", ""); + name.replace("i", ""); + name.replace("o", ""); + name.replace("u", ""); + } + + return name; + } + else + { + return curveNames.value(key); + } +} + +void LinechartWidget::setShortNames(bool enable) +{ + foreach (QString key, curveNames.keys()) + { + curveNameLabels.value(key)->setText(getCurveName(key, enable)); + } } void LinechartWidget::showEvent(QShowEvent* event) @@ -797,8 +965,22 @@ void LinechartWidget::takeButtonClick(bool checked) QCheckBox* button = qobject_cast(QObject::sender()); - if(button != NULL) { + if(button != NULL) + { activePlot->setVisible(button->objectName(), checked); + + QColor color = activePlot->getColorForCurve(button->objectName()); + if(color.isValid()) + { + QString colorstyle; + colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue()); + QWidget* colorIcon = colorIcons.value(button->objectName(), 0); + if (colorIcon) + { + colorIcon->setStyleSheet(colorstyle); + colorIcon->setAutoFillBackground(true); + } + } } } diff --git a/src/ui/linechart/LinechartWidget.h b/src/ui/linechart/LinechartWidget.h index 1b58f911b2b50af11055e47409ee568410a46995..ff429bca8457bd727892f73773e75f38f88f5a63 100644 --- a/src/ui/linechart/LinechartWidget.h +++ b/src/ui/linechart/LinechartWidget.h @@ -73,12 +73,22 @@ public: public slots: void addCurve(const QString& curve, const QString& unit); void removeCurve(QString curve); + /** @brief Recolor all curves */ + void recolor(); + /** @brief Set short names for curves */ + void setShortNames(bool enable); /** @brief Append data without unit */ void appendData(int uasId, QString curve, double data, quint64 usec); /** @brief Append data with unit */ void appendData(int uasId, const QString& curve, const QString& unit, double value, quint64 usec); /** @brief Append data as int with unit */ void appendData(int uasId, const QString& curve, const QString& unit, int value, quint64 usec); + /** @brief Append data as unsigned int with unit */ + void appendData(int uasId, const QString& curve, const QString& unit, unsigned int value, quint64 usec); + /** @brief Append data as int64 with unit */ + void appendData(int uasId, const QString& curve, const QString& unit, qint64 value, quint64 usec); + /** @brief Append data as uint64 with unit */ + void appendData(int uasId, const QString& curve, const QString& unit, quint64 value, quint64 usec); void takeButtonClick(bool checked); void setPlotWindowPosition(int scrollBarValue); void setPlotWindowPosition(quint64 position); @@ -88,6 +98,11 @@ public slots: /** @brief Stop automatic updates once hidden */ void hideEvent(QHideEvent* event); void setActive(bool active); + void setActiveSystem(int systemid) + { + selectedMAV = systemid; + } + /** @brief Set the number of values to average over */ void setAverageWindow(int windowSize); /** @brief Start logging to file */ @@ -109,6 +124,8 @@ protected: QToolButton* createButton(QWidget* parent); void createCurveItem(QString curve); void createLayout(); + /** @brief Get the name for a curve key */ + QString getCurveName(const QString& key, bool shortEnabled); int sysid; ///< ID of the unmanned system this plot belongs to LinechartPlot* activePlot; ///< Plot for this system @@ -119,10 +136,13 @@ protected: int curveListCounter; ///< Counter of curves in curve list QList* listedCurves; ///< Curves listed QMap* curveLabels; ///< References to the curve labels + QMap curveNameLabels; ///< References to the curve labels + QMap curveNames; ///< Full curve names QMap* curveMeans; ///< References to the curve means QMap* curveMedians; ///< References to the curve medians QMap* curveVariances; ///< References to the curve variances QMap intData; ///< Current values for integer-valued curves + QMap colorIcons; ///< Reference to color icons QWidget* curvesWidget; ///< The QWidget containing the curve selection button QGridLayout* curvesWidgetLayout; ///< The layout for the curvesWidget QWidget @@ -149,7 +169,8 @@ protected: QTimer* updateTimer; LogCompressor* compressor; QCheckBox* selectAllCheckBox; - static const int updateInterval = 400; ///< Time between number updates, in milliseconds + int selectedMAV; ///< The MAV for which plot items are accepted, -1 for all systems + static const int updateInterval = 1000; ///< Time between number updates, in milliseconds static const int MAX_CURVE_MENUITEM_NUMBER = 8; static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10; diff --git a/src/ui/linechart/Linecharts.cc b/src/ui/linechart/Linecharts.cc index af1fded4f8ed916b736cf16e88b4e1906b9fc490..b7f954d578ca8c3b2e04a123bcb6f84726c6b7e1 100644 --- a/src/ui/linechart/Linecharts.cc +++ b/src/ui/linechart/Linecharts.cc @@ -30,56 +30,66 @@ void Linecharts::showEvent(QShowEvent* event) { // React only to internal (pre-display) // events - Q_UNUSED(event) { - QWidget* prevWidget = currentWidget(); - if (prevWidget) { - LinechartWidget* chart = dynamic_cast(prevWidget); - if (chart) { - this->active = true; - chart->setActive(true); - } + Q_UNUSED(event) + QWidget* prevWidget = currentWidget(); + if (prevWidget) + { + LinechartWidget* chart = dynamic_cast(prevWidget); + if (chart) { + this->active = true; + chart->setActive(true); } } + QWidget::showEvent(event); + emit visibilityChanged(true); } void Linecharts::hideEvent(QHideEvent* event) { // React only to internal (pre-display) // events - Q_UNUSED(event) { - QWidget* prevWidget = currentWidget(); - if (prevWidget) { - LinechartWidget* chart = dynamic_cast(prevWidget); - if (chart) { - this->active = false; - chart->setActive(false); - } + Q_UNUSED(event) + QWidget* prevWidget = currentWidget(); + if (prevWidget) { + LinechartWidget* chart = dynamic_cast(prevWidget); + if (chart) { + this->active = false; + chart->setActive(false); } } + QWidget::hideEvent(event); + emit visibilityChanged(false); } void Linecharts::selectSystem(int systemid) { QWidget* prevWidget = currentWidget(); - if (prevWidget) { + if (prevWidget) + { LinechartWidget* chart = dynamic_cast(prevWidget); - if (chart) { + if (chart) + { chart->setActive(false); + chart->setActiveSystem(systemid); } } QWidget* widget = plots.value(systemid, NULL); - if (widget) { + if (widget) + { setCurrentWidget(widget); LinechartWidget* chart = dynamic_cast(widget); - if (chart) { + if (chart) + { chart->setActive(true); + chart->setActiveSystem(systemid); } } } void Linecharts::addSystem(UASInterface* uas) { - if (!plots.contains(uas->getUASID())) { + if (!plots.contains(uas->getUASID())) + { LinechartWidget* widget = new LinechartWidget(uas->getUASID(), this); addWidget(widget); plots.insert(uas->getUASID(), widget); @@ -92,10 +102,38 @@ void Linecharts::addSystem(UASInterface* uas) connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString))); // Set system active if this is the only system - if (active) { - if (plots.size() == 1) { + if (active) + { + if (plots.size() == 1) + { + // FIXME XXX HACK + // Connect generic sources + for (int i = 0; i < genericSources.count(); ++i) + { + connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,int,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,int,quint64))); + connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,unsigned int,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,unsigned int,quint64))); + connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,quint64,quint64))); + connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,qint64,quint64))); + connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,double,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,double,quint64))); + } + // Select system selectSystem(uas->getUASID()); } } } } + +void Linecharts::addSource(QObject* obj) +{ + genericSources.append(obj); + // FIXME XXX HACK + if (plots.size() > 0) + { + // Connect generic source + connect(obj, SIGNAL(valueChanged(int,QString,QString,int,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,int,quint64))); + connect(obj, SIGNAL(valueChanged(int,QString,QString,unsigned int,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,unsigned int,quint64))); + connect(obj, SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,quint64,quint64))); + connect(obj, SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,qint64,quint64))); + connect(obj, SIGNAL(valueChanged(int,QString,QString,double,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,double,quint64))); + } +} diff --git a/src/ui/linechart/Linecharts.h b/src/ui/linechart/Linecharts.h index 4b6ad5cce08417a5d5d99ccdb16d0b1b439f1489..20474b760999e3a98f42832aceab582462ba60fb 100644 --- a/src/ui/linechart/Linecharts.h +++ b/src/ui/linechart/Linecharts.h @@ -3,6 +3,7 @@ #include #include +#include #include "LinechartWidget.h" #include "UASInterface.h" @@ -16,15 +17,20 @@ public: signals: /** @brief This signal is emitted once a logfile has been finished writing */ void logfileWritten(QString fileName); + void visibilityChanged(bool visible); public slots: /** @brief Select plot for one system */ void selectSystem(int systemid); /** @brief Add a new system to the list of plots */ void addSystem(UASInterface* uas); + /** @brief Add a new generic message source (not a system) */ + void addSource(QObject* obj); protected: + QMap plots; + QVector genericSources; bool active; /** @brief Start updating widget */ void showEvent(QShowEvent* event); diff --git a/src/ui/map/QGCMapTool.h b/src/ui/map/QGCMapTool.h index 784bf786252a8e9b61a6a730eb169e7d1df55b5a..ca0e33ad917a89df4acd1e5c6cf182761439296b 100644 --- a/src/ui/map/QGCMapTool.h +++ b/src/ui/map/QGCMapTool.h @@ -20,6 +20,22 @@ public slots: /** @brief Update slider zoom from map change */ void setZoom(int zoom); +signals: + void visibilityChanged(bool visible); + +protected: + void showEvent(QShowEvent* event) + { + QWidget::showEvent(event); + emit visibilityChanged(true); + } + + void hideEvent(QHideEvent* event) + { + QWidget::hideEvent(event); + emit visibilityChanged(false); + } + private: Ui::QGCMapTool *ui; }; diff --git a/src/ui/map/QGCMapTool.ui b/src/ui/map/QGCMapTool.ui index 518b626cbabf0d288ab6f506491dfab6a2d92366..c74eab51366e0ccb02d357a48252faa3dde436fd 100644 --- a/src/ui/map/QGCMapTool.ui +++ b/src/ui/map/QGCMapTool.ui @@ -6,8 +6,8 @@ 0 0 - 571 - 564 + 400 + 300 diff --git a/src/ui/map/QGCMapWidget.cc b/src/ui/map/QGCMapWidget.cc index 62cfca8a82fbab80ab65547830d15636e149685c..ed1b371c1f3093e301274e64d7cce05ba22021f4 100644 --- a/src/ui/map/QGCMapWidget.cc +++ b/src/ui/map/QGCMapWidget.cc @@ -14,17 +14,18 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) : followUAVEnabled(false), trailType(mapcontrol::UAVTrailType::ByTimeElapsed), trailInterval(2.0f), - followUAVID(0) + followUAVID(0), + mapInitialized(false) { // Widget is inactive until shown loadSettings(false); - // Set cache mode } QGCMapWidget::~QGCMapWidget() { SetShowHome(false); // doing this appears to stop the map lib crashing on exit SetShowUAV(false); // " " + storeSettings(); } void QGCMapWidget::showEvent(QShowEvent* event) @@ -35,49 +36,54 @@ void QGCMapWidget::showEvent(QShowEvent* event) // Pass on to parent widget OPMapWidget::showEvent(event); - connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*))); - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*))); + connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)), Qt::UniqueConnection); + connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)), Qt::UniqueConnection); foreach (UASInterface* uas, UASManager::instance()->getUASList()) { addUAS(uas); } - internals::PointLatLng pos_lat_lon = internals::PointLatLng(0, 0); + if (!mapInitialized) + { + internals::PointLatLng pos_lat_lon = internals::PointLatLng(0, 0); - SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions - SetFollowMouse(true); // we want a contiuous mouse position reading + SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions + SetFollowMouse(true); // we want a contiuous mouse position reading - SetShowHome(true); // display the HOME position on the map - Home->SetSafeArea(30); // set radius (meters) - Home->SetShowSafeArea(true); // show the safe area - Home->SetCoord(pos_lat_lon); // set the HOME position + SetShowHome(true); // display the HOME position on the map + Home->SetSafeArea(30); // set radius (meters) + Home->SetShowSafeArea(true); // show the safe area + Home->SetCoord(pos_lat_lon); // set the HOME position - setFrameStyle(QFrame::NoFrame); // no border frame - setBackgroundBrush(QBrush(Qt::black)); // tile background + setFrameStyle(QFrame::NoFrame); // no border frame + setBackgroundBrush(QBrush(Qt::black)); // tile background - // Set current home position - updateHomePosition(UASManager::instance()->getHomeLatitude(), UASManager::instance()->getHomeLongitude(), UASManager::instance()->getHomeAltitude()); + // Set current home position + updateHomePosition(UASManager::instance()->getHomeLatitude(), UASManager::instance()->getHomeLongitude(), UASManager::instance()->getHomeAltitude()); - // Set currently selected system - activeUASSet(UASManager::instance()->getActiveUAS()); + // Set currently selected system + activeUASSet(UASManager::instance()->getActiveUAS()); - // Connect map updates to the adapter slots - connect(this, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(handleMapWaypointEdit(WayPointItem*))); + // Connect map updates to the adapter slots + connect(this, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(handleMapWaypointEdit(WayPointItem*))); - SetCurrentPosition(pos_lat_lon); // set the map position - setFocus(); + SetCurrentPosition(pos_lat_lon); // set the map position + setFocus(); - // Start timer - connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateGlobalPosition())); + // Start timer + connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateGlobalPosition())); + mapInitialized = true; + QTimer::singleShot(800, this, SLOT(loadSettings())); + } updateTimer.start(maxUpdateInterval*1000); // Update all UAV positions updateGlobalPosition(); - //QTimer::singleShot(800, this, SLOT(loadSettings())); } void QGCMapWidget::hideEvent(QHideEvent* event) { + updateTimer.stop(); storeSettings(); OPMapWidget::hideEvent(event); } @@ -158,7 +164,7 @@ void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event) wp->setLongitude(pos.Lng()); wp->setAltitude(0); // wp->blockSignals(false); - // currWPManager->notifyOfChange(wp); + // currWPManager->notifyOfChangeEditable(wp); } } OPMapWidget::mouseDoubleClickEvent(event); @@ -167,43 +173,43 @@ void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event) /** * - * @param uas the UAS/MAV to monitor/display with the HUD + * @param uas the UAS/MAV to monitor/display with the map widget */ void QGCMapWidget::addUAS(UASInterface* uas) { - // // qDebug() << "ADDING UAS"; connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); - //connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(updateSystemSpecs(int))); } void QGCMapWidget::activeUASSet(UASInterface* uas) { // Only execute if proper UAS is set - if (!uas || !dynamic_cast(uas)) return; + if (!uas) return; // Disconnect old MAV manager - if (currWPManager) { + if (currWPManager) + { // Disconnect the waypoint manager / data storage from the UI - disconnect(currWPManager, SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int))); - disconnect(currWPManager, SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*))); - disconnect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypoint(Waypoint*))); - disconnect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChange(Waypoint*))); + disconnect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int))); + disconnect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*))); + disconnect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*))); + disconnect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*))); } - if (uas) { + if (uas) + { currWPManager = uas->getWaypointManager(); - // Delete all waypoints and add waypoint from new system - updateWaypointList(uas->getUASID()); - // Connect the waypoint manager / data storage to the UI - connect(currWPManager, SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int))); - connect(currWPManager, SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*))); - connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypoint(Waypoint*))); - connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChange(Waypoint*))); + connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int))); + connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*))); + connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*))); + connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*))); updateSelectedSystem(uas->getUASID()); followUAVID = uas->getUASID(); + + // Delete all waypoints and add waypoint from new system + updateWaypointList(uas->getUASID()); } } @@ -317,16 +323,19 @@ void QGCMapWidget::showGoToDialog() QString text = QInputDialog::getText(this, tr("Please enter coordinates"), tr("Coordinates (Lat,Lon):"), QLineEdit::Normal, QString("%1,%2").arg(CurrentPosition().Lat(), 0, 'g', 6).arg(CurrentPosition().Lng(), 0, 'g', 6), &ok); - if (ok && !text.isEmpty()) { + if (ok && !text.isEmpty()) + { QStringList split = text.split(","); - if (split.length() == 2) { + if (split.length() == 2) + { bool convert; double latitude = split.first().toDouble(&convert); ok &= convert; double longitude = split.last().toDouble(&convert); ok &= convert; - if (ok) { + if (ok) + { internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude); SetCurrentPosition(pos_lat_lon); // set the map position } @@ -422,14 +431,17 @@ void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint) */ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp) { + qDebug() << "UPDATING WP FUNCTION CALLED"; // Source of the event was in this widget, do nothing if (firingWaypointChange == wp) return; // Currently only accept waypoint updates from the UAS in focus // this has to be changed to accept read-only updates from other systems as well. UASInterface* uasInstance = UASManager::instance()->getUASForId(uas); - if (uasInstance->getWaypointManager() == currWPManager || uas == -1) { + if (uasInstance->getWaypointManager() == currWPManager || uas == -1) + { // Only accept waypoints in global coordinate frame - if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType()) { + if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType()) + { // We're good, this is a global waypoint // Get the index of this waypoint @@ -441,8 +453,11 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp) // Mark this wp as currently edited firingWaypointChange = wp; + qDebug() << "UPDATING WAYPOINT" << wpindex << "IN 2D MAP"; + // Check if wp exists yet in map - if (!waypointsToIcons.contains(wp)) { + if (!waypointsToIcons.contains(wp)) + { // Create icon for new WP QColor wpColor(Qt::red); if (uasInstance) wpColor = uasInstance->getColor(); @@ -473,7 +488,9 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp) } } } - } else { + } + else + { // Waypoint exists, block it's signals and update it mapcontrol::WayPointItem* icon = waypointsToIcons.value(wp); // Make sure we don't die on a null pointer @@ -504,12 +521,15 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp) firingWaypointChange = NULL; - } else { + } + else + { // Check if the index of this waypoint is larger than the global // waypoint list. This implies that the coordinate frame of this // waypoint was changed and the list containing only global // waypoints was shortened. Thus update the whole list - if (waypointsToIcons.size() > currWPManager->getGlobalFrameAndNavTypeCount()) { + if (waypointsToIcons.size() > currWPManager->getGlobalFrameAndNavTypeCount()) + { updateWaypointList(uas); } } @@ -523,22 +543,26 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp) */ void QGCMapWidget::updateWaypointList(int uas) { + qDebug() << "UPDATE WP LIST IN 2D MAP CALLED FOR UAS" << uas; // Currently only accept waypoint updates from the UAS in focus // this has to be changed to accept read-only updates from other systems as well. UASInterface* uasInstance = UASManager::instance()->getUASForId(uas); - if ((uasInstance && (uasInstance->getWaypointManager() == currWPManager)) || uas == -1) { + if ((uasInstance && (uasInstance->getWaypointManager() == currWPManager)) || uas == -1) + { // ORDER MATTERS HERE! // TWO LOOPS ARE NEEDED - INFINITY LOOP ELSE + qDebug() << "DELETING NOW OLD WPS"; + // Delete first all old waypoints // this is suboptimal (quadratic, but wps should stay in the sub-100 range anyway) QVector wps = currWPManager->getGlobalFrameAndNavTypeWaypointList(); foreach (Waypoint* wp, waypointsToIcons.keys()) { - // Get icon to work on - mapcontrol::WayPointItem* icon = waypointsToIcons.value(wp); if (!wps.contains(wp)) { + // Get icon to work on + mapcontrol::WayPointItem* icon = waypointsToIcons.value(wp); waypointsToIcons.remove(wp); iconsToWaypoints.remove(icon); WPDelete(icon); @@ -555,6 +579,7 @@ void QGCMapWidget::updateWaypointList(int uas) // Update all potentially new waypoints foreach (Waypoint* wp, wps) { + qDebug() << "UPDATING NEW WP" << wp->getId(); // Update / add only if new if (!waypointsToIcons.contains(wp)) updateWaypoint(uas, wp); } diff --git a/src/ui/map/QGCMapWidget.h b/src/ui/map/QGCMapWidget.h index d1d34e4b82335548773b9a504b227c9549eb7615..32d2e04734b0ef5efcd6212a880edf3fb8f42cc2 100644 --- a/src/ui/map/QGCMapWidget.h +++ b/src/ui/map/QGCMapWidget.h @@ -144,6 +144,7 @@ protected: mapcontrol::UAVTrailType::Types trailType; ///< Time or distance based trail dots float trailInterval; ///< Time or distance between trail items int followUAVID; ///< Which UAV should be tracked? + bool mapInitialized; ///< Map initialized? }; diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc index d441d87a9915185de389bd65951527d9041b630f..743ef330c2e4ff6fc15f7ad306d5309934e8cf1b 100644 --- a/src/ui/map3D/Pixhawk3DWidget.cc +++ b/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 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 cursorWorldCoords = @@ -278,7 +278,7 @@ Pixhawk3DWidget::insertWaypoint(void) if (wp) { wp->setFrame(frame); - uas->getWaypointManager()->addWaypoint(wp); + uas->getWaypointManager()->addWaypointEditable(wp); } } } @@ -294,7 +294,7 @@ Pixhawk3DWidget::setWaypoint(void) { if (uas) { const QVector waypoints = - uas->getWaypointManager()->getWaypointList(); + uas->getWaypointManager()->getWaypointEditableList(); Waypoint* waypoint = waypoints.at(selectedWpIndex); if (frame == MAV_FRAME_GLOBAL) { @@ -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 cursorWorldCoords = @@ -341,11 +341,11 @@ Pixhawk3DWidget::setWaypointAltitude(void) if (uas) { bool ok; const QVector waypoints = - uas->getWaypointManager()->getWaypointList(); + uas->getWaypointManager()->getWaypointEditableList(); 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); } } @@ -367,7 +367,7 @@ Pixhawk3DWidget::clearAllWaypoints(void) { if (uas) { const QVector waypoints = - uas->getWaypointManager()->getWaypointList(); + uas->getWaypointManager()->getWaypointEditableList(); for (int i = waypoints.size() - 1; i >= 0; --i) { uas->getWaypointManager()->removeWaypoint(i); } @@ -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 << diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc index fe0d9928d4cf60269d15e19e6fba06c29e8e9a06..a05dc0bb9988992403592876186d2401d08495f0 100644 --- a/src/ui/map3D/QGCGoogleEarthView.cc +++ b/src/ui/map3D/QGCGoogleEarthView.cc @@ -209,15 +209,16 @@ void QGCGoogleEarthView::addUAS(UASInterface* uas) connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); // Receive waypoint updates // Connect the waypoint manager / data storage to the UI - connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int))); - connect(uas->getWaypointManager(), SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*))); - //connect(this, SIGNAL(waypointCreated(Waypoint*)), uas->getWaypointManager(), SLOT(addWaypoint(Waypoint*))); + connect(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int))); + connect(uas->getWaypointManager(), SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*))); + //connect(this, SIGNAL(waypointCreated(Waypoint*)), uas->getWaypointManager(), SLOT(addWaypointEditable(Waypoint*))); // TODO Update waypoint list on UI changes here } void QGCGoogleEarthView::setActiveUAS(UASInterface* uas) { - if (uas) { + if (uas) + { mav = uas; javaScript(QString("setCurrAircraft(%1);").arg(uas->getUASID())); updateWaypointList(uas->getUASID()); @@ -231,7 +232,8 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas) void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp) { // Only accept waypoints in global coordinate frame - if (wp->getFrame() == MAV_FRAME_GLOBAL && wp->isNavigationType()) { + if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType()) + { // We're good, this is a global waypoint // Get the index of this waypoint @@ -239,10 +241,13 @@ void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp) // as we're only handling global waypoints int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp); // If not found, return (this should never happen, but helps safety) - if (wpindex == -1) { + if (wpindex == -1) + { return; - } else { - javaScript(QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 18).arg(wp->getLongitude(), 0, 'f', 18).arg(wp->getAltitude(), 0, 'f', 18).arg(wp->getAction())); + } + else + { + javaScript(QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 22).arg(wp->getLongitude(), 0, 'f', 22).arg(wp->getAltitude(), 0, 'f', 22).arg(wp->getAction())); //qDebug() << QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 18).arg(wp->getLongitude(), 0, 'f', 18).arg(wp->getAltitude(), 0, 'f', 18).arg(wp->getAction()); } } @@ -257,7 +262,8 @@ void QGCGoogleEarthView::updateWaypointList(int uas) { // Get already existing waypoints UASInterface* uasInstance = UASManager::instance()->getUASForId(uas); - if (uasInstance) { + if (uasInstance) + { // Get all waypoints, including non-global waypoints QVector wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList(); @@ -267,7 +273,8 @@ void QGCGoogleEarthView::updateWaypointList(int uas) qDebug() << QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count()); // Load all existing waypoints into map view - foreach (Waypoint* wp, wpList) { + foreach (Waypoint* wp, wpList) + { updateWaypoint(uas, wp); } } @@ -276,7 +283,7 @@ void QGCGoogleEarthView::updateWaypointList(int uas) void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec) { Q_UNUSED(usec); - javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 18).arg(lon, 0, 'f', 18).arg(alt, 0, 'f', 15)); + javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 22).arg(lon, 0, 'f', 22).arg(alt, 0, 'f', 22)); //qDebug() << QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15); } @@ -284,7 +291,8 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou void QGCGoogleEarthView::clearTrails() { QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) { + foreach (UASInterface* currMav, mavs) + { javaScript(QString("clearTrail(%1);").arg(currMav->getUASID())); } } @@ -292,17 +300,21 @@ void QGCGoogleEarthView::clearTrails() void QGCGoogleEarthView::showTrail(bool state) { // Check if the current trail has to be hidden - if (trailEnabled && !state) { + if (trailEnabled && !state) + { QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) { + foreach (UASInterface* currMav, mavs) + { javaScript(QString("hideTrail(%1);").arg(currMav->getUASID())); } } // Check if the current trail has to be shown - if (!trailEnabled && state) { + if (!trailEnabled && state) + { QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) { + foreach (UASInterface* currMav, mavs) + { javaScript(QString("showTrail(%1);").arg(currMav->getUASID())); } } @@ -318,10 +330,14 @@ void QGCGoogleEarthView::showWaypoints(bool state) void QGCGoogleEarthView::follow(bool follow) { ui->followAirplaneCheckbox->setChecked(follow); - if (follow != followCamera) { - if (follow) { + if (follow != followCamera) + { + if (follow) + { setViewMode(VIEW_MODE_CHASE_LOCKED); - } else { + } + else + { setViewMode(VIEW_MODE_SIDE); } } @@ -376,18 +392,20 @@ void QGCGoogleEarthView::moveToPosition() void QGCGoogleEarthView::hideEvent(QHideEvent* event) { - Q_UNUSED(event); updateTimer->stop(); + QWidget::hideEvent(event); + emit visibilityChanged(false); } void QGCGoogleEarthView::showEvent(QShowEvent* event) { // React only to internal (pre-display) // events - Q_UNUSED(event) + QWidget::showEvent(event); // Enable widget, initialize on first run - if (!webViewInitialized) { + if (!webViewInitialized) + { #if (defined Q_OS_MAC) webViewMac->setPage(new QGCWebPage(webViewMac)); webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true); @@ -404,9 +422,12 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event) gEarthInitialized = false; QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth())); - } else { + } + else + { updateTimer->start(refreshRateMs); } + emit visibilityChanged(true); } void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, QString str3) @@ -461,7 +482,7 @@ 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; @@ -605,7 +626,8 @@ void QGCGoogleEarthView::updateState() // Update all MAVs QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) { + foreach (UASInterface* currMav, mavs) + { uasId = currMav->getUASID(); lat = currMav->getLatitude(); lon = currMav->getLongitude(); @@ -632,9 +654,9 @@ void QGCGoogleEarthView::updateState() // Microsoft API available in Qt - improvements wanted // First check if a new WP should be created -// bool newWaypointPending = .to bool newWaypointPending = documentElement("newWaypointPending").toBool(); - if (newWaypointPending) { + if (newWaypointPending) + { bool coordsOk = true; bool ok; double latitude = documentElement("newWaypointLatitude").toDouble(&ok); @@ -643,16 +665,18 @@ void QGCGoogleEarthView::updateState() coordsOk &= ok; double altitude = documentElement("newWaypointAltitude").toDouble(&ok); coordsOk &= ok; - if (coordsOk) { + if (coordsOk) + { // Add new waypoint - if (mav) { - int nextIndex = mav->getWaypointManager()->getWaypointList().count(); - Waypoint* wp = new Waypoint(nextIndex, latitude, longitude, altitude, true); + if (mav) + { + Waypoint* wp = mav->getWaypointManager()->createWaypoint(); wp->setFrame(MAV_FRAME_GLOBAL); -// wp.setLatitude(latitude); -// wp.setLongitude(longitude); -// wp.setAltitude(altitude); - mav->getWaypointManager()->addWaypoint(wp); + wp->setAction(MAV_CMD_NAV_WAYPOINT); + wp->setLatitude(latitude); + wp->setLongitude(longitude); + wp->setAltitude(altitude); + wp->setAcceptanceRadius(10.0); // 10 m } } javaScript("setNewWaypointPending(false);"); @@ -661,7 +685,8 @@ void QGCGoogleEarthView::updateState() // Check if a waypoint should be moved bool dragWaypointPending = documentElement("dragWaypointPending").toBool(); - if (dragWaypointPending) { + if (dragWaypointPending) + { bool coordsOk = true; bool ok; double latitude = documentElement("dragWaypointLatitude").toDouble(&ok); @@ -672,30 +697,38 @@ void QGCGoogleEarthView::updateState() coordsOk &= ok; // UPDATE WAYPOINTS, HOME LOCATION AND OTHER LOCATIONS - if (coordsOk) { + if (coordsOk) + { QString idText = documentElement("dragWaypointIndex").toString(); - if (idText == "HOME") { + if (idText == "HOME") + { qDebug() << "HOME UPDATED!"; UASManager::instance()->setHomePosition(latitude, longitude, altitude); ui->setHomeButton->setChecked(false); - } else { + } + else + { // Update waypoint or symbol - if (mav) { + if (mav) + { QVector wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList(); bool ok; int index = idText.toInt(&ok); - if (ok && index >= 0 && index < wps.count()) { + if (ok && index >= 0 && index < wps.count()) + { Waypoint* wp = wps.at(index); wp->setLatitude(latitude); wp->setLongitude(longitude); wp->setAltitude(altitude); - mav->getWaypointManager()->notifyOfChange(wp); + mav->getWaypointManager()->notifyOfChangeEditable(wp); } } } - } else { + } + else + { // If coords were not ok, move the view in google earth back // to last acceptable location updateWaypointList(mav->getUASID()); diff --git a/src/ui/map3D/QGCGoogleEarthView.h b/src/ui/map3D/QGCGoogleEarthView.h index b572678bce8f65b1a078fda6a0640e02fa550e6c..117239aa4f9bf92880635e6fac7717409f8fa324 100644 --- a/src/ui/map3D/QGCGoogleEarthView.h +++ b/src/ui/map3D/QGCGoogleEarthView.h @@ -137,6 +137,9 @@ public: /** @brief Get a document element */ QVariant documentElement(QString name); +signals: + void visibilityChanged(bool visible); + protected: void changeEvent(QEvent *e); QTimer* updateTimer; diff --git a/src/ui/map3D/WaypointGroupNode.cc b/src/ui/map3D/WaypointGroupNode.cc index 5dc99cc5856fd70ab0ca0895298bdcdc4fe6490f..4d56ac4888a04bbf08b1f56d611d76c2f4fd8a27 100644 --- a/src/ui/map3D/WaypointGroupNode.cc +++ b/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(); @@ -73,7 +73,7 @@ WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas) removeChild(0, getNumChildren()); } - const QVector& list = uas->getWaypointManager()->getWaypointList(); + const QVector& list = uas->getWaypointManager()->getWaypointEditableList(); for (int i = 0; i < list.size(); i++) { Waypoint* wp = list.at(i); @@ -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(); diff --git a/src/ui/uas/UASControlParameters.cpp b/src/ui/uas/UASControlParameters.cpp index 9e4248bc10577e61dba56847b23e3c56914543ab..214c85ce25f042b4d8737cb869aa36b0b625733e 100644 --- a/src/ui/uas/UASControlParameters.cpp +++ b/src/ui/uas/UASControlParameters.cpp @@ -52,11 +52,14 @@ void UASControlParameters::changedMode(int mode) QString modeTemp; switch (mode) { - case (uint8_t)MAV_MODE_LOCKED: + case (uint8_t)MAV_MODE_PREFLIGHT: modeTemp = "LOCKED MODE"; break; - case (uint8_t)MAV_MODE_MANUAL: - modeTemp = "MANUAL MODE"; + case (uint8_t)MAV_MODE_MANUAL_ARMED: + modeTemp = "A/MANUAL MODE"; + break; + case (uint8_t)MAV_MODE_MANUAL_DISARMED: + modeTemp = "D/MANUAL MODE"; break; #ifdef MAVLINK_ENABLED_SLUGS case (uint8_t)MAV_MODE_AUTO: @@ -72,33 +75,9 @@ void UASControlParameters::changedMode(int mode) case (uint8_t)MAV_MODE_TEST2: modeTemp = "SEL PT MODE"; break; -#else - case (uint8_t)MAV_MODE_AUTO: - modeTemp = "AUTO MODE"; - break; - case (uint8_t)MAV_MODE_GUIDED: - modeTemp = "GUIDED MODE"; - break; - - case (uint8_t)MAV_MODE_TEST1: - modeTemp = "TEST1 MODE"; - break; - case (uint8_t)MAV_MODE_TEST2: - modeTemp = "TEST2 MODE"; - break; #endif - case (uint8_t)MAV_MODE_READY: - modeTemp = "READY MODE"; - break; - break; - case (uint8_t)MAV_MODE_TEST3: - modeTemp = "TEST3 MODE"; - break; - case (uint8_t)MAV_MODE_RC_TRAINING: - modeTemp = "RC TRAINING MODE"; - break; default: - modeTemp = "UNINIT MODE"; + modeTemp = "UNKNOWN MODE"; break; } diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc index 32b8ae301977ed228ac99be436c89568b68ebee7..7640aa8dd1d69291c8a79726b3d2f941253b37a0 100644 --- a/src/ui/uas/UASControlWidget.cc +++ b/src/ui/uas/UASControlWidget.cc @@ -37,41 +37,11 @@ This file is part of the PIXHAWK project #include #include -#include #include "UASControlWidget.h" #include #include #include "QGC.h" -#define CONTROL_MODE_LOCKED "MODE LOCKED" -#define CONTROL_MODE_MANUAL "MODE MANUAL" - -#ifdef MAVLINK_ENABLED_SLUGS -#define CONTROL_MODE_GUIDED "MODE MID-L CMDS" -#define CONTROL_MODE_AUTO "MODE WAYPOINT" -#define CONTROL_MODE_TEST1 "MODE PASST" -#define CONTROL_MODE_TEST2 "MODE SEL PT" -#else -#define CONTROL_MODE_GUIDED "MODE GUIDED" -#define CONTROL_MODE_AUTO "MODE AUTO" -#define CONTROL_MODE_TEST1 "MODE TEST1" -#define CONTROL_MODE_TEST2 "MODE TEST2" -#endif - -#define CONTROL_MODE_TEST3 "MODE TEST3" -#define CONTROL_MODE_READY "MODE READY" -#define CONTROL_MODE_RC_TRAINING "RC SIMULATION" - -#define CONTROL_MODE_LOCKED_INDEX 1 -#define CONTROL_MODE_MANUAL_INDEX 2 -#define CONTROL_MODE_GUIDED_INDEX 3 -#define CONTROL_MODE_AUTO_INDEX 4 -#define CONTROL_MODE_TEST1_INDEX 5 -#define CONTROL_MODE_TEST2_INDEX 6 -#define CONTROL_MODE_TEST3_INDEX 7 -#define CONTROL_MODE_READY_INDEX 8 -#define CONTROL_MODE_RC_TRAINING_INDEX 9 - UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent), uas(0), engineOn(false) @@ -80,16 +50,12 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent), connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*))); ui.modeComboBox->clear(); - ui.modeComboBox->insertItem(0, "Select.."); - ui.modeComboBox->insertItem(CONTROL_MODE_LOCKED_INDEX, CONTROL_MODE_LOCKED); - ui.modeComboBox->insertItem(CONTROL_MODE_MANUAL_INDEX, CONTROL_MODE_MANUAL); - ui.modeComboBox->insertItem(CONTROL_MODE_GUIDED_INDEX, CONTROL_MODE_GUIDED); - ui.modeComboBox->insertItem(CONTROL_MODE_AUTO_INDEX, CONTROL_MODE_AUTO); - ui.modeComboBox->insertItem(CONTROL_MODE_TEST1_INDEX, CONTROL_MODE_TEST1); - ui.modeComboBox->insertItem(CONTROL_MODE_TEST2_INDEX, CONTROL_MODE_TEST2); - ui.modeComboBox->insertItem(CONTROL_MODE_TEST3_INDEX, CONTROL_MODE_TEST3); - ui.modeComboBox->insertItem(CONTROL_MODE_READY_INDEX, CONTROL_MODE_READY); - ui.modeComboBox->insertItem(CONTROL_MODE_RC_TRAINING_INDEX, CONTROL_MODE_RC_TRAINING); + ui.modeComboBox->insertItem(MAV_MODE_PREFLIGHT, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT)); + ui.modeComboBox->insertItem(MAV_MODE_STABILIZE_ARMED, UAS::getShortModeTextFor(MAV_MODE_STABILIZE_ARMED)); + ui.modeComboBox->insertItem(MAV_MODE_MANUAL_ARMED, UAS::getShortModeTextFor(MAV_MODE_MANUAL_ARMED)); + ui.modeComboBox->insertItem(MAV_MODE_GUIDED_DISARMED, UAS::getShortModeTextFor(MAV_MODE_GUIDED_ARMED)); + ui.modeComboBox->insertItem(MAV_MODE_AUTO_ARMED, UAS::getShortModeTextFor(MAV_MODE_AUTO_ARMED)); + ui.modeComboBox->insertItem(MAV_MODE_TEST_ARMED, UAS::getShortModeTextFor(MAV_MODE_TEST_ARMED)); connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int))); connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode())); @@ -103,7 +69,7 @@ void UASControlWidget::setUAS(UASInterface* uas) { if (this->uas != 0) { UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uas); - disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(enable_motors())); + disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem())); disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch())); disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home())); disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown())); @@ -123,24 +89,6 @@ void UASControlWidget::setUAS(UASInterface* uas) ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName()); -// // Check if additional controls should be loaded -// UAS* mav = dynamic_cast(uas); -// if (mav) -// { -// QPushButton* startRecButton = new QPushButton(tr("Record")); -// connect(startRecButton, SIGNAL(clicked()), mav, SLOT(startDataRecording())); -// ui.gridLayout->addWidget(startRecButton, 7, 1); - -// QPushButton* pauseRecButton = new QPushButton(tr("Pause")); -// connect(pauseRecButton, SIGNAL(clicked()), mav, SLOT(pauseDataRecording())); -// ui.gridLayout->addWidget(pauseRecButton, 7, 3); - -// QPushButton* stopRecButton = new QPushButton(tr("Stop")); -// connect(stopRecButton, SIGNAL(clicked()), mav, SLOT(stopDataRecording())); -// ui.gridLayout->addWidget(stopRecButton, 7, 4); -// } - - this->uas = uas->getUASID(); setBackgroundColor(uas->getColor()); } @@ -154,9 +102,9 @@ void UASControlWidget::updateStatemachine() { if (engineOn) { - ui.controlButton->setText(tr("Stop Engine")); + ui.controlButton->setText(tr("DISARM SYSTEM")); } else { - ui.controlButton->setText(tr("Activate Engine")); + ui.controlButton->setText(tr("ARM SYSTEM")); } } @@ -194,74 +142,51 @@ void UASControlWidget::updateState(int state) switch (state) { case (int)MAV_STATE_ACTIVE: engineOn = true; - ui.controlButton->setText(tr("Stop Engine")); + ui.controlButton->setText(tr("DISARM SYSTEM")); break; case (int)MAV_STATE_STANDBY: engineOn = false; - ui.controlButton->setText(tr("Activate Engine")); + ui.controlButton->setText(tr("ARM SYSTEM")); break; } } +/** + * Called by the button + */ void UASControlWidget::setMode(int mode) { // Adapt context button mode - if (mode == CONTROL_MODE_LOCKED_INDEX) { - uasMode = (unsigned int)MAV_MODE_LOCKED; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_MANUAL_INDEX) { - uasMode = (unsigned int)MAV_MODE_MANUAL; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_GUIDED_INDEX) { - uasMode = (unsigned int)MAV_MODE_GUIDED; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_AUTO_INDEX) { - uasMode = (unsigned int)MAV_MODE_AUTO; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_TEST1_INDEX) { - uasMode = (unsigned int)MAV_MODE_TEST1; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_TEST2_INDEX) { - uasMode = (unsigned int)MAV_MODE_TEST2; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_TEST3_INDEX) { - uasMode = (unsigned int)MAV_MODE_TEST3; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_RC_TRAINING_INDEX) { - uasMode = (unsigned int)MAV_MODE_RC_TRAINING; - ui.modeComboBox->setCurrentIndex(mode); - } else { - qDebug() << "ERROR! MODE NOT FOUND"; - uasMode = 0; - } - - - qDebug() << "SET MODE REQUESTED" << uasMode; + uasMode = mode; + ui.modeComboBox->blockSignals(true); + ui.modeComboBox->setCurrentIndex(mode); + ui.modeComboBox->blockSignals(false); emit changedMode(mode); } void UASControlWidget::transmitMode() { - if (uasMode != 0) { - UASInterface* mav = UASManager::instance()->getUASForId(this->uas); - if (mav) { - mav->setMode(uasMode); - ui.lastActionLabel->setText(QString("Set new mode for system %1").arg(mav->getUASName())); - } + UASInterface* mav = UASManager::instance()->getUASForId(this->uas); + if (mav) + { + mav->setMode(uasMode); + ui.lastActionLabel->setText(QString("Sent new mode cmd to %1").arg(mav->getUASName())); } } void UASControlWidget::cycleContextButton() { UAS* mav = dynamic_cast(UASManager::instance()->getUASForId(this->uas)); - if (mav) { + if (mav) + { - if (!engineOn) { - mav->enable_motors(); + if (!engineOn) + { + mav->armSystem(); ui.lastActionLabel->setText(QString("Enabled motors on %1").arg(mav->getUASName())); } else { - mav->disable_motors(); + mav->disarmSystem(); ui.lastActionLabel->setText(QString("Disabled motors on %1").arg(mav->getUASName())); } // Update state now and in several intervals when MAV might have changed state @@ -270,8 +195,6 @@ void UASControlWidget::cycleContextButton() QTimer::singleShot(50, this, SLOT(updateStatemachine())); QTimer::singleShot(200, this, SLOT(updateStatemachine())); - //ui.controlButton->setText(tr("Force Landing")); - //ui.controlButton->setText(tr("KILL VEHICLE")); } } diff --git a/src/ui/uas/UASListWidget.cc b/src/ui/uas/UASListWidget.cc index 271c1c49d69f4e080f95a2b6a2e5c302bcba9abd..faa136d3b0db284afd126956af5b3adb1257ef19 100644 --- a/src/ui/uas/UASListWidget.cc +++ b/src/ui/uas/UASListWidget.cc @@ -75,7 +75,8 @@ UASListWidget::~UASListWidget() void UASListWidget::changeEvent(QEvent *e) { QWidget::changeEvent(e); - switch (e->type()) { + switch (e->type()) + { case QEvent::LanguageChange: m_ui->retranslateUi(this); break; @@ -88,13 +89,15 @@ void UASListWidget::changeEvent(QEvent *e) void UASListWidget::addUAS(UASInterface* uas) { - if (uasViews.isEmpty()) { + if (uasViews.isEmpty()) + { listLayout->removeWidget(uWidget); delete uWidget; uWidget = NULL; } - if (!uasViews.contains(uas)) { + if (!uasViews.contains(uas)) + { uasViews.insert(uas, new UASView(uas, this)); listLayout->addWidget(uasViews.value(uas)); //connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*))); @@ -111,7 +114,8 @@ void UASListWidget::activeUAS(UASInterface* uas) void UASListWidget::removeUAS(UASInterface* uas) { - listLayout->removeWidget(uasViews.value(uas)); - uasViews.value(uas)->deleteLater(); +// uasViews.remove(uas); +// listLayout->removeWidget(uasViews.value(uas)); +// uasViews.value(uas)->deleteLater(); } diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc index 46a823dc2fbe52fd66adf0d5240934afa439b4e4..74dae8c9b2f45fe5390f5bb061a008972ab23208 100644 --- a/src/ui/uas/UASView.cc +++ b/src/ui/uas/UASView.cc @@ -68,14 +68,16 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : removeAction(new QAction("Delete this system", this)), renameAction(new QAction("Rename..", this)), selectAction(new QAction("Control this system", this )), + hilAction(new QAction("Enable Hardware-in-the-Loop Simulation", this )), selectAirframeAction(new QAction("Choose Airframe", this)), setBatterySpecsAction(new QAction("Set Battery Options", this)), - lowPowerModeEnabled(false), + lowPowerModeEnabled(true), m_ui(new Ui::UASView) { // FIXME XXX lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled(); + hilAction->setCheckable(true); m_ui->setupUi(this); @@ -114,6 +116,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater())); connect(renameAction, SIGNAL(triggered()), this, SLOT(rename())); connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected())); + connect(hilAction, SIGNAL(triggered(bool)), uas, SLOT(enableHil(bool))); connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe())); connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs())); connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater())); @@ -137,7 +140,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh())); if (lowPowerModeEnabled) { - refreshTimer->start(updateInterval*10); + refreshTimer->start(updateInterval*3); } else { refreshTimer->start(updateInterval); } @@ -321,7 +324,7 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType) case 6: { // A groundstation is a special system type, update widget QString result; - m_ui->nameLabel->setText(tr("OCU ") + result.sprintf("%03d", uas->getUASID())); + m_ui->nameLabel->setText(tr("GCS ") + result.sprintf("%03d", uas->getUASID())); m_ui->waypointLabel->setText(""); m_ui->timeRemainingLabel->setText("Online:"); m_ui->batteryBar->hide(); @@ -437,6 +440,7 @@ void UASView::contextMenuEvent (QContextMenuEvent* event) if (timeout) { menu.addAction(removeAction); } + menu.addAction(hilAction); menu.addAction(selectAirframeAction); menu.addAction(setBatterySpecsAction); menu.exec(event->globalPos()); diff --git a/src/ui/uas/UASView.h b/src/ui/uas/UASView.h index 5e8323226a206c4710b38cd41ab63a746be79432..de83cb783e6a109298362314ce1e54ddb1704488 100644 --- a/src/ui/uas/UASView.h +++ b/src/ui/uas/UASView.h @@ -120,6 +120,7 @@ protected: QAction* removeAction; QAction* renameAction; QAction* selectAction; + QAction* hilAction; QAction* selectAirframeAction; QAction* setBatterySpecsAction; static const int updateInterval = 800; diff --git a/thirdParty/mavlink/.gitignore b/thirdParty/mavlink/.gitignore index d67b9114a8bfd87e59462c81db271ba1cdc24f2f..0da69ed7c3efecc275c1a8123ff3061eee60f487 100644 --- a/thirdParty/mavlink/.gitignore +++ b/thirdParty/mavlink/.gitignore @@ -1,3 +1,4 @@ *~ doc/html doc/*.log +missionlib/testing/*.xcodeproj/* diff --git a/thirdParty/mavlink/examples/linux/.gitignore b/thirdParty/mavlink/examples/linux/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..ce4f5db0921b3e8a1bf02220ec08d92d69c260aa --- /dev/null +++ b/thirdParty/mavlink/examples/linux/.gitignore @@ -0,0 +1 @@ +mavlink_udp diff --git a/thirdParty/mavlink/examples/linux/README b/thirdParty/mavlink/examples/linux/README new file mode 100644 index 0000000000000000000000000000000000000000..d1380184267a9e6dcdda9d18383931fc26a70ed9 --- /dev/null +++ b/thirdParty/mavlink/examples/linux/README @@ -0,0 +1,19 @@ +A more detailed version of this quickstart is available at: + +http://qgroundcontrol.org/dev/mavlink_linux_integration_tutorial + +MAVLINK UDP QUICKSTART INSTRUCTIONS +=================================== + +MAVLink UDP Example for *nix system (Linux, MacOS, BSD, etc.) + +To compile with GCC, just enter: + +gcc -I ../../include/common -o mavlink_udp mavlink_udp.c + +To run, type: + +./mavlink_udp + + +If you run QGroundControl on the same machine, a MAV should pop up. diff --git a/thirdParty/mavlink/examples/linux/mavlink_udp.c b/thirdParty/mavlink/examples/linux/mavlink_udp.c new file mode 100644 index 0000000000000000000000000000000000000000..02fd3f048feb4245014f370f657558083dd213f8 --- /dev/null +++ b/thirdParty/mavlink/examples/linux/mavlink_udp.c @@ -0,0 +1,213 @@ +/******************************************************************************* + Copyright (C) 2010 Bryan Godbolt godbolt ( a t ) ualberta.ca + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + ****************************************************************************/ +/* + This program sends some data to qgroundcontrol using the mavlink protocol. The sent packets + cause qgroundcontrol to respond with heartbeats. Any settings or custom commands sent from + qgroundcontrol are printed by this program along with the heartbeats. + + + I compiled this program sucessfully on Ubuntu 10.04 with the following command + + gcc -I ../../pixhawk/mavlink/include -o udp-server udp-server-test.c + + the rt library is needed for the clock_gettime on linux + */ +/* These headers are for QNX, but should all be standard on unix/linux */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#if (defined __QNX__) | (defined __QNXNTO__) +/* QNX specific headers */ +#include +#else +/* Linux / MacOS POSIX timer headers */ +#include +#include +#include +#endif + +/* This assumes you have the mavlink headers on your include path + or in the same folder as this source file */ +#include + + +#define BUFFER_LENGTH 2041 // minimum buffer size that can be used with qnx (I don't know why) + +uint64_t microsSinceEpoch(); + +int main(int argc, char* argv[]) +{ + + char help[] = "--help"; + + + char target_ip[100]; + + float position[6] = {}; + int sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); + struct sockaddr_in gcAddr; + struct sockaddr_in locAddr; + //struct sockaddr_in fromAddr; + uint8_t buf[BUFFER_LENGTH]; + ssize_t recsize; + socklen_t fromlen; + int bytes_sent; + mavlink_message_t msg; + uint16_t len; + int i = 0; + //int success = 0; + unsigned int temp = 0; + + // Check if --help flag was used + if ((argc == 2) && (strcmp(argv[1], help) == 0)) + { + printf("\n"); + printf("\tUsage:\n\n"); + printf("\t"); + printf("%s", argv[0]); + printf(" \n"); + printf("\tDefault for localhost: udp-server 127.0.0.1\n\n"); + exit(EXIT_FAILURE); + } + + + // Change the target ip if parameter was given + strcpy(target_ip, "127.0.0.1"); + if (argc == 2) + { + strcpy(target_ip, argv[1]); + } + + + memset(&locAddr, 0, sizeof(locAddr)); + locAddr.sin_family = AF_INET; + locAddr.sin_addr.s_addr = INADDR_ANY; + locAddr.sin_port = htons(14551); + + /* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */ + if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr))) + { + perror("error bind failed"); + close(sock); + exit(EXIT_FAILURE); + } + + /* Attempt to make it non blocking */ + if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0) + { + fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno)); + close(sock); + exit(EXIT_FAILURE); + } + + + memset(&gcAddr, 0, sizeof(gcAddr)); + gcAddr.sin_family = AF_INET; + gcAddr.sin_addr.s_addr = inet_addr(target_ip); + gcAddr.sin_port = htons(14550); + + + + for (;;) + { + + /*Send Heartbeat */ + mavlink_msg_heartbeat_pack(1, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE); + len = mavlink_msg_to_send_buffer(buf, &msg); + bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + + /* Send Status */ + mavlink_msg_sys_status_pack(1, 200, &msg, 0, 0, 0, 500, 11000, -1, -1, 0, 0, 0, 0, 0, 0); + len = mavlink_msg_to_send_buffer(buf, &msg); + bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); + + /* Send Local Position */ + mavlink_msg_local_position_ned_pack(1, 200, &msg, microsSinceEpoch(), + position[0], position[1], position[2], + position[3], position[4], position[5]); + len = mavlink_msg_to_send_buffer(buf, &msg); + bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + + /* Send attitude */ + mavlink_msg_attitude_pack(1, 200, &msg, microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03); + len = mavlink_msg_to_send_buffer(buf, &msg); + bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + + + memset(buf, 0, BUFFER_LENGTH); + recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen); + if (recsize > 0) + { + // Something received - print out all bytes and parse packet + mavlink_message_t msg; + mavlink_status_t status; + + printf("Bytes Received: %d\nDatagram: ", (int)recsize); + for (i = 0; i < recsize; ++i) + { + temp = buf[i]; + printf("%02x ", (unsigned char)temp); + if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) + { + // Packet received + printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid); + } + } + printf("\n"); + } + memset(buf, 0, BUFFER_LENGTH); + sleep(1); // Sleep one second + } +} + + +/* QNX timer version */ +#if (defined __QNX__) | (defined __QNXNTO__) +uint64_t microsSinceEpoch() +{ + + struct timespec time; + + uint64_t micros = 0; + + clock_gettime(CLOCK_REALTIME, &time); + micros = (uint64_t)time.tv_sec * 100000 + time.tv_nsec/1000; + + return micros; +} +#else +uint64_t microsSinceEpoch() +{ + + struct timeval tv; + + uint64_t micros = 0; + + gettimeofday(&tv, NULL); + micros = ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec; + + return micros; +} +#endif diff --git a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h index 64827032d4512c8bc54eaebf643402449e77c8f6..67a76593416876c51cfeb3b55395e038af14b246 100644 --- a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h +++ b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h @@ -1,7 +1,6 @@ /** @file - * @brief MAVLink comm protocol. + * @brief MAVLink comm protocol generated from ardupilotmega.xml * @see http://qgroundcontrol.org/mavlink/ - * Generated on Saturday, August 13 2011, 08:44 UTC */ #ifndef ARDUPILOTMEGA_H #define ARDUPILOTMEGA_H @@ -10,39 +9,48 @@ extern "C" { #endif +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 0, 28, 22, 22, 21, 0, 36, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 197, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 0, 104, 244, 237, 222, 0, 158, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 160, 168, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, {NULL}, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_SHORT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {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}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, {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}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE} +#endif #include "../protocol.h" #define MAVLINK_ENABLED_ARDUPILOTMEGA - #include "../common/common.h" + // MAVLINK VERSION #ifndef MAVLINK_VERSION -#define MAVLINK_VERSION 0 +#define MAVLINK_VERSION 2 #endif #if (MAVLINK_VERSION == 0) #undef MAVLINK_VERSION -#define MAVLINK_VERSION 0 +#define MAVLINK_VERSION 2 #endif // ENUM DEFINITIONS -// MESSAGE DEFINITIONS +// MESSAGE DEFINITIONS #include "./mavlink_msg_sensor_offsets.h" #include "./mavlink_msg_set_mag_offsets.h" - - -// MESSAGE LENGTHS - -#undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 } +#include "./mavlink_msg_meminfo.h" +#include "./mavlink_msg_ap_adc.h" #ifdef __cplusplus } -#endif -#endif +#endif // __cplusplus +#endif // ARDUPILOTMEGA_H diff --git a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega_testsuite.h b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega_testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..c75bab6a9cac36c88cd21bcb2cd18a885a2c9a15 --- /dev/null +++ b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega_testsuite.h @@ -0,0 +1,22 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml + * @see http://qgroundcontrol.org/mavlink/ + * Generated on Wed Aug 24 17:14:16 2011 + */ +#ifndef ARDUPILOTMEGA_TESTSUITE_H +#define ARDUPILOTMEGA_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +static void mavtest_generate_outputs(mavlink_channel_t chan) +{ + mavlink_msg_sensor_offsets_send(chan , 19107 , 19211 , 19315 , 17.0 , 963497672 , 963497880 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 , 241.0 ); + mavlink_msg_set_mag_offsets_send(chan , 151 , 218 , 17235 , 17339 , 17443 ); +} + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // ARDUPILOTMEGA_TESTSUITE_H diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink.h b/thirdParty/mavlink/include/ardupilotmega/mavlink.h index a54a6df31be8cf0a3c3ab7dfd8e2d3ca7b14855c..551938f0440328a76fd05b2dfccc8eaf8efe5781 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink.h +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink.h @@ -1,11 +1,27 @@ /** @file - * @brief MAVLink comm protocol. + * @brief MAVLink comm protocol built from ardupilotmega.xml * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Saturday, August 13 2011, 08:44 UTC */ #ifndef MAVLINK_H #define MAVLINK_H -#include "ardupilotmega.h" +#ifndef MAVLINK_STX +#define MAVLINK_STX 254 +#endif +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN #endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS 1 +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA 1 +#endif + +#include "version.h" +#include "ardupilotmega.h" + +#endif // MAVLINK_H diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h new file mode 100644 index 0000000000000000000000000000000000000000..dbe7f19370c84b1b80c1e0a91acafee0224d9eda --- /dev/null +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h @@ -0,0 +1,254 @@ +// MESSAGE AP_ADC PACKING + +#define MAVLINK_MSG_ID_AP_ADC 153 + +typedef struct __mavlink_ap_adc_t +{ + uint16_t adc1; ///< ADC output 1 + uint16_t adc2; ///< ADC output 2 + uint16_t adc3; ///< ADC output 3 + uint16_t adc4; ///< ADC output 4 + uint16_t adc5; ///< ADC output 5 + uint16_t adc6; ///< ADC output 6 +} mavlink_ap_adc_t; + +#define MAVLINK_MSG_ID_AP_ADC_LEN 12 +#define MAVLINK_MSG_ID_153_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_AP_ADC { \ + "AP_ADC", \ + 6, \ + { { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \ + { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \ + { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \ + { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \ + { "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \ + { "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \ + } \ +} + + +/** + * @brief Pack a ap_adc 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 adc1 ADC output 1 + * @param adc2 ADC output 2 + * @param adc3 ADC output 3 + * @param adc4 ADC output 4 + * @param adc5 ADC output 5 + * @param adc6 ADC output 6 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, adc5); + _mav_put_uint16_t(buf, 10, adc6); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_ap_adc_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.adc5 = adc5; + packet.adc6 = adc6; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_AP_ADC; + return mavlink_finalize_message(msg, system_id, component_id, 12, 188); +} + +/** + * @brief Pack a ap_adc 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 adc1 ADC output 1 + * @param adc2 ADC output 2 + * @param adc3 ADC output 3 + * @param adc4 ADC output 4 + * @param adc5 ADC output 5 + * @param adc6 ADC output 6 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, adc5); + _mav_put_uint16_t(buf, 10, adc6); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_ap_adc_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.adc5 = adc5; + packet.adc6 = adc6; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_AP_ADC; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 188); +} + +/** + * @brief Encode a ap_adc 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 ap_adc C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc) +{ + return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6); +} + +/** + * @brief Send a ap_adc message + * @param chan MAVLink channel to send the message + * + * @param adc1 ADC output 1 + * @param adc2 ADC output 2 + * @param adc3 ADC output 3 + * @param adc4 ADC output 4 + * @param adc5 ADC output 5 + * @param adc6 ADC output 6 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, adc5); + _mav_put_uint16_t(buf, 10, adc6); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12, 188); +#else + mavlink_ap_adc_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.adc5 = adc5; + packet.adc6 = adc6; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12, 188); +#endif +} + +#endif + +// MESSAGE AP_ADC UNPACKING + + +/** + * @brief Get field adc1 from ap_adc message + * + * @return ADC output 1 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field adc2 from ap_adc message + * + * @return ADC output 2 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field adc3 from ap_adc message + * + * @return ADC output 3 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field adc4 from ap_adc message + * + * @return ADC output 4 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field adc5 from ap_adc message + * + * @return ADC output 5 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field adc6 from ap_adc message + * + * @return ADC output 6 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Decode a ap_adc message into a struct + * + * @param msg The message to decode + * @param ap_adc C-struct to decode the message contents into + */ +static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc) +{ +#if MAVLINK_NEED_BYTE_SWAP + ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg); + ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg); + ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg); + ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg); + ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg); + ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg); +#else + memcpy(ap_adc, _MAV_PAYLOAD(msg), 12); +#endif +} diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h new file mode 100644 index 0000000000000000000000000000000000000000..85b7d96fc8f69f0adb9b1b2e2b9169236bbd6738 --- /dev/null +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h @@ -0,0 +1,166 @@ +// MESSAGE MEMINFO PACKING + +#define MAVLINK_MSG_ID_MEMINFO 152 + +typedef struct __mavlink_meminfo_t +{ + uint16_t brkval; ///< heap top + uint16_t freemem; ///< free memory +} mavlink_meminfo_t; + +#define MAVLINK_MSG_ID_MEMINFO_LEN 4 +#define MAVLINK_MSG_ID_152_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_MEMINFO { \ + "MEMINFO", \ + 2, \ + { { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \ + { "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \ + } \ +} + + +/** + * @brief Pack a meminfo 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 brkval heap top + * @param freemem free memory + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t brkval, uint16_t freemem) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, brkval); + _mav_put_uint16_t(buf, 2, freemem); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_meminfo_t packet; + packet.brkval = brkval; + packet.freemem = freemem; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MEMINFO; + return mavlink_finalize_message(msg, system_id, component_id, 4, 208); +} + +/** + * @brief Pack a meminfo 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 brkval heap top + * @param freemem free memory + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t brkval,uint16_t freemem) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, brkval); + _mav_put_uint16_t(buf, 2, freemem); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_meminfo_t packet; + packet.brkval = brkval; + packet.freemem = freemem; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MEMINFO; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 208); +} + +/** + * @brief Encode a meminfo 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 meminfo C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo) +{ + return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem); +} + +/** + * @brief Send a meminfo message + * @param chan MAVLink channel to send the message + * + * @param brkval heap top + * @param freemem free memory + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, brkval); + _mav_put_uint16_t(buf, 2, freemem); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, 4, 208); +#else + mavlink_meminfo_t packet; + packet.brkval = brkval; + packet.freemem = freemem; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, 4, 208); +#endif +} + +#endif + +// MESSAGE MEMINFO UNPACKING + + +/** + * @brief Get field brkval from meminfo message + * + * @return heap top + */ +static inline uint16_t mavlink_msg_meminfo_get_brkval(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field freemem from meminfo message + * + * @return free memory + */ +static inline uint16_t mavlink_msg_meminfo_get_freemem(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a meminfo message into a struct + * + * @param msg The message to decode + * @param meminfo C-struct to decode the message contents into + */ +static inline void mavlink_msg_meminfo_decode(const mavlink_message_t* msg, mavlink_meminfo_t* meminfo) +{ +#if MAVLINK_NEED_BYTE_SWAP + meminfo->brkval = mavlink_msg_meminfo_get_brkval(msg); + meminfo->freemem = mavlink_msg_meminfo_get_freemem(msg); +#else + memcpy(meminfo, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h index a3191c787073e5e7ff962713befe89a8b07bf7a2..b3b38e6df2fdea9a40c6240560d3754057f26238 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h @@ -2,23 +2,44 @@ #define MAVLINK_MSG_ID_SENSOR_OFFSETS 150 -typedef struct __mavlink_sensor_offsets_t +typedef struct __mavlink_sensor_offsets_t { - int16_t mag_ofs_x; ///< magnetometer X offset - int16_t mag_ofs_y; ///< magnetometer Y offset - int16_t mag_ofs_z; ///< magnetometer Z offset - float mag_declination; ///< magnetic declination (radians) - int32_t raw_press; ///< raw pressure from barometer - int32_t raw_temp; ///< raw temperature from barometer - float gyro_cal_x; ///< gyro X calibration - float gyro_cal_y; ///< gyro Y calibration - float gyro_cal_z; ///< gyro Z calibration - float accel_cal_x; ///< accel X calibration - float accel_cal_y; ///< accel Y calibration - float accel_cal_z; ///< accel Z calibration - + float mag_declination; ///< magnetic declination (radians) + int32_t raw_press; ///< raw pressure from barometer + int32_t raw_temp; ///< raw temperature from barometer + float gyro_cal_x; ///< gyro X calibration + float gyro_cal_y; ///< gyro Y calibration + float gyro_cal_z; ///< gyro Z calibration + float accel_cal_x; ///< accel X calibration + float accel_cal_y; ///< accel Y calibration + float accel_cal_z; ///< accel Z calibration + int16_t mag_ofs_x; ///< magnetometer X offset + int16_t mag_ofs_y; ///< magnetometer Y offset + int16_t mag_ofs_z; ///< magnetometer Z offset } mavlink_sensor_offsets_t; +#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42 +#define MAVLINK_MSG_ID_150_LEN 42 + + + +#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \ + "SENSOR_OFFSETS", \ + 12, \ + { { "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \ + { "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_sensor_offsets_t, raw_press) }, \ + { "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \ + { "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \ + { "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \ + { "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \ + { "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \ + { "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \ + { "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \ + { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \ + { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \ + { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \ + } \ +} /** @@ -41,29 +62,49 @@ typedef struct __mavlink_sensor_offsets_t * @param accel_cal_z accel Z calibration * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) +static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_float(buf, 0, mag_declination); + _mav_put_int32_t(buf, 4, raw_press); + _mav_put_int32_t(buf, 8, raw_temp); + _mav_put_float(buf, 12, gyro_cal_x); + _mav_put_float(buf, 16, gyro_cal_y); + _mav_put_float(buf, 20, gyro_cal_z); + _mav_put_float(buf, 24, accel_cal_x); + _mav_put_float(buf, 28, accel_cal_y); + _mav_put_float(buf, 32, accel_cal_z); + _mav_put_int16_t(buf, 36, mag_ofs_x); + _mav_put_int16_t(buf, 38, mag_ofs_y); + _mav_put_int16_t(buf, 40, mag_ofs_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_sensor_offsets_t packet; + packet.mag_declination = mag_declination; + packet.raw_press = raw_press; + packet.raw_temp = raw_temp; + packet.gyro_cal_x = gyro_cal_x; + packet.gyro_cal_y = gyro_cal_y; + packet.gyro_cal_z = gyro_cal_z; + packet.accel_cal_x = accel_cal_x; + packet.accel_cal_y = accel_cal_y; + packet.accel_cal_z = accel_cal_z; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; - i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset - i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset - i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset - i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians) - i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer - i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer - i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration - i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration - i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration - i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration - i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration - i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif + + msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + return mavlink_finalize_message(msg, system_id, component_id, 42, 134); } /** - * @brief Pack a sensor_offsets message + * @brief Pack a sensor_offsets 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 @@ -82,25 +123,46 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_ * @param accel_cal_z accel Z calibration * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) +static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z,float mag_declination,int32_t raw_press,int32_t raw_temp,float gyro_cal_x,float gyro_cal_y,float gyro_cal_z,float accel_cal_x,float accel_cal_y,float accel_cal_z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_float(buf, 0, mag_declination); + _mav_put_int32_t(buf, 4, raw_press); + _mav_put_int32_t(buf, 8, raw_temp); + _mav_put_float(buf, 12, gyro_cal_x); + _mav_put_float(buf, 16, gyro_cal_y); + _mav_put_float(buf, 20, gyro_cal_z); + _mav_put_float(buf, 24, accel_cal_x); + _mav_put_float(buf, 28, accel_cal_y); + _mav_put_float(buf, 32, accel_cal_z); + _mav_put_int16_t(buf, 36, mag_ofs_x); + _mav_put_int16_t(buf, 38, mag_ofs_y); + _mav_put_int16_t(buf, 40, mag_ofs_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_sensor_offsets_t packet; + packet.mag_declination = mag_declination; + packet.raw_press = raw_press; + packet.raw_temp = raw_temp; + packet.gyro_cal_x = gyro_cal_x; + packet.gyro_cal_y = gyro_cal_y; + packet.gyro_cal_z = gyro_cal_z; + packet.accel_cal_x = accel_cal_x; + packet.accel_cal_y = accel_cal_y; + packet.accel_cal_z = accel_cal_z; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif - i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset - i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset - i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset - i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians) - i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer - i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer - i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration - i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration - i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration - i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration - i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration - i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 134); } /** @@ -137,14 +199,46 @@ static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) { - mavlink_message_t msg; - mavlink_msg_sensor_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_float(buf, 0, mag_declination); + _mav_put_int32_t(buf, 4, raw_press); + _mav_put_int32_t(buf, 8, raw_temp); + _mav_put_float(buf, 12, gyro_cal_x); + _mav_put_float(buf, 16, gyro_cal_y); + _mav_put_float(buf, 20, gyro_cal_z); + _mav_put_float(buf, 24, accel_cal_x); + _mav_put_float(buf, 28, accel_cal_y); + _mav_put_float(buf, 32, accel_cal_z); + _mav_put_int16_t(buf, 36, mag_ofs_x); + _mav_put_int16_t(buf, 38, mag_ofs_y); + _mav_put_int16_t(buf, 40, mag_ofs_z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, 42, 134); +#else + mavlink_sensor_offsets_t packet; + packet.mag_declination = mag_declination; + packet.raw_press = raw_press; + packet.raw_temp = raw_temp; + packet.gyro_cal_x = gyro_cal_x; + packet.gyro_cal_y = gyro_cal_y; + packet.gyro_cal_z = gyro_cal_z; + packet.accel_cal_x = accel_cal_x; + packet.accel_cal_y = accel_cal_y; + packet.accel_cal_z = accel_cal_z; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, 42, 134); +#endif } #endif + // MESSAGE SENSOR_OFFSETS UNPACKING + /** * @brief Get field mag_ofs_x from sensor_offsets message * @@ -152,10 +246,7 @@ static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16 */ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 36); } /** @@ -165,10 +256,7 @@ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_mes */ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 38); } /** @@ -178,10 +266,7 @@ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_mes */ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 40); } /** @@ -191,12 +276,7 @@ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_mes */ static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -206,12 +286,7 @@ static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink */ static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 4); } /** @@ -221,12 +296,7 @@ static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_mes */ static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 8); } /** @@ -236,12 +306,7 @@ static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_mess */ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -251,12 +316,7 @@ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_mess */ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -266,12 +326,7 @@ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_mess */ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -281,12 +336,7 @@ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_mess */ static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -296,12 +346,7 @@ static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_mes */ static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 28); } /** @@ -311,12 +356,7 @@ static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_mes */ static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 32); } /** @@ -327,9 +367,7 @@ static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_mes */ static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets) { - sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg); - sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg); - sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg); +#if MAVLINK_NEED_BYTE_SWAP sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg); sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg); sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg); @@ -339,4 +377,10 @@ static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* ms sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg); sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg); sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg); + sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg); + sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg); + sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg); +#else + memcpy(sensor_offsets, _MAV_PAYLOAD(msg), 42); +#endif } diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h index 10dd1a58fd57d9158e18b3949b9d54303081f745..01511619018f799921e5ec44a3ea11c3e4ec949e 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h @@ -2,16 +2,30 @@ #define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151 -typedef struct __mavlink_set_mag_offsets_t +typedef struct __mavlink_set_mag_offsets_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - int16_t mag_ofs_x; ///< magnetometer X offset - int16_t mag_ofs_y; ///< magnetometer Y offset - int16_t mag_ofs_z; ///< magnetometer Z offset - + int16_t mag_ofs_x; ///< magnetometer X offset + int16_t mag_ofs_y; ///< magnetometer Y offset + int16_t mag_ofs_z; ///< magnetometer Z offset + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID } mavlink_set_mag_offsets_t; +#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8 +#define MAVLINK_MSG_ID_151_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS { \ + "SET_MAG_OFFSETS", \ + 5, \ + { { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_set_mag_offsets_t, mag_ofs_x) }, \ + { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_set_mag_offsets_t, mag_ofs_y) }, \ + { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_set_mag_offsets_t, mag_ofs_z) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_set_mag_offsets_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_set_mag_offsets_t, target_component) }, \ + } \ +} /** @@ -27,22 +41,35 @@ typedef struct __mavlink_set_mag_offsets_t * @param mag_ofs_z magnetometer Z offset * @return length of the message in bytes (excluding serial stream start sign) */ -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) +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) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset - i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset - i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset +#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 - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + return mavlink_finalize_message(msg, system_id, component_id, 8, 219); } /** - * @brief Pack a set_mag_offsets message + * @brief Pack a set_mag_offsets 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 @@ -54,18 +81,32 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8 * @param mag_ofs_z magnetometer Z offset * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_mag_offsets_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, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) +static inline uint16_t mavlink_msg_set_mag_offsets_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,int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset - i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset - i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset +#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 - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 219); } /** @@ -95,14 +136,32 @@ 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_message_t msg; - mavlink_msg_set_mag_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z); - mavlink_send_uart(chan, &msg); +#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 + // MESSAGE SET_MAG_OFFSETS UNPACKING + /** * @brief Get field target_system from set_mag_offsets message * @@ -110,7 +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 (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 6); } /** @@ -120,7 +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 (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 7); } /** @@ -130,10 +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) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 0); } /** @@ -143,10 +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) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 2); } /** @@ -156,10 +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) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 4); } /** @@ -170,9 +220,13 @@ static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_me */ static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets) { - 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); +#if MAVLINK_NEED_BYTE_SWAP set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg); set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg); set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg); + 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, _MAV_PAYLOAD(msg), 8); +#endif } diff --git a/thirdParty/mavlink/include/ardupilotmega/testsuite.h b/thirdParty/mavlink/include/ardupilotmega/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..c7cdc402f71beba400b854f39e28d60215cbef0b --- /dev/null +++ b/thirdParty/mavlink/include/ardupilotmega/testsuite.h @@ -0,0 +1,252 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef ARDUPILOTMEGA_TESTSUITE_H +#define ARDUPILOTMEGA_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +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, mavlink_message_t *last_msg) +{ + 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, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_sensor_offsets_t packet_in = { + 17.0, + 963497672, + 963497880, + 101.0, + 129.0, + 157.0, + 185.0, + 213.0, + 241.0, + 19107, + 19211, + 19315, + }; + 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 -#include - -int main(int argc, char* argv[]) -{ - - uint8_t bitfield = 254; // 11111110 - - uint8_t mask = 128; // 10000000 - - uint8_t result = (bitfield & mask); - - printf("0x%02x\n", bitfield); - - // Transform into network order - - generic_32bit bin; - bin.i = 1; - printf("First byte in (little endian) 0x%02x\n", bin.b[0]); - generic_32bit bout; - bout.b[0] = bin.b[3]; - bout.b[1] = bin.b[2]; - bout.b[2] = bin.b[1]; - bout.b[3] = bin.b[0]; - printf("Last byte out (big endian) 0x%02x\n", bout.b[3]); - - uint8_t n = 5; - printf("Mask is 0x%02x\n", ((uint32_t)(1 << n)) - 1); // = 2^n - 1 - - int32_t encoded = 2; - uint8_t bits = 2; - - uint8_t packet[MAVLINK_MAX_PACKET_LEN]; - uint8_t packet_index = 0; - uint8_t bit_index = 0; - - put_bitfield_n_by_index(encoded, bits, packet_index, bit_index, &bit_index, packet); - -} diff --git a/thirdParty/mavlink/include/checksum.h b/thirdParty/mavlink/include/checksum.h index c16a06e1b9c6430af8ec637ec04e6d221ee38067..b70991f5ab7c46163f7d13c6e11f70e5102b2457 100644 --- a/thirdParty/mavlink/include/checksum.h +++ b/thirdParty/mavlink/include/checksum.h @@ -5,8 +5,6 @@ extern "C" { #ifndef _CHECKSUM_H_ #define _CHECKSUM_H_ -#include "inttypes.h" - /** * @@ -31,8 +29,8 @@ static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum) /*Accumulate one byte of data into the CRC*/ uint8_t tmp; - tmp=data ^ (uint8_t)(*crcAccum &0xff); - tmp^= (tmp<<4); + tmp = data ^ (uint8_t)(*crcAccum &0xff); + tmp ^= (tmp<<4); *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); } @@ -54,35 +52,31 @@ static inline void crc_init(uint16_t* crcAccum) * @param length length of the byte array * @return the checksum over the buffer bytes **/ -static inline uint16_t crc_calculate(uint8_t* pBuffer, int length) +static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length) { - - // For a "message" of length bytes contained in the unsigned char array - // pointed to by pBuffer, calculate the CRC - // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed - uint16_t crcTmp; - //uint16_t tmp; - uint8_t* pTmp; - int i; - - pTmp=pBuffer; - - - /* init crcTmp */ crc_init(&crcTmp); - - for (i = 0; i < length; i++){ - crc_accumulate(*pTmp++, &crcTmp); + while (length--) { + crc_accumulate(*pBuffer++, &crcTmp); } + return crcTmp; +} - /* This is currently not needed, as only the checksum over payload should be computed - tmp = crcTmp; - crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp); - crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp); - *checkConst = tmp; - */ - return(crcTmp); +/** + * @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); + } } diff --git a/thirdParty/mavlink/include/common/common.h b/thirdParty/mavlink/include/common/common.h index 8e0348723e64b6ba0682af65d5323453e194b243..1b92140f2749f63e82f95e204b46d08990d06868 100644 --- a/thirdParty/mavlink/include/common/common.h +++ b/thirdParty/mavlink/include/common/common.h @@ -1,7 +1,6 @@ /** @file - * @brief MAVLink comm protocol. + * @brief MAVLink comm protocol generated from common.xml * @see http://qgroundcontrol.org/mavlink/ - * Generated on Monday, August 22 2011, 15:48 UTC */ #ifndef COMMON_H #define COMMON_H @@ -10,60 +9,254 @@ extern "C" { #endif +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 0, 28, 22, 22, 21, 0, 36, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 20, 32, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 197, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 0, 104, 244, 237, 222, 0, 158, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 160, 168, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, {NULL}, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_SHORT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {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}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE} +#endif #include "../protocol.h" #define MAVLINK_ENABLED_COMMON + + // MAVLINK VERSION #ifndef MAVLINK_VERSION -#define MAVLINK_VERSION 2 +#define MAVLINK_VERSION 3 #endif #if (MAVLINK_VERSION == 0) #undef MAVLINK_VERSION -#define MAVLINK_VERSION 2 +#define MAVLINK_VERSION 3 #endif // ENUM DEFINITIONS -/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */ + +/** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */ +enum MAV_AUTOPILOT +{ + MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything | */ + MAV_AUTOPILOT_PIXHAWK=1, /* PIXHAWK autopilot, http://pixhawk.ethz.ch | */ + MAV_AUTOPILOT_SLUGS=2, /* SLUGS autopilot, http://slugsuav.soe.ucsc.edu | */ + MAV_AUTOPILOT_ARDUPILOTMEGA=3, /* ArduPilotMega / ArduCopter, http://diydrones.com | */ + MAV_AUTOPILOT_OPENPILOT=4, /* OpenPilot, http://openpilot.org | */ + MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY=5, /* Generic autopilot only supporting simple waypoints | */ + MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY=6, /* Generic autopilot supporting waypoints and other simple navigation commands | */ + MAV_AUTOPILOT_GENERIC_MISSION_FULL=7, /* Generic autopilot supporting the full mission command set | */ + MAV_AUTOPILOT_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component | */ + MAV_AUTOPILOT_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi | */ + MAV_AUTOPILOT_UDB=10, /* UAV Dev Board | */ + MAV_AUTOPILOT_FP=11, /* FlexiPilot | */ + MAV_AUTOPILOT_ENUM_END=12, /* | */ +}; + +/** @brief These flags encode the MAV mode. */ +enum MAV_MODE_FLAG +{ + MAV_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */ + MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */ + MAV_MODE_FLAG_HIL_ENABLED=32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */ + MAV_MODE_FLAG_STABILIZE_ENABLED=16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */ + MAV_MODE_FLAG_GUIDED_ENABLED=8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */ + MAV_MODE_FLAG_AUTO_ENABLED=4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */ + MAV_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */ + MAV_MODE_FLAG_RESERVED_ENABLED=1, /* 0b00000001 Reserved for future use. | */ + MAV_MODE_FLAG_ENUM_END=2, /* | */ +}; + +/** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */ +enum MAV_MODE_FLAG_DECODE_POSITION +{ + MAV_MODE_FLAG_DECODE_POSITION_SAFETY=128, /* First bit: 10000000 | */ + MAV_MODE_FLAG_DECODE_POSITION_MANUAL=64, /* Second bit: 01000000 | */ + MAV_MODE_FLAG_DECODE_POSITION_HIL=32, /* Third bit: 00100000 | */ + MAV_MODE_FLAG_DECODE_POSITION_STABILIZE=16, /* Fourth bit: 00010000 | */ + MAV_MODE_FLAG_DECODE_POSITION_GUIDED=8, /* Fifth bit: 00001000 | */ + MAV_MODE_FLAG_DECODE_POSITION_AUTO=4, /* Sixt bit: 00000100 | */ + MAV_MODE_FLAG_DECODE_POSITION_TEST=2, /* Seventh bit: 00000010 | */ + MAV_MODE_FLAG_DECODE_POSITION_RESERVED=1, /* Eighth bit: 00000001 | */ + MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=2, /* | */ +}; + +/** @brief Override command, pauses current mission execution and moves immediately to a position */ +enum MAV_GOTO +{ + MAV_GOTO_DO_HOLD=0, /* Hold at the current position. | */ + MAV_GOTO_DO_CONTINUE=0, /* Continue with the mission execution. | */ + MAV_GOTO_HOLD_AT_CURRENT_POSITION=0, /* Hold at the current position of the system | */ + MAV_GOTO_HOLD_AT_SPECIFIED_POSITION=0, /* Hold at the position specified in the parameters of the DO_HOLD action | */ + MAV_GOTO_ENUM_END=1, /* | */ +}; + +/** @brief These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it + simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. */ +enum MAV_MODE +{ + MAV_MODE_PREFLIGHT=0, /* System is not ready to fly, booting, calibrating, etc. No flag is set. | */ + MAV_MODE_STABILIZE_DISARMED=80, /* System is allowed to be active, under assisted RC control. | */ + MAV_MODE_STABILIZE_ARMED=208, /* System is allowed to be active, under assisted RC control. | */ + MAV_MODE_MANUAL_DISARMED=64, /* System is allowed to be active, under manual (RC) control, no stabilization | */ + MAV_MODE_MANUAL_ARMED=192, /* System is allowed to be active, under manual (RC) control, no stabilization | */ + MAV_MODE_GUIDED_DISARMED=88, /* System is allowed to be active, under autonomous control, manual setpoint | */ + MAV_MODE_GUIDED_ARMED=216, /* System is allowed to be active, under autonomous control, manual setpoint | */ + MAV_MODE_AUTO_DISARMED=92, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */ + MAV_MODE_AUTO_ARMED=220, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */ + MAV_MODE_TEST_DISARMED=66, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */ + MAV_MODE_TEST_ARMED=194, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */ + MAV_MODE_ENUM_END=195, /* | */ +}; + +/** @brief */ +enum MAV_STATE +{ + MAV_STATE_UNINIT=0, /* Uninitialized system, state is unknown. | */ + MAV_STATE_BOOT=1, /* System is booting up. | */ + MAV_STATE_CALIBRATING=2, /* System is calibrating and not flight-ready. | */ + MAV_STATE_STANDBY=3, /* System is grounded and on standby. It can be launched any time. | */ + MAV_STATE_ACTIVE=4, /* System is active and might be already airborne. Motors are engaged. | */ + MAV_STATE_CRITICAL=5, /* System is in a non-normal flight mode. It can however still navigate. | */ + MAV_STATE_EMERGENCY=6, /* System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | */ + MAV_STATE_POWEROFF=7, /* System just initialized its power-down sequence, will shut down now. | */ + MAV_STATE_ENUM_END=8, /* | */ +}; + +/** @brief */ +enum MAV_TYPE +{ + MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ + MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ + MAV_TYPE_QUADROTOR=2, /* Quadrotor | */ + MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */ + MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ + MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ + MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */ + MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */ + MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ + MAV_TYPE_ROCKET=9, /* Rocket | */ + MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */ + MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ + MAV_TYPE_SUBMARINE=12, /* Submarine | */ + MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */ + MAV_TYPE_OCTOROTOR=14, /* Octorotor | */ + MAV_TYPE_TRICOPTER=15, /* Octorotor | */ + MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */ + MAV_TYPE_ENUM_END=17, /* | */ +}; + +/** @brief */ +enum MAV_COMPONENT +{ + MAV_COMP_ID_ALL=0, /* | */ + MAV_COMP_ID_GPS=220, /* | */ + MAV_COMP_ID_MISSIONPLANNER=190, /* | */ + MAV_COMP_ID_PATHPLANNER=195, /* | */ + MAV_COMP_ID_MAPPER=180, /* | */ + MAV_COMP_ID_CAMERA=100, /* | */ + MAV_COMP_ID_IMU=200, /* | */ + MAV_COMP_ID_IMU_2=201, /* | */ + MAV_COMP_ID_IMU_3=202, /* | */ + MAV_COMP_ID_UDP_BRIDGE=240, /* | */ + MAV_COMP_ID_UART_BRIDGE=241, /* | */ + MAV_COMP_ID_SYSTEM_CONTROL=250, /* | */ + MAV_COMP_ID_SERVO1=140, /* | */ + MAV_COMP_ID_SERVO2=141, /* | */ + MAV_COMP_ID_SERVO3=142, /* | */ + MAV_COMP_ID_SERVO4=143, /* | */ + MAV_COMP_ID_SERVO5=144, /* | */ + MAV_COMP_ID_SERVO6=145, /* | */ + MAV_COMP_ID_SERVO7=146, /* | */ + MAV_COMP_ID_SERVO8=147, /* | */ + MAV_COMP_ID_SERVO9=148, /* | */ + MAV_COMP_ID_SERVO10=149, /* | */ + MAV_COMP_ID_SERVO11=150, /* | */ + MAV_COMP_ID_SERVO12=151, /* | */ + MAV_COMP_ID_SERVO13=152, /* | */ + MAV_COMP_ID_SERVO14=153, /* | */ + MAV_COMPONENT_ENUM_END=154, /* | */ +}; + +/** @brief */ +enum MAV_FRAME +{ + MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) | */ + MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-up (x: north, y: east, z: down). | */ + MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */ + MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */ + MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-down (x: east, y: north, z: up) | */ + MAV_FRAME_ENUM_END=5, /* | */ +}; + +/** @brief */ +enum MAVLINK_DATA_STREAM_TYPE +{ + MAVLINK_DATA_STREAM_IMG_JPEG=0, /* | */ + MAVLINK_DATA_STREAM_IMG_BMP=1, /* | */ + MAVLINK_DATA_STREAM_IMG_RAW8U=2, /* | */ + MAVLINK_DATA_STREAM_IMG_RAW32U=3, /* | */ + MAVLINK_DATA_STREAM_IMG_PGM=4, /* | */ + MAVLINK_DATA_STREAM_IMG_PNG=5, /* | */ + MAVLINK_DATA_STREAM_TYPE_ENUM_END=6, /* | */ +}; + +/** @brief Commands to be executed by the MAV. They can be executed on user request, + or as part of a mission script. If the action is used in a mission, the parameter mapping + to the waypoint/mission message is as follows: + Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what + ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */ enum MAV_CMD { - MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. | Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing) | Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached) | 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. | Desired yaw angle at waypoint (rotary wing) | Latitude | Longitude | Altitude | */ - MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time | Empty | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */ - MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns | Turns | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */ - MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds | Seconds (decimal) | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */ - MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_NAV_LAND=21, /* Land at location | Empty | Empty | Empty | Desired yaw angle. | Latitude | Longitude | Altitude | */ - MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand | Minimum pitch (if airspeed sensor present), desired pitch without sensor | Empty | Empty | Yaw angle (if magnetometer present), ignored without magnetometer | Latitude | Longitude | Altitude | */ - MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. | Region of intereset mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple ROI's) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */ - MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. | 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning | 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid | Empty | Yaw angle at goal, in compass degrees, [0..360] | Latitude/X of goal | Longitude/Y of goal | Altitude/Z of goal | */ - MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. | Delay in seconds (decimal) | Empty | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. | Descent / Ascend rate (m/s) | Empty | Empty | Empty | Empty | Empty | Finish Altitude | */ - MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. | Distance (meters) | Empty | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. | target angle: [0-360], 0 is north | speed during yaw change:[deg per second] | direction: negative: counter clockwise, positive: clockwise [-1,1] | relative offset or absolute angle: [ 1,0] | Empty | Empty | Empty | */ - MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_DO_SET_MODE=176, /* Set system mode. | Mode, as defined by ENUM MAV_MODE | Empty | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times | Sequence number | Repeat count | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. | Speed type (0=Airspeed, 1=Ground Speed) | Speed (m/s, -1 indicates no change) | Throttle ( Percent, -1 indicates no change) | Empty | Empty | Empty | Empty | */ - MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. | Use current (1=use current location, 0=use specified location) | Empty | Empty | Empty | Latitude | Longitude | Altitude | */ - MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. | Parameter number | Parameter value | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. | Relay number | Setting (1=on, 0=off, others possible depending on system hardware) | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. | Relay number | Cycle count | Cycle time (seconds, decimal) | Empty | Empty | Empty | Empty | */ - MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Cycle count | Cycle time (seconds) | Empty | Empty | Empty | */ - MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera capturing. | Camera ID (-1 for all) | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | Empty | Empty | Empty | */ - MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various devices such as cameras. | Region of interest mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple cameras etc.) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */ - MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */ - MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. | Gyro calibration: 0: no, 1: yes | Magnetometer calibration: 0: no, 1: yes | Ground pressure: 0: no, 1: yes | Radio calibration: 0: no, 1: yes | Empty | Empty | Empty | */ - MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Reserved | Reserved | Empty | Empty | Empty | */ - MAV_CMD_ENUM_END + MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the + vehicle itself. This can then be used by the vehicles control + system to control the vehicle attitude and the attitude of various + sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ + MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ + MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ + MAV_CMD_ENUM_END=253, /* | */ }; -/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */ +/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a + recommendation to the autopilot software. Individual autopilots may or may not obey + the recommended messages. + */ enum MAV_DATA_STREAM { MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */ @@ -75,67 +268,79 @@ enum MAV_DATA_STREAM MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */ MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */ MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */ - MAV_DATA_STREAM_ENUM_END + MAV_DATA_STREAM_ENUM_END=13, /* | */ }; -/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */ +/** @brief The ROI (region of interest) for the vehicle. This can be + be used by the vehicle for camera/vehicle attitude alignment (see + MAV_CMD_NAV_ROI). + */ enum MAV_ROI { MAV_ROI_NONE=0, /* No region of interest. | */ - MAV_ROI_WPNEXT=1, /* Point toward next waypoint. | */ - MAV_ROI_WPINDEX=2, /* Point toward given waypoint. | */ + MAV_ROI_WPNEXT=1, /* Point toward next MISSION. | */ + MAV_ROI_WPINDEX=2, /* Point toward given MISSION. | */ MAV_ROI_LOCATION=3, /* Point toward fixed location. | */ MAV_ROI_TARGET=4, /* Point toward of given id. | */ - MAV_ROI_ENUM_END + MAV_ROI_ENUM_END=5, /* | */ }; +/** @brief ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. */ +enum MAV_CMD_ACK +{ + MAV_CMD_ACK_OK=0, /* Command / mission item is ok. | */ + MAV_CMD_ACK_ERR_FAIL=1, /* Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. | */ + MAV_CMD_ACK_ERR_ACCESS_DENIED=2, /* The system is refusing to accept this command from this source / communication partner. | */ + MAV_CMD_ACK_ERR_NOT_SUPPORTED=3, /* Command or mission item is not supported, other commands would be accepted. | */ + MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED=4, /* The coordinate frame of this command / mission item is not supported. | */ + MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE=5, /* The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible. | */ + MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE=6, /* The X or latitude value is out of range. | */ + MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE=7, /* The Y or longitude value is out of range. | */ + MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE=8, /* The Z or altitude value is out of range. | */ + MAV_CMD_ACK_ENUM_END=9, /* | */ +}; // MESSAGE DEFINITIONS - #include "./mavlink_msg_heartbeat.h" -#include "./mavlink_msg_boot.h" +#include "./mavlink_msg_sys_status.h" #include "./mavlink_msg_system_time.h" #include "./mavlink_msg_ping.h" -#include "./mavlink_msg_system_time_utc.h" #include "./mavlink_msg_change_operator_control.h" #include "./mavlink_msg_change_operator_control_ack.h" #include "./mavlink_msg_auth_key.h" -#include "./mavlink_msg_action_ack.h" -#include "./mavlink_msg_action.h" #include "./mavlink_msg_set_mode.h" -#include "./mavlink_msg_set_nav_mode.h" #include "./mavlink_msg_param_request_read.h" #include "./mavlink_msg_param_request_list.h" #include "./mavlink_msg_param_value.h" #include "./mavlink_msg_param_set.h" #include "./mavlink_msg_gps_raw_int.h" -#include "./mavlink_msg_scaled_imu.h" #include "./mavlink_msg_gps_status.h" +#include "./mavlink_msg_scaled_imu.h" #include "./mavlink_msg_raw_imu.h" #include "./mavlink_msg_raw_pressure.h" #include "./mavlink_msg_scaled_pressure.h" #include "./mavlink_msg_attitude.h" -#include "./mavlink_msg_local_position.h" -#include "./mavlink_msg_global_position.h" -#include "./mavlink_msg_gps_raw.h" -#include "./mavlink_msg_sys_status.h" +#include "./mavlink_msg_attitude_quaternion.h" +#include "./mavlink_msg_local_position_ned.h" +#include "./mavlink_msg_global_position_int.h" #include "./mavlink_msg_rc_channels_raw.h" #include "./mavlink_msg_rc_channels_scaled.h" #include "./mavlink_msg_servo_output_raw.h" -#include "./mavlink_msg_waypoint.h" -#include "./mavlink_msg_waypoint_request.h" -#include "./mavlink_msg_waypoint_set_current.h" -#include "./mavlink_msg_waypoint_current.h" -#include "./mavlink_msg_waypoint_request_list.h" -#include "./mavlink_msg_waypoint_count.h" -#include "./mavlink_msg_waypoint_clear_all.h" -#include "./mavlink_msg_waypoint_reached.h" -#include "./mavlink_msg_waypoint_ack.h" -#include "./mavlink_msg_gps_set_global_origin.h" -#include "./mavlink_msg_gps_local_origin_set.h" -#include "./mavlink_msg_local_position_setpoint_set.h" +#include "./mavlink_msg_mission_item.h" +#include "./mavlink_msg_mission_request.h" +#include "./mavlink_msg_mission_set_current.h" +#include "./mavlink_msg_mission_current.h" +#include "./mavlink_msg_mission_request_list.h" +#include "./mavlink_msg_mission_count.h" +#include "./mavlink_msg_mission_clear_all.h" +#include "./mavlink_msg_mission_item_reached.h" +#include "./mavlink_msg_mission_ack.h" +#include "./mavlink_msg_set_gps_global_origin.h" +#include "./mavlink_msg_gps_global_origin.h" +#include "./mavlink_msg_set_local_position_setpoint.h" #include "./mavlink_msg_local_position_setpoint.h" -#include "./mavlink_msg_control_status.h" +#include "./mavlink_msg_global_position_setpoint_int.h" +#include "./mavlink_msg_set_global_position_setpoint_int.h" #include "./mavlink_msg_safety_set_allowed_area.h" #include "./mavlink_msg_safety_allowed_area.h" #include "./mavlink_msg_set_roll_pitch_yaw_thrust.h" @@ -143,33 +348,32 @@ enum MAV_ROI #include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h" #include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h" #include "./mavlink_msg_nav_controller_output.h" -#include "./mavlink_msg_position_target.h" #include "./mavlink_msg_state_correction.h" -#include "./mavlink_msg_set_altitude.h" #include "./mavlink_msg_request_data_stream.h" -#include "./mavlink_msg_hil_state.h" -#include "./mavlink_msg_hil_controls.h" +#include "./mavlink_msg_data_stream.h" #include "./mavlink_msg_manual_control.h" #include "./mavlink_msg_rc_channels_override.h" -#include "./mavlink_msg_global_position_int.h" #include "./mavlink_msg_vfr_hud.h" -#include "./mavlink_msg_command.h" +#include "./mavlink_msg_command_short.h" +#include "./mavlink_msg_command_long.h" #include "./mavlink_msg_command_ack.h" +#include "./mavlink_msg_hil_state.h" +#include "./mavlink_msg_hil_controls.h" +#include "./mavlink_msg_hil_rc_inputs_raw.h" #include "./mavlink_msg_optical_flow.h" -#include "./mavlink_msg_object_detection_event.h" +#include "./mavlink_msg_global_vision_position_estimate.h" +#include "./mavlink_msg_vision_position_estimate.h" +#include "./mavlink_msg_vision_speed_estimate.h" +#include "./mavlink_msg_vicon_position_estimate.h" +#include "./mavlink_msg_memory_vect.h" #include "./mavlink_msg_debug_vect.h" #include "./mavlink_msg_named_value_float.h" #include "./mavlink_msg_named_value_int.h" #include "./mavlink_msg_statustext.h" #include "./mavlink_msg_debug.h" - - -// MESSAGE LENGTHS - -#undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 } +#include "./mavlink_msg_extended_message.h" #ifdef __cplusplus } -#endif -#endif +#endif // __cplusplus +#endif // COMMON_H diff --git a/thirdParty/mavlink/include/common/mavlink.h b/thirdParty/mavlink/include/common/mavlink.h index 86a5baf89ca82ee6d87b81337a492c583787010f..17b7329709156ab2cc4aa1924a8b35d9fc4b26bf 100644 --- a/thirdParty/mavlink/include/common/mavlink.h +++ b/thirdParty/mavlink/include/common/mavlink.h @@ -1,11 +1,27 @@ /** @file - * @brief MAVLink comm protocol. + * @brief MAVLink comm protocol built from common.xml * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Monday, August 22 2011, 15:48 UTC */ #ifndef MAVLINK_H #define MAVLINK_H -#include "common.h" +#ifndef MAVLINK_STX +#define MAVLINK_STX 254 +#endif +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN #endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS 1 +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA 1 +#endif + +#include "version.h" +#include "common.h" + +#endif // MAVLINK_H diff --git a/thirdParty/mavlink/include/common/mavlink_msg_action.h b/thirdParty/mavlink/include/common/mavlink_msg_action.h deleted file mode 100644 index f1de5467547fff8b3c40f00f9da082ed6f54477a..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_action.h +++ /dev/null @@ -1,135 +0,0 @@ -// MESSAGE ACTION PACKING - -#define MAVLINK_MSG_ID_ACTION 10 - -typedef struct __mavlink_action_t -{ - uint8_t target; ///< The system executing the action - uint8_t target_component; ///< The component executing the action - uint8_t action; ///< The action id - -} mavlink_action_t; - - - -/** - * @brief Pack a action message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param target The system executing the action - * @param target_component The component executing the action - * @param action The action id - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ACTION; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action - i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action - i += put_uint8_t_by_index(action, i, msg->payload); // The action id - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a action message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target The system executing the action - * @param target_component The component executing the action - * @param action The action id - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ACTION; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action - i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action - i += put_uint8_t_by_index(action, i, msg->payload); // The action id - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a action struct into a message - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param action C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action) -{ - return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action); -} - -/** - * @brief Send a action message - * @param chan MAVLink channel to send the message - * - * @param target The system executing the action - * @param target_component The component executing the action - * @param action The action id - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action) -{ - mavlink_message_t msg; - mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE ACTION UNPACKING - -/** - * @brief Get field target from action message - * - * @return The system executing the action - */ -static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from action message - * - * @return The component executing the action - */ -static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field action from action message - * - * @return The action id - */ -static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Decode a action message into a struct - * - * @param msg The message to decode - * @param action C-struct to decode the message contents into - */ -static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action) -{ - action->target = mavlink_msg_action_get_target(msg); - action->target_component = mavlink_msg_action_get_target_component(msg); - action->action = mavlink_msg_action_get_action(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_action_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_action_ack.h deleted file mode 100644 index 6e93449e205003bd383a123cb938e7ad645fd031..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_action_ack.h +++ /dev/null @@ -1,118 +0,0 @@ -// MESSAGE ACTION_ACK PACKING - -#define MAVLINK_MSG_ID_ACTION_ACK 9 - -typedef struct __mavlink_action_ack_t -{ - uint8_t action; ///< The action id - uint8_t result; ///< 0: Action DENIED, 1: Action executed - -} mavlink_action_ack_t; - - - -/** - * @brief Pack a action_ack message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param action The action id - * @param result 0: Action DENIED, 1: Action executed - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t action, uint8_t result) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ACTION_ACK; - - i += put_uint8_t_by_index(action, i, msg->payload); // The action id - i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a action_ack message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param action The action id - * @param result 0: Action DENIED, 1: Action executed - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t action, uint8_t result) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ACTION_ACK; - - i += put_uint8_t_by_index(action, i, msg->payload); // The action id - i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a action_ack struct into a message - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param action_ack C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack) -{ - return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result); -} - -/** - * @brief Send a action_ack message - * @param chan MAVLink channel to send the message - * - * @param action The action id - * @param result 0: Action DENIED, 1: Action executed - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result) -{ - mavlink_message_t msg; - mavlink_msg_action_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, action, result); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE ACTION_ACK UNPACKING - -/** - * @brief Get field action from action_ack message - * - * @return The action id - */ -static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field result from action_ack message - * - * @return 0: Action DENIED, 1: Action executed - */ -static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Decode a action_ack message into a struct - * - * @param msg The message to decode - * @param action_ack C-struct to decode the message contents into - */ -static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack) -{ - action_ack->action = mavlink_msg_action_ack_get_action(msg); - action_ack->result = mavlink_msg_action_ack_get_result(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_attitude.h b/thirdParty/mavlink/include/common/mavlink_msg_attitude.h index 6daba3c54b2a8806210871091cfdff74f55808ee..16045b9747698c4d3d391a2084554fbddbe9c964 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_attitude.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_attitude.h @@ -2,18 +2,34 @@ #define MAVLINK_MSG_ID_ATTITUDE 30 -typedef struct __mavlink_attitude_t +typedef struct __mavlink_attitude_t { - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - float roll; ///< Roll angle (rad) - float pitch; ///< Pitch angle (rad) - float yaw; ///< Yaw angle (rad) - float rollspeed; ///< Roll angular speed (rad/s) - float pitchspeed; ///< Pitch angular speed (rad/s) - float yawspeed; ///< Yaw angular speed (rad/s) - + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + float roll; ///< Roll angle (rad) + float pitch; ///< Pitch angle (rad) + float yaw; ///< Yaw angle (rad) + float rollspeed; ///< Roll angular speed (rad/s) + float pitchspeed; ///< Pitch angular speed (rad/s) + float yawspeed; ///< Yaw angular speed (rad/s) } mavlink_attitude_t; +#define MAVLINK_MSG_ID_ATTITUDE_LEN 28 +#define MAVLINK_MSG_ID_30_LEN 28 + + + +#define MAVLINK_MESSAGE_INFO_ATTITUDE { \ + "ATTITUDE", \ + 7, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \ + { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \ + { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \ + { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \ + } \ +} /** @@ -22,7 +38,7 @@ typedef struct __mavlink_attitude_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) @@ -31,29 +47,44 @@ typedef struct __mavlink_attitude_t * @param yawspeed Yaw angular speed (rad/s) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) +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) { - uint16_t i = 0; - 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; - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) - i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) - i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) - i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) + memcpy(_MAV_PAYLOAD(msg), &packet, 28); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_ATTITUDE; + return mavlink_finalize_message(msg, system_id, component_id, 28, 39); } /** - * @brief Pack a attitude message + * @brief Pack a attitude message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp * @param yawspeed Yaw angular speed (rad/s) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) +static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed) { - uint16_t i = 0; - 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; - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) - i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) - i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) - i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) + memcpy(_MAV_PAYLOAD(msg), &packet, 28); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_ATTITUDE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 39); } /** @@ -88,14 +135,14 @@ static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t */ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude) { - return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed); + return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed); } /** * @brief Send a attitude message * @param chan MAVLink channel to send the message * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) @@ -105,33 +152,46 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) +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_message_t msg; - mavlink_msg_attitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed); - mavlink_send_uart(chan, &msg); +#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); + + _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; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 28, 39); +#endif } #endif + // MESSAGE ATTITUDE UNPACKING + /** - * @brief Get field usec from attitude message + * @brief Get field time_boot_ms from attitude message * - * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @return Timestamp (milliseconds since system boot) */ -static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint32_t(msg, 0); } /** @@ -141,12 +201,7 @@ static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* ms */ static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -156,12 +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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -171,12 +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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -186,12 +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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -201,12 +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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -216,12 +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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -232,11 +262,15 @@ static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* m */ static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude) { - attitude->usec = mavlink_msg_attitude_get_usec(msg); +#if MAVLINK_NEED_BYTE_SWAP + attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg); attitude->roll = mavlink_msg_attitude_get_roll(msg); attitude->pitch = mavlink_msg_attitude_get_pitch(msg); attitude->yaw = mavlink_msg_attitude_get_yaw(msg); attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg); attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg); attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg); +#else + memcpy(attitude, _MAV_PAYLOAD(msg), 28); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_attitude_quaternion.h b/thirdParty/mavlink/include/common/mavlink_msg_attitude_quaternion.h new file mode 100644 index 0000000000000000000000000000000000000000..215aff6d036d8c2a46ee3b4e99725e614c542940 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_attitude_quaternion.h @@ -0,0 +1,298 @@ +// MESSAGE ATTITUDE_QUATERNION PACKING + +#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31 + +typedef struct __mavlink_attitude_quaternion_t +{ + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + float q1; ///< Quaternion component 1 + float q2; ///< Quaternion component 2 + float q3; ///< Quaternion component 3 + float q4; ///< Quaternion component 4 + float rollspeed; ///< Roll angular speed (rad/s) + float pitchspeed; ///< Pitch angular speed (rad/s) + float yawspeed; ///< Yaw angular speed (rad/s) +} mavlink_attitude_quaternion_t; + +#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32 +#define MAVLINK_MSG_ID_31_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \ + "ATTITUDE_QUATERNION", \ + 8, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \ + { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \ + { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \ + { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \ + { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \ + { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \ + { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \ + { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \ + } \ +} + + +/** + * @brief Pack a attitude_quaternion 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 time_boot_ms Timestamp (milliseconds since system boot) + * @param q1 Quaternion component 1 + * @param q2 Quaternion component 2 + * @param q3 Quaternion component 3 + * @param q4 Quaternion component 4 + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, q1); + _mav_put_float(buf, 8, q2); + _mav_put_float(buf, 12, q3); + _mav_put_float(buf, 16, q4); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_attitude_quaternion_t packet; + packet.time_boot_ms = time_boot_ms; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION; + return mavlink_finalize_message(msg, system_id, component_id, 32, 246); +} + +/** + * @brief Pack a attitude_quaternion 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 time_boot_ms Timestamp (milliseconds since system boot) + * @param q1 Quaternion component 1 + * @param q2 Quaternion component 2 + * @param q3 Quaternion component 3 + * @param q4 Quaternion component 4 + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, q1); + _mav_put_float(buf, 8, q2); + _mav_put_float(buf, 12, q3); + _mav_put_float(buf, 16, q4); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_attitude_quaternion_t packet; + packet.time_boot_ms = time_boot_ms; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 246); +} + +/** + * @brief Encode a attitude_quaternion struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param attitude_quaternion C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion) +{ + return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed); +} + +/** + * @brief Send a attitude_quaternion message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param q1 Quaternion component 1 + * @param q2 Quaternion component 2 + * @param q3 Quaternion component 3 + * @param q4 Quaternion component 4 + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, q1); + _mav_put_float(buf, 8, q2); + _mav_put_float(buf, 12, q3); + _mav_put_float(buf, 16, q4); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, 32, 246); +#else + mavlink_attitude_quaternion_t packet; + packet.time_boot_ms = time_boot_ms; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, 32, 246); +#endif +} + +#endif + +// MESSAGE ATTITUDE_QUATERNION UNPACKING + + +/** + * @brief Get field time_boot_ms from attitude_quaternion message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field q1 from attitude_quaternion message + * + * @return Quaternion component 1 + */ +static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field q2 from attitude_quaternion message + * + * @return Quaternion component 2 + */ +static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field q3 from attitude_quaternion message + * + * @return Quaternion component 3 + */ +static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field q4 from attitude_quaternion message + * + * @return Quaternion component 4 + */ +static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field rollspeed from attitude_quaternion message + * + * @return Roll angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field pitchspeed from attitude_quaternion message + * + * @return Pitch angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field yawspeed from attitude_quaternion message + * + * @return Yaw angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a attitude_quaternion message into a struct + * + * @param msg The message to decode + * @param attitude_quaternion C-struct to decode the message contents into + */ +static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion) +{ +#if MAVLINK_NEED_BYTE_SWAP + attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg); + attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg); + attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg); + attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg); + attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg); + attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg); + attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg); + attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg); +#else + memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h b/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h index 605ba7db61bbd6ef3a93d1b338edd1121789eb45..366805f1113d01cb3f9c552c0b942a4404bbc648 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h @@ -2,14 +2,23 @@ #define MAVLINK_MSG_ID_AUTH_KEY 7 -typedef struct __mavlink_auth_key_t +typedef struct __mavlink_auth_key_t { - char key[32]; ///< key - + char key[32]; ///< key } mavlink_auth_key_t; +#define MAVLINK_MSG_ID_AUTH_KEY_LEN 32 +#define MAVLINK_MSG_ID_7_LEN 32 + #define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32 +#define MAVLINK_MESSAGE_INFO_AUTH_KEY { \ + "AUTH_KEY", \ + 1, \ + { { "key", NULL, MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \ + } \ +} + /** * @brief Pack a auth_key message @@ -20,18 +29,27 @@ typedef struct __mavlink_auth_key_t * @param key key * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* key) +static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const char *key) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; - i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key + _mav_put_char_array(buf, 0, key, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_auth_key_t packet; - return mavlink_finalize_message(msg, system_id, component_id, i); + 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); } /** - * @brief Pack a auth_key message + * @brief Pack a auth_key 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 @@ -39,14 +57,24 @@ static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t comp * @param key key * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* key) +static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *key) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; - i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key + _mav_put_char_array(buf, 0, key, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_auth_key_t packet; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + 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); } /** @@ -70,26 +98,34 @@ static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t co */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char* key) +static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key) { - mavlink_message_t msg; - mavlink_msg_auth_key_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, key); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + + _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; + + 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 + // MESSAGE AUTH_KEY UNPACKING + /** * @brief Get field key from auth_key message * * @return key */ -static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char* r_data) +static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key) { - - memcpy(r_data, msg->payload, sizeof(char)*32); - return sizeof(char)*32; + return _MAV_RETURN_char_array(msg, key, 32, 0); } /** @@ -100,5 +136,9 @@ static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg */ static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key) { +#if MAVLINK_NEED_BYTE_SWAP mavlink_msg_auth_key_get_key(msg, auth_key->key); +#else + memcpy(auth_key, _MAV_PAYLOAD(msg), 32); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_boot.h b/thirdParty/mavlink/include/common/mavlink_msg_boot.h deleted file mode 100644 index 69d8ed64a7d91095e4637d5153dc964857ec9151..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_boot.h +++ /dev/null @@ -1,106 +0,0 @@ -// MESSAGE BOOT PACKING - -#define MAVLINK_MSG_ID_BOOT 1 - -typedef struct __mavlink_boot_t -{ - uint32_t version; ///< The onboard software version - -} mavlink_boot_t; - - - -/** - * @brief Pack a boot message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param version The onboard software version - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t version) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_BOOT; - - i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a boot message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param version The onboard software version - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t version) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_BOOT; - - i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a boot struct into a message - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param boot C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot) -{ - return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version); -} - -/** - * @brief Send a boot message - * @param chan MAVLink channel to send the message - * - * @param version The onboard software version - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version) -{ - mavlink_message_t msg; - mavlink_msg_boot_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, version); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE BOOT UNPACKING - -/** - * @brief Get field version from boot message - * - * @return The onboard software version - */ -static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (uint32_t)r.i; -} - -/** - * @brief Decode a boot message into a struct - * - * @param msg The message to decode - * @param boot C-struct to decode the message contents into - */ -static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot) -{ - boot->version = mavlink_msg_boot_get_version(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h b/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h index 3eab478cbf84010a62c3b8f3b3195a1918ebd4b4..1b164d0b86a4576856ccaf8988c11d5264e013a6 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h @@ -2,17 +2,29 @@ #define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5 -typedef struct __mavlink_change_operator_control_t +typedef struct __mavlink_change_operator_control_t { - uint8_t target_system; ///< System the GCS requests control for - uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV - uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. - char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" - + uint8_t target_system; ///< System the GCS requests control for + uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV + uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. + char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" } mavlink_change_operator_control_t; +#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN 28 +#define MAVLINK_MSG_ID_5_LEN 28 + #define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25 +#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL { \ + "CHANGE_OPERATOR_CONTROL", \ + 4, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_t, target_system) }, \ + { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_t, control_request) }, \ + { "version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_t, version) }, \ + { "passkey", NULL, MAVLINK_TYPE_CHAR, 25, 3, offsetof(mavlink_change_operator_control_t, passkey) }, \ + } \ +} + /** * @brief Pack a change_operator_control message @@ -26,21 +38,31 @@ typedef struct __mavlink_change_operator_control_t * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey) +static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for - i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV - i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. - i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" +#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 - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 28, 217); } /** - * @brief Pack a change_operator_control message + * @brief Pack a change_operator_control 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 @@ -51,17 +73,28 @@ static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_i * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey) +static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t control_request,uint8_t version,const char *passkey) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for - i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV - i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. - i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" +#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 - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 217); } /** @@ -88,16 +121,30 @@ static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey) +static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey) { - mavlink_message_t msg; - mavlink_msg_change_operator_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, control_request, version, passkey); - mavlink_send_uart(chan, &msg); +#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 + // MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING + /** * @brief Get field target_system from change_operator_control message * @@ -105,7 +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 (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 0); } /** @@ -115,7 +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 (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 1); } /** @@ -125,7 +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 (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -133,11 +180,9 @@ static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavl * * @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" */ -static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char* r_data) +static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char *passkey) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t), sizeof(char)*25); - return sizeof(char)*25; + return _MAV_RETURN_char_array(msg, passkey, 25, 3); } /** @@ -148,8 +193,12 @@ static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mav */ static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control) { +#if MAVLINK_NEED_BYTE_SWAP change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg); change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg); change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg); mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey); +#else + memcpy(change_operator_control, _MAV_PAYLOAD(msg), 28); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h index 3529ae059119053772ca0024d6d7195a1b371eec..25e6a6d831ad900a217f0afd09febec67daf85f7 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h @@ -2,14 +2,26 @@ #define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK 6 -typedef struct __mavlink_change_operator_control_ack_t +typedef struct __mavlink_change_operator_control_ack_t { - uint8_t gcs_system_id; ///< ID of the GCS this message - uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV - uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control - + uint8_t gcs_system_id; ///< ID of the GCS this message + uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV + uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control } mavlink_change_operator_control_ack_t; +#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN 3 +#define MAVLINK_MSG_ID_6_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK { \ + "CHANGE_OPERATOR_CONTROL_ACK", \ + 3, \ + { { "gcs_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_ack_t, gcs_system_id) }, \ + { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_ack_t, control_request) }, \ + { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_ack_t, ack) }, \ + } \ +} /** @@ -23,20 +35,31 @@ typedef struct __mavlink_change_operator_control_ack_t * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack) +static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t gcs_system_id, uint8_t control_request, uint8_t ack) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK; - - i += put_uint8_t_by_index(gcs_system_id, i, msg->payload); // ID of the GCS this message - i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV - i += put_uint8_t_by_index(ack, i, msg->payload); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control +#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; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK; + return mavlink_finalize_message(msg, system_id, component_id, 3, 104); } /** - * @brief Pack a change_operator_control_ack message + * @brief Pack a change_operator_control_ack message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over @@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t syst * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack) +static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t gcs_system_id,uint8_t control_request,uint8_t ack) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK; - - i += put_uint8_t_by_index(gcs_system_id, i, msg->payload); // ID of the GCS this message - i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV - i += put_uint8_t_by_index(ack, i, msg->payload); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control +#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; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 104); } /** @@ -83,14 +118,28 @@ 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_message_t msg; - mavlink_msg_change_operator_control_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, gcs_system_id, control_request, ack); - mavlink_send_uart(chan, &msg); +#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); + + _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; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, 3, 104); +#endif } #endif + // MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING + /** * @brief Get field gcs_system_id from change_operator_control_ack message * @@ -98,7 +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 (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 0); } /** @@ -108,7 +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 (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 1); } /** @@ -118,7 +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 (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -129,7 +178,11 @@ static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavl */ static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_message_t* msg, mavlink_change_operator_control_ack_t* change_operator_control_ack) { +#if MAVLINK_NEED_BYTE_SWAP change_operator_control_ack->gcs_system_id = mavlink_msg_change_operator_control_ack_get_gcs_system_id(msg); change_operator_control_ack->control_request = mavlink_msg_change_operator_control_ack_get_control_request(msg); change_operator_control_ack->ack = mavlink_msg_change_operator_control_ack_get_ack(msg); +#else + memcpy(change_operator_control_ack, _MAV_PAYLOAD(msg), 3); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command.h b/thirdParty/mavlink/include/common/mavlink_msg_command.h deleted file mode 100644 index dbc123570730ed4501bea2114ff93835eee68797..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_command.h +++ /dev/null @@ -1,240 +0,0 @@ -// MESSAGE COMMAND PACKING - -#define MAVLINK_MSG_ID_COMMAND 75 - -typedef struct __mavlink_command_t -{ - uint8_t target_system; ///< System which should execute the command - uint8_t target_component; ///< Component which should execute the command, 0 for all components - uint8_t command; ///< Command ID, as defined by MAV_CMD enum. - uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) - float param1; ///< Parameter 1, as defined by MAV_CMD enum. - float param2; ///< Parameter 2, as defined by MAV_CMD enum. - float param3; ///< Parameter 3, as defined by MAV_CMD enum. - float param4; ///< Parameter 4, as defined by MAV_CMD enum. - -} mavlink_command_t; - - - -/** - * @brief Pack a command 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 which should execute the command - * @param target_component Component which should execute the command, 0 for all components - * @param command Command ID, as defined by MAV_CMD enum. - * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) - * @param param1 Parameter 1, as defined by MAV_CMD enum. - * @param param2 Parameter 2, as defined by MAV_CMD enum. - * @param param3 Parameter 3, as defined by MAV_CMD enum. - * @param param4 Parameter 4, as defined by MAV_CMD enum. - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_command_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) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_COMMAND; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components - i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum. - i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) - i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum. - i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum. - i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum. - i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum. - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a command message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System which should execute the command - * @param target_component Component which should execute the command, 0 for all components - * @param command Command ID, as defined by MAV_CMD enum. - * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) - * @param param1 Parameter 1, as defined by MAV_CMD enum. - * @param param2 Parameter 2, as defined by MAV_CMD enum. - * @param param3 Parameter 3, as defined by MAV_CMD enum. - * @param param4 Parameter 4, as defined by MAV_CMD enum. - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_command_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, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_COMMAND; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components - i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum. - i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) - i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum. - i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum. - i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum. - i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum. - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a command struct into a message - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param command C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command) -{ - return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4); -} - -/** - * @brief Send a command message - * @param chan MAVLink channel to send the message - * - * @param target_system System which should execute the command - * @param target_component Component which should execute the command, 0 for all components - * @param command Command ID, as defined by MAV_CMD enum. - * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) - * @param param1 Parameter 1, as defined by MAV_CMD enum. - * @param param2 Parameter 2, as defined by MAV_CMD enum. - * @param param3 Parameter 3, as defined by MAV_CMD enum. - * @param param4 Parameter 4, as defined by MAV_CMD enum. - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_command_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_message_t msg; - mavlink_msg_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, command, confirmation, param1, param2, param3, param4); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE COMMAND UNPACKING - -/** - * @brief Get field target_system from command message - * - * @return System which should execute the command - */ -static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from command message - * - * @return Component which should execute the command, 0 for all components - */ -static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field command from command message - * - * @return Command ID, as defined by MAV_CMD enum. - */ -static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field confirmation from command message - * - * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) - */ -static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field param1 from command message - * - * @return Parameter 1, as defined by MAV_CMD enum. - */ -static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field param2 from command message - * - * @return Parameter 2, as defined by MAV_CMD enum. - */ -static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field param3 from command message - * - * @return Parameter 3, as defined by MAV_CMD enum. - */ -static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field param4 from command message - * - * @return Parameter 4, as defined by MAV_CMD enum. - */ -static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a command message into a struct - * - * @param msg The message to decode - * @param command C-struct to decode the message contents into - */ -static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command) -{ - command->target_system = mavlink_msg_command_get_target_system(msg); - command->target_component = mavlink_msg_command_get_target_component(msg); - command->command = mavlink_msg_command_get_command(msg); - command->confirmation = mavlink_msg_command_get_confirmation(msg); - command->param1 = mavlink_msg_command_get_param1(msg); - command->param2 = mavlink_msg_command_get_param2(msg); - command->param3 = mavlink_msg_command_get_param3(msg); - command->param4 = mavlink_msg_command_get_param4(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h index 32b39da3a6550341a6050d8d87bfa9834780fd73..546beec121bda2c0020045c43911343bca2b910a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h @@ -1,14 +1,25 @@ // MESSAGE COMMAND_ACK PACKING -#define MAVLINK_MSG_ID_COMMAND_ACK 76 +#define MAVLINK_MSG_ID_COMMAND_ACK 77 -typedef struct __mavlink_command_ack_t +typedef struct __mavlink_command_ack_t { - float command; ///< Current airspeed in m/s - float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION - + uint16_t command; ///< Command ID, as defined by MAV_CMD enum. + uint8_t result; ///< 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed } mavlink_command_ack_t; +#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3 +#define MAVLINK_MSG_ID_77_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \ + "COMMAND_ACK", \ + 2, \ + { { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \ + { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \ + } \ +} /** @@ -17,40 +28,61 @@ typedef struct __mavlink_command_ack_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param command Current airspeed in m/s - * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + * @param command Command ID, as defined by MAV_CMD enum. + * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float command, float result) +static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t command, uint8_t result) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; - - i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s - i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint16_t(buf, 0, command); + _mav_put_uint8_t(buf, 2, result); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_command_ack_t packet; + packet.command = command; + packet.result = result; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; + return mavlink_finalize_message(msg, system_id, component_id, 3, 143); } /** - * @brief Pack a command_ack message + * @brief Pack a command_ack message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into - * @param command Current airspeed in m/s - * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + * @param command Command ID, as defined by MAV_CMD enum. + * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float command, float result) +static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t command,uint8_t result) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; - - i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s - i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint16_t(buf, 0, command); + _mav_put_uint8_t(buf, 2, result); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_command_ack_t packet; + packet.command = command; + packet.result = result; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 143); } /** @@ -70,49 +102,51 @@ static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t * @brief Send a command_ack message * @param chan MAVLink channel to send the message * - * @param command Current airspeed in m/s - * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + * @param command Command ID, as defined by MAV_CMD enum. + * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result) +static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result) { - mavlink_message_t msg; - mavlink_msg_command_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, command, result); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint16_t(buf, 0, command); + _mav_put_uint8_t(buf, 2, result); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 3, 143); +#else + mavlink_command_ack_t packet; + packet.command = command; + packet.result = result; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 3, 143); +#endif } #endif + // MESSAGE COMMAND_ACK UNPACKING + /** * @brief Get field command from command_ack message * - * @return Current airspeed in m/s + * @return Command ID, as defined by MAV_CMD enum. */ -static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_uint16_t(msg, 0); } /** * @brief Get field result from command_ack message * - * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + * @return 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed */ -static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg) +static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -123,6 +157,10 @@ static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* */ static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack) { +#if MAVLINK_NEED_BYTE_SWAP command_ack->command = mavlink_msg_command_ack_get_command(msg); command_ack->result = mavlink_msg_command_ack_get_result(msg); +#else + memcpy(command_ack, _MAV_PAYLOAD(msg), 3); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command_long.h b/thirdParty/mavlink/include/common/mavlink_msg_command_long.h new file mode 100644 index 0000000000000000000000000000000000000000..44fd8c10bfd1fe16eaf8a19aeb359c163d4393c5 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_command_long.h @@ -0,0 +1,364 @@ +// MESSAGE COMMAND_LONG PACKING + +#define MAVLINK_MSG_ID_COMMAND_LONG 76 + +typedef struct __mavlink_command_long_t +{ + float param1; ///< Parameter 1, as defined by MAV_CMD enum. + float param2; ///< Parameter 2, as defined by MAV_CMD enum. + float param3; ///< Parameter 3, as defined by MAV_CMD enum. + float param4; ///< Parameter 4, as defined by MAV_CMD enum. + float param5; ///< Parameter 5, as defined by MAV_CMD enum. + float param6; ///< Parameter 6, as defined by MAV_CMD enum. + float param7; ///< Parameter 7, as defined by MAV_CMD enum. + uint8_t target_system; ///< System which should execute the command + uint8_t target_component; ///< Component which should execute the command, 0 for all components + uint8_t command; ///< Command ID, as defined by MAV_CMD enum. + uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) +} mavlink_command_long_t; + +#define MAVLINK_MSG_ID_COMMAND_LONG_LEN 32 +#define MAVLINK_MSG_ID_76_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \ + "COMMAND_LONG", \ + 11, \ + { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \ + { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \ + { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \ + { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \ + { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \ + { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \ + { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_command_long_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_command_long_t, target_component) }, \ + { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, command) }, \ + { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, confirmation) }, \ + } \ +} + + +/** + * @brief Pack a command_long 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @param param5 Parameter 5, as defined by MAV_CMD enum. + * @param param6 Parameter 6, as defined by MAV_CMD enum. + * @param param7 Parameter 7, as defined by MAV_CMD enum. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_long_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, float param5, float param6, float param7) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _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_float(buf, 16, param5); + _mav_put_float(buf, 20, param6); + _mav_put_float(buf, 24, param7); + _mav_put_uint8_t(buf, 28, target_system); + _mav_put_uint8_t(buf, 29, target_component); + _mav_put_uint8_t(buf, 30, command); + _mav_put_uint8_t(buf, 31, confirmation); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_command_long_t packet; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.param5 = param5; + packet.param6 = param6; + packet.param7 = param7; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG; + return mavlink_finalize_message(msg, system_id, component_id, 32, 168); +} + +/** + * @brief Pack a command_long 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @param param5 Parameter 5, as defined by MAV_CMD enum. + * @param param6 Parameter 6, as defined by MAV_CMD enum. + * @param param7 Parameter 7, as defined by MAV_CMD enum. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_long_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,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4,float param5,float param6,float param7) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _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_float(buf, 16, param5); + _mav_put_float(buf, 20, param6); + _mav_put_float(buf, 24, param7); + _mav_put_uint8_t(buf, 28, target_system); + _mav_put_uint8_t(buf, 29, target_component); + _mav_put_uint8_t(buf, 30, command); + _mav_put_uint8_t(buf, 31, confirmation); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_command_long_t packet; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.param5 = param5; + packet.param6 = param6; + packet.param7 = param7; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 168); +} + +/** + * @brief Encode a command_long struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param command_long C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_long_t* command_long) +{ + return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7); +} + +/** + * @brief Send a command_long message + * @param chan MAVLink channel to send the message + * + * @param target_system System which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @param param5 Parameter 5, as defined by MAV_CMD enum. + * @param param6 Parameter 6, as defined by MAV_CMD enum. + * @param param7 Parameter 7, as defined by MAV_CMD enum. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_command_long_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, float param5, float param6, float param7) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _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_float(buf, 16, param5); + _mav_put_float(buf, 20, param6); + _mav_put_float(buf, 24, param7); + _mav_put_uint8_t(buf, 28, target_system); + _mav_put_uint8_t(buf, 29, target_component); + _mav_put_uint8_t(buf, 30, command); + _mav_put_uint8_t(buf, 31, confirmation); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, 32, 168); +#else + mavlink_command_long_t packet; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.param5 = param5; + packet.param6 = param6; + packet.param7 = param7; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, 32, 168); +#endif +} + +#endif + +// MESSAGE COMMAND_LONG UNPACKING + + +/** + * @brief Get field target_system from command_long message + * + * @return System which should execute the command + */ +static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 28); +} + +/** + * @brief Get field target_component from command_long message + * + * @return Component which should execute the command, 0 for all components + */ +static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 29); +} + +/** + * @brief Get field command from command_long message + * + * @return Command ID, as defined by MAV_CMD enum. + */ +static inline uint8_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 30); +} + +/** + * @brief Get field confirmation from command_long message + * + * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + */ +static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 31); +} + +/** + * @brief Get field param1 from command_long message + * + * @return Parameter 1, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field param2 from command_long message + * + * @return Parameter 2, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field param3 from command_long message + * + * @return Parameter 3, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field param4 from command_long message + * + * @return Parameter 4, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field param5 from command_long message + * + * @return Parameter 5, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field param6 from command_long message + * + * @return Parameter 6, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field param7 from command_long message + * + * @return Parameter 7, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Decode a command_long message into a struct + * + * @param msg The message to decode + * @param command_long C-struct to decode the message contents into + */ +static inline void mavlink_msg_command_long_decode(const mavlink_message_t* msg, mavlink_command_long_t* command_long) +{ +#if MAVLINK_NEED_BYTE_SWAP + command_long->param1 = mavlink_msg_command_long_get_param1(msg); + command_long->param2 = mavlink_msg_command_long_get_param2(msg); + command_long->param3 = mavlink_msg_command_long_get_param3(msg); + command_long->param4 = mavlink_msg_command_long_get_param4(msg); + command_long->param5 = mavlink_msg_command_long_get_param5(msg); + command_long->param6 = mavlink_msg_command_long_get_param6(msg); + command_long->param7 = mavlink_msg_command_long_get_param7(msg); + command_long->target_system = mavlink_msg_command_long_get_target_system(msg); + command_long->target_component = mavlink_msg_command_long_get_target_component(msg); + command_long->command = mavlink_msg_command_long_get_command(msg); + command_long->confirmation = mavlink_msg_command_long_get_confirmation(msg); +#else + memcpy(command_long, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command_short.h b/thirdParty/mavlink/include/common/mavlink_msg_command_short.h new file mode 100644 index 0000000000000000000000000000000000000000..f4a087b3e17924420d4fbf8b9e0c5ce9e316aaaf --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_command_short.h @@ -0,0 +1,298 @@ +// MESSAGE COMMAND_SHORT PACKING + +#define MAVLINK_MSG_ID_COMMAND_SHORT 75 + +typedef struct __mavlink_command_short_t +{ + float param1; ///< Parameter 1, as defined by MAV_CMD enum. + float param2; ///< Parameter 2, as defined by MAV_CMD enum. + float param3; ///< Parameter 3, as defined by MAV_CMD enum. + float param4; ///< Parameter 4, as defined by MAV_CMD enum. + uint8_t target_system; ///< System which should execute the command + uint8_t target_component; ///< Component which should execute the command, 0 for all components + uint8_t command; ///< Command ID, as defined by MAV_CMD enum. + uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) +} mavlink_command_short_t; + +#define MAVLINK_MSG_ID_COMMAND_SHORT_LEN 20 +#define MAVLINK_MSG_ID_75_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_COMMAND_SHORT { \ + "COMMAND_SHORT", \ + 8, \ + { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_short_t, param1) }, \ + { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_short_t, param2) }, \ + { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_short_t, param3) }, \ + { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_short_t, param4) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_command_short_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_command_short_t, target_component) }, \ + { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_command_short_t, command) }, \ + { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_command_short_t, confirmation) }, \ + } \ +} + + +/** + * @brief Pack a command_short 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @return length of the message in bytes (excluding serial stream start sign) + */ +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) +{ +#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; + + 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); +} + +/** + * @brief Pack a command_short 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_short_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,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4) +{ +#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; + + 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); +} + +/** + * @brief Encode a command_short struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param command_short C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_command_short_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_short_t* command_short) +{ + return mavlink_msg_command_short_pack(system_id, component_id, msg, command_short->target_system, command_short->target_component, command_short->command, command_short->confirmation, command_short->param1, command_short->param2, command_short->param3, command_short->param4); +} + +/** + * @brief Send a command_short message + * @param chan MAVLink channel to send the message + * + * @param target_system System which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +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) +{ +#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); + + _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; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_SHORT, (const char *)&packet, 20, 160); +#endif +} + +#endif + +// MESSAGE COMMAND_SHORT UNPACKING + + +/** + * @brief Get field target_system from command_short message + * + * @return System which should execute the command + */ +static inline uint8_t mavlink_msg_command_short_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + +/** + * @brief Get field target_component from command_short message + * + * @return Component which should execute the command, 0 for all components + */ +static inline uint8_t mavlink_msg_command_short_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 17); +} + +/** + * @brief Get field command from command_short message + * + * @return Command ID, as defined by MAV_CMD enum. + */ +static inline uint8_t mavlink_msg_command_short_get_command(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 18); +} + +/** + * @brief Get field confirmation from command_short message + * + * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + */ +static inline uint8_t mavlink_msg_command_short_get_confirmation(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 19); +} + +/** + * @brief Get field param1 from command_short message + * + * @return Parameter 1, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_short_get_param1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field param2 from command_short message + * + * @return Parameter 2, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_short_get_param2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field param3 from command_short message + * + * @return Parameter 3, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_short_get_param3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field param4 from command_short message + * + * @return Parameter 4, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_short_get_param4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Decode a command_short message into a struct + * + * @param msg The message to decode + * @param command_short C-struct to decode the message contents into + */ +static inline void mavlink_msg_command_short_decode(const mavlink_message_t* msg, mavlink_command_short_t* command_short) +{ +#if MAVLINK_NEED_BYTE_SWAP + command_short->param1 = mavlink_msg_command_short_get_param1(msg); + command_short->param2 = mavlink_msg_command_short_get_param2(msg); + command_short->param3 = mavlink_msg_command_short_get_param3(msg); + command_short->param4 = mavlink_msg_command_short_get_param4(msg); + command_short->target_system = mavlink_msg_command_short_get_target_system(msg); + command_short->target_component = mavlink_msg_command_short_get_target_component(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, _MAV_PAYLOAD(msg), 20); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_control_status.h b/thirdParty/mavlink/include/common/mavlink_msg_control_status.h deleted file mode 100644 index 746e889aafaf9d6b42e3bccccffbeb82a8d97f1d..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_control_status.h +++ /dev/null @@ -1,220 +0,0 @@ -// MESSAGE CONTROL_STATUS PACKING - -#define MAVLINK_MSG_ID_CONTROL_STATUS 52 - -typedef struct __mavlink_control_status_t -{ - uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent - uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled - uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled - uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled - uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled - -} mavlink_control_status_t; - - - -/** - * @brief Pack a control_status 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 position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent - * @param control_att 0: Attitude control disabled, 1: enabled - * @param control_pos_xy 0: X, Y position control disabled, 1: enabled - * @param control_pos_z 0: Z position control disabled, 1: enabled - * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; - - i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent - i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled - i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled - i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled - i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a control_status message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent - * @param control_att 0: Attitude control disabled, 1: enabled - * @param control_pos_xy 0: X, Y position control disabled, 1: enabled - * @param control_pos_z 0: Z position control disabled, 1: enabled - * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; - - i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent - i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled - i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled - i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled - i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a control_status 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 control_status C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status) -{ - return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw); -} - -/** - * @brief Send a control_status message - * @param chan MAVLink channel to send the message - * - * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent - * @param control_att 0: Attitude control disabled, 1: enabled - * @param control_pos_xy 0: X, Y position control disabled, 1: enabled - * @param control_pos_z 0: Z position control disabled, 1: enabled - * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) -{ - mavlink_message_t msg; - mavlink_msg_control_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE CONTROL_STATUS UNPACKING - -/** - * @brief Get field position_fix from control_status message - * - * @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - */ -static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field vision_fix from control_status message - * - * @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - */ -static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field gps_fix from control_status message - * - * @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - */ -static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field ahrs_health from control_status message - * - * @return Attitude estimation health: 0: poor, 255: excellent - */ -static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field control_att from control_status message - * - * @return 0: Attitude control disabled, 1: enabled - */ -static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field control_pos_xy from control_status message - * - * @return 0: X, Y position control disabled, 1: enabled - */ -static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field control_pos_z from control_status message - * - * @return 0: Z position control disabled, 1: enabled - */ -static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field control_pos_yaw from control_status message - * - * @return 0: Yaw angle control disabled, 1: enabled - */ -static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Decode a control_status message into a struct - * - * @param msg The message to decode - * @param control_status C-struct to decode the message contents into - */ -static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status) -{ - control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg); - control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg); - control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg); - control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg); - control_status->control_att = mavlink_msg_control_status_get_control_att(msg); - control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg); - control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg); - control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_data_stream.h b/thirdParty/mavlink/include/common/mavlink_msg_data_stream.h new file mode 100644 index 0000000000000000000000000000000000000000..1c8df4b41353567431ddc3a6da68cce43191c37a --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_data_stream.h @@ -0,0 +1,188 @@ +// MESSAGE DATA_STREAM PACKING + +#define MAVLINK_MSG_ID_DATA_STREAM 67 + +typedef struct __mavlink_data_stream_t +{ + uint16_t message_rate; ///< The requested interval between two messages of this type + uint8_t stream_id; ///< The ID of the requested data stream + uint8_t on_off; ///< 1 stream is enabled, 0 stream is stopped. +} mavlink_data_stream_t; + +#define MAVLINK_MSG_ID_DATA_STREAM_LEN 4 +#define MAVLINK_MSG_ID_67_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_DATA_STREAM { \ + "DATA_STREAM", \ + 3, \ + { { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \ + { "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \ + { "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \ + } \ +} + + +/** + * @brief Pack a data_stream 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 stream_id The ID of the requested data stream + * @param message_rate The requested interval between two messages of this type + * @param on_off 1 stream is enabled, 0 stream is stopped. + * @return length of the message in bytes (excluding serial stream start sign) + */ +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) +{ +#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; + + 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); +} + +/** + * @brief Pack a data_stream 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 stream_id The ID of the requested data stream + * @param message_rate The requested interval between two messages of this type + * @param on_off 1 stream is enabled, 0 stream is stopped. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t stream_id,uint16_t message_rate,uint8_t on_off) +{ +#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; + + 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); +} + +/** + * @brief Encode a data_stream 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 data_stream C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream) +{ + return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off); +} + +/** + * @brief Send a data_stream message + * @param chan MAVLink channel to send the message + * + * @param stream_id The ID of the requested data stream + * @param message_rate The requested interval between two messages of this type + * @param on_off 1 stream is enabled, 0 stream is stopped. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off) +{ +#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); + + _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; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, 4, 21); +#endif +} + +#endif + +// MESSAGE DATA_STREAM UNPACKING + + +/** + * @brief Get field stream_id from data_stream message + * + * @return The ID of the requested data stream + */ +static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field message_rate from data_stream message + * + * @return The requested interval between two messages of this type + */ +static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field on_off from data_stream message + * + * @return 1 stream is enabled, 0 stream is stopped. + */ +static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Decode a data_stream message into a struct + * + * @param msg The message to decode + * @param data_stream C-struct to decode the message contents into + */ +static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream) +{ +#if MAVLINK_NEED_BYTE_SWAP + data_stream->message_rate = mavlink_msg_data_stream_get_message_rate(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, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_debug.h b/thirdParty/mavlink/include/common/mavlink_msg_debug.h index e98be847ada748a728ca21b1234bdcb7eb9d5f01..1687a16cd26a19c0a35a3cb70ff1c2f1130318c9 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_debug.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_debug.h @@ -1,14 +1,27 @@ // MESSAGE DEBUG PACKING -#define MAVLINK_MSG_ID_DEBUG 255 +#define MAVLINK_MSG_ID_DEBUG 254 -typedef struct __mavlink_debug_t +typedef struct __mavlink_debug_t { - uint8_t ind; ///< index of debug variable - float value; ///< DEBUG value - + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + float value; ///< DEBUG value + uint8_t ind; ///< index of debug variable } mavlink_debug_t; +#define MAVLINK_MSG_ID_DEBUG_LEN 9 +#define MAVLINK_MSG_ID_254_LEN 9 + + + +#define MAVLINK_MESSAGE_INFO_DEBUG { \ + "DEBUG", \ + 3, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \ + { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \ + { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \ + } \ +} /** @@ -17,40 +30,67 @@ typedef struct __mavlink_debug_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param ind index of debug variable * @param value DEBUG value * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t ind, float value) +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) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DEBUG; - - i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable - i += put_float_by_index(value, i, msg->payload); // DEBUG value +#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; + + memcpy(_MAV_PAYLOAD(msg), &packet, 9); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_DEBUG; + return mavlink_finalize_message(msg, system_id, component_id, 9, 46); } /** - * @brief Pack a debug message + * @brief Pack a debug 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 time_boot_ms Timestamp (milliseconds since system boot) * @param ind index of debug variable * @param value DEBUG value * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value) +static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t ind,float value) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DEBUG; - - i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable - i += put_float_by_index(value, i, msg->payload); // DEBUG value +#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; + + memcpy(_MAV_PAYLOAD(msg), &packet, 9); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_DEBUG; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 46); } /** @@ -63,28 +103,53 @@ static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t co */ static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug) { - return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value); + return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value); } /** * @brief Send a debug message * @param chan MAVLink channel to send the message * + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param ind index of debug variable * @param value DEBUG value */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value) +static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value) { - mavlink_message_t msg; - mavlink_msg_debug_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, ind, value); - mavlink_send_uart(chan, &msg); +#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); + + _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; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 9, 46); +#endif } #endif + // MESSAGE DEBUG UNPACKING + +/** + * @brief Get field time_boot_ms from debug message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + /** * @brief Get field ind from debug message * @@ -92,7 +157,7 @@ static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, f */ static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 8); } /** @@ -102,12 +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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -118,6 +178,11 @@ static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg) */ static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug) { - debug->ind = mavlink_msg_debug_get_ind(msg); +#if MAVLINK_NEED_BYTE_SWAP + debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg); debug->value = mavlink_msg_debug_get_value(msg); + debug->ind = mavlink_msg_debug_get_ind(msg); +#else + memcpy(debug, _MAV_PAYLOAD(msg), 9); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h b/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h index 6ea9e0558bf73d5956de6cc279a33f1d78bc0e28..7d0b6e6e67476e7386de347fa453402b0fbb4a82 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h @@ -1,19 +1,32 @@ // MESSAGE DEBUG_VECT PACKING -#define MAVLINK_MSG_ID_DEBUG_VECT 251 +#define MAVLINK_MSG_ID_DEBUG_VECT 250 -typedef struct __mavlink_debug_vect_t +typedef struct __mavlink_debug_vect_t { - char name[10]; ///< Name - uint64_t usec; ///< Timestamp - float x; ///< x - float y; ///< y - float z; ///< z - + uint64_t time_usec; ///< Timestamp + float x; ///< x + float y; ///< y + float z; ///< z + char name[10]; ///< Name } mavlink_debug_vect_t; +#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30 +#define MAVLINK_MSG_ID_250_LEN 30 + #define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10 +#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \ + "DEBUG_VECT", \ + 5, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_debug_vect_t, time_usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_debug_vect_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_debug_vect_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_debug_vect_t, z) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 10, 20, offsetof(mavlink_debug_vect_t, name) }, \ + } \ +} + /** * @brief Pack a debug_vect message @@ -22,51 +35,74 @@ typedef struct __mavlink_debug_vect_t * @param msg The MAVLink message to compress the data into * * @param name Name - * @param usec Timestamp + * @param time_usec Timestamp * @param x x * @param y y * @param z z * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, uint64_t usec, float x, float y, float z) +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) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; - - i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp - i += put_float_by_index(x, i, msg->payload); // x - i += put_float_by_index(y, i, msg->payload); // y - i += put_float_by_index(z, i, msg->payload); // z +#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 - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; + return mavlink_finalize_message(msg, system_id, component_id, 30, 49); } /** - * @brief Pack a debug_vect message + * @brief Pack a debug_vect 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 name Name - * @param usec Timestamp + * @param time_usec Timestamp * @param x x * @param y y * @param z z * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, uint64_t usec, float x, float y, float z) +static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *name,uint64_t time_usec,float x,float y,float z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; - - i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp - i += put_float_by_index(x, i, msg->payload); // x - i += put_float_by_index(y, i, msg->payload); // y - i += put_float_by_index(z, i, msg->payload); // z +#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 - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 49); } /** @@ -79,7 +115,7 @@ static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8 */ static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect) { - return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->usec, debug_vect->x, debug_vect->y, debug_vect->z); + return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z); } /** @@ -87,52 +123,57 @@ static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t * @param chan MAVLink channel to send the message * * @param name Name - * @param usec Timestamp + * @param time_usec Timestamp * @param x x * @param y y * @param z z */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char* name, uint64_t usec, float x, float y, float z) +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_message_t msg; - mavlink_msg_debug_vect_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, usec, x, y, z); - mavlink_send_uart(chan, &msg); +#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 + // MESSAGE DEBUG_VECT UNPACKING + /** * @brief Get field name from debug_vect message * * @return Name */ -static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char* r_data) +static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name) { - - memcpy(r_data, msg->payload, sizeof(char)*10); - return sizeof(char)*10; + return _MAV_RETURN_char_array(msg, name, 10, 20); } /** - * @brief Get field usec from debug_vect message + * @brief Get field time_usec from debug_vect message * * @return Timestamp */ -static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_debug_vect_get_time_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload+sizeof(char)*10)[0]; - r.b[6] = (msg->payload+sizeof(char)*10)[1]; - r.b[5] = (msg->payload+sizeof(char)*10)[2]; - r.b[4] = (msg->payload+sizeof(char)*10)[3]; - r.b[3] = (msg->payload+sizeof(char)*10)[4]; - r.b[2] = (msg->payload+sizeof(char)*10)[5]; - r.b[1] = (msg->payload+sizeof(char)*10)[6]; - r.b[0] = (msg->payload+sizeof(char)*10)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -142,12 +183,7 @@ static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* */ static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -157,12 +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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -172,12 +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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -188,9 +214,13 @@ static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg) */ static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect) { - mavlink_msg_debug_vect_get_name(msg, debug_vect->name); - debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg); +#if MAVLINK_NEED_BYTE_SWAP + debug_vect->time_usec = mavlink_msg_debug_vect_get_time_usec(msg); debug_vect->x = mavlink_msg_debug_vect_get_x(msg); debug_vect->y = mavlink_msg_debug_vect_get_y(msg); debug_vect->z = mavlink_msg_debug_vect_get_z(msg); + mavlink_msg_debug_vect_get_name(msg, debug_vect->name); +#else + memcpy(debug_vect, _MAV_PAYLOAD(msg), 30); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_extended_message.h b/thirdParty/mavlink/include/common/mavlink_msg_extended_message.h new file mode 100644 index 0000000000000000000000000000000000000000..2c42739be79f94053f5232e54e64ce2954698409 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_extended_message.h @@ -0,0 +1,188 @@ +// MESSAGE EXTENDED_MESSAGE PACKING + +#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255 + +typedef struct __mavlink_extended_message_t +{ + uint8_t target_system; ///< System which should execute the command + uint8_t target_component; ///< Component which should execute the command, 0 for all components + uint8_t protocol_flags; ///< Retransmission / ACK flags +} mavlink_extended_message_t; + +#define MAVLINK_MSG_ID_EXTENDED_MESSAGE_LEN 3 +#define MAVLINK_MSG_ID_255_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE { \ + "EXTENDED_MESSAGE", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_extended_message_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_extended_message_t, target_component) }, \ + { "protocol_flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_extended_message_t, protocol_flags) }, \ + } \ +} + + +/** + * @brief Pack a extended_message 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param protocol_flags Retransmission / ACK flags + * @return length of the message in bytes (excluding serial stream start sign) + */ +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) +{ +#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; + + 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); +} + +/** + * @brief Pack a extended_message 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param protocol_flags Retransmission / ACK flags + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_extended_message_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,uint8_t protocol_flags) +{ +#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; + + 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); +} + +/** + * @brief Encode a extended_message 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 extended_message C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_extended_message_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_extended_message_t* extended_message) +{ + return mavlink_msg_extended_message_pack(system_id, component_id, msg, extended_message->target_system, extended_message->target_component, extended_message->protocol_flags); +} + +/** + * @brief Send a extended_message message + * @param chan MAVLink channel to send the message + * + * @param target_system System which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param protocol_flags Retransmission / ACK flags + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_extended_message_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t protocol_flags) +{ +#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); + + _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; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EXTENDED_MESSAGE, (const char *)&packet, 3, 247); +#endif +} + +#endif + +// MESSAGE EXTENDED_MESSAGE UNPACKING + + +/** + * @brief Get field target_system from extended_message message + * + * @return System which should execute the command + */ +static inline uint8_t mavlink_msg_extended_message_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from extended_message message + * + * @return Component which should execute the command, 0 for all components + */ +static inline uint8_t mavlink_msg_extended_message_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field protocol_flags from extended_message message + * + * @return Retransmission / ACK flags + */ +static inline uint8_t mavlink_msg_extended_message_get_protocol_flags(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a extended_message message into a struct + * + * @param msg The message to decode + * @param extended_message C-struct to decode the message contents into + */ +static inline void mavlink_msg_extended_message_decode(const mavlink_message_t* msg, mavlink_extended_message_t* extended_message) +{ +#if MAVLINK_NEED_BYTE_SWAP + extended_message->target_system = mavlink_msg_extended_message_get_target_system(msg); + 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, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_full_state.h b/thirdParty/mavlink/include/common/mavlink_msg_full_state.h deleted file mode 100644 index ed177e22e2fcf3ab2494211338d711e4b3f2b51c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_full_state.h +++ /dev/null @@ -1,428 +0,0 @@ -// MESSAGE FULL_STATE PACKING - -#define MAVLINK_MSG_ID_FULL_STATE 67 - -typedef struct __mavlink_full_state_t -{ - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - float roll; ///< Roll angle (rad) - float pitch; ///< Pitch angle (rad) - float yaw; ///< Yaw angle (rad) - float rollspeed; ///< Roll angular speed (rad/s) - float pitchspeed; ///< Pitch angular speed (rad/s) - float yawspeed; ///< Yaw angular speed (rad/s) - int32_t lat; ///< Latitude, expressed as * 1E7 - int32_t lon; ///< Longitude, expressed as * 1E7 - int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) - int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 - int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 - int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 - int16_t xacc; ///< X acceleration (mg) - int16_t yacc; ///< Y acceleration (mg) - int16_t zacc; ///< Z acceleration (mg) - -} mavlink_full_state_t; - - - -/** - * @brief Pack a full_state message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) - * @param lat Latitude, expressed as * 1E7 - * @param lon Longitude, expressed as * 1E7 - * @param alt Altitude in meters, expressed as * 1000 (millimeters) - * @param vx Ground X Speed (Latitude), expressed as m/s * 100 - * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 - * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 - * @param xacc X acceleration (mg) - * @param yacc Y acceleration (mg) - * @param zacc Z acceleration (mg) - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_full_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_FULL_STATE; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) - i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) - i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) - i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) - i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 - i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 - i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) - i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 - i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 - i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 - i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) - i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) - i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a full_state message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) - * @param lat Latitude, expressed as * 1E7 - * @param lon Longitude, expressed as * 1E7 - * @param alt Altitude in meters, expressed as * 1000 (millimeters) - * @param vx Ground X Speed (Latitude), expressed as m/s * 100 - * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 - * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 - * @param xacc X acceleration (mg) - * @param yacc Y acceleration (mg) - * @param zacc Z acceleration (mg) - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_full_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_FULL_STATE; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) - i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) - i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) - i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) - i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 - i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 - i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) - i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 - i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 - i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 - i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) - i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) - i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a full_state 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 full_state C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_full_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_full_state_t* full_state) -{ - return mavlink_msg_full_state_pack(system_id, component_id, msg, full_state->usec, full_state->roll, full_state->pitch, full_state->yaw, full_state->rollspeed, full_state->pitchspeed, full_state->yawspeed, full_state->lat, full_state->lon, full_state->alt, full_state->vx, full_state->vy, full_state->vz, full_state->xacc, full_state->yacc, full_state->zacc); -} - -/** - * @brief Send a full_state message - * @param chan MAVLink channel to send the message - * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) - * @param lat Latitude, expressed as * 1E7 - * @param lon Longitude, expressed as * 1E7 - * @param alt Altitude in meters, expressed as * 1000 (millimeters) - * @param vx Ground X Speed (Latitude), expressed as m/s * 100 - * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 - * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 - * @param xacc X acceleration (mg) - * @param yacc Y acceleration (mg) - * @param zacc Z acceleration (mg) - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_full_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) -{ - mavlink_message_t msg; - mavlink_msg_full_state_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE FULL_STATE UNPACKING - -/** - * @brief Get field usec from full_state message - * - * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) - */ -static inline uint64_t mavlink_msg_full_state_get_usec(const mavlink_message_t* msg) -{ - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; -} - -/** - * @brief Get field roll from full_state message - * - * @return Roll angle (rad) - */ -static inline float mavlink_msg_full_state_get_roll(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field pitch from full_state message - * - * @return Pitch angle (rad) - */ -static inline float mavlink_msg_full_state_get_pitch(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field yaw from full_state message - * - * @return Yaw angle (rad) - */ -static inline float mavlink_msg_full_state_get_yaw(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field rollspeed from full_state message - * - * @return Roll angular speed (rad/s) - */ -static inline float mavlink_msg_full_state_get_rollspeed(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field pitchspeed from full_state message - * - * @return Pitch angular speed (rad/s) - */ -static inline float mavlink_msg_full_state_get_pitchspeed(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field yawspeed from full_state message - * - * @return Yaw angular speed (rad/s) - */ -static inline float mavlink_msg_full_state_get_yawspeed(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field lat from full_state message - * - * @return Latitude, expressed as * 1E7 - */ -static inline int32_t mavlink_msg_full_state_get_lat(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (int32_t)r.i; -} - -/** - * @brief Get field lon from full_state message - * - * @return Longitude, expressed as * 1E7 - */ -static inline int32_t mavlink_msg_full_state_get_lon(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[3]; - return (int32_t)r.i; -} - -/** - * @brief Get field alt from full_state message - * - * @return Altitude in meters, expressed as * 1000 (millimeters) - */ -static inline int32_t mavlink_msg_full_state_get_alt(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3]; - return (int32_t)r.i; -} - -/** - * @brief Get field vx from full_state message - * - * @return Ground X Speed (Latitude), expressed as m/s * 100 - */ -static inline int16_t mavlink_msg_full_state_get_vx(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1]; - return (int16_t)r.s; -} - -/** - * @brief Get field vy from full_state message - * - * @return Ground Y Speed (Longitude), expressed as m/s * 100 - */ -static inline int16_t mavlink_msg_full_state_get_vy(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; -} - -/** - * @brief Get field vz from full_state message - * - * @return Ground Z Speed (Altitude), expressed as m/s * 100 - */ -static inline int16_t mavlink_msg_full_state_get_vz(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; -} - -/** - * @brief Get field xacc from full_state message - * - * @return X acceleration (mg) - */ -static inline int16_t mavlink_msg_full_state_get_xacc(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; -} - -/** - * @brief Get field yacc from full_state message - * - * @return Y acceleration (mg) - */ -static inline int16_t mavlink_msg_full_state_get_yacc(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; -} - -/** - * @brief Get field zacc from full_state message - * - * @return Z acceleration (mg) - */ -static inline int16_t mavlink_msg_full_state_get_zacc(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; -} - -/** - * @brief Decode a full_state message into a struct - * - * @param msg The message to decode - * @param full_state C-struct to decode the message contents into - */ -static inline void mavlink_msg_full_state_decode(const mavlink_message_t* msg, mavlink_full_state_t* full_state) -{ - full_state->usec = mavlink_msg_full_state_get_usec(msg); - full_state->roll = mavlink_msg_full_state_get_roll(msg); - full_state->pitch = mavlink_msg_full_state_get_pitch(msg); - full_state->yaw = mavlink_msg_full_state_get_yaw(msg); - full_state->rollspeed = mavlink_msg_full_state_get_rollspeed(msg); - full_state->pitchspeed = mavlink_msg_full_state_get_pitchspeed(msg); - full_state->yawspeed = mavlink_msg_full_state_get_yawspeed(msg); - full_state->lat = mavlink_msg_full_state_get_lat(msg); - full_state->lon = mavlink_msg_full_state_get_lon(msg); - full_state->alt = mavlink_msg_full_state_get_alt(msg); - full_state->vx = mavlink_msg_full_state_get_vx(msg); - full_state->vy = mavlink_msg_full_state_get_vy(msg); - full_state->vz = mavlink_msg_full_state_get_vz(msg); - full_state->xacc = mavlink_msg_full_state_get_xacc(msg); - full_state->yacc = mavlink_msg_full_state_get_yacc(msg); - full_state->zacc = mavlink_msg_full_state_get_zacc(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_position.h b/thirdParty/mavlink/include/common/mavlink_msg_global_position.h deleted file mode 100644 index 9d27f7714bcacb8c87d7706ee67a6cb2ecaea5bd..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_global_position.h +++ /dev/null @@ -1,242 +0,0 @@ -// 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; - - - -/** - * @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) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch) - i += put_float_by_index(lat, i, msg->payload); // Latitude, in degrees - i += put_float_by_index(lon, i, msg->payload); // Longitude, in degrees - i += put_float_by_index(alt, i, msg->payload); // Absolute altitude, in meters - i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north) - i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east) - i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up) - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @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 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) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch) - i += put_float_by_index(lat, i, msg->payload); // Latitude, in degrees - i += put_float_by_index(lon, i, msg->payload); // Longitude, in degrees - i += put_float_by_index(alt, i, msg->payload); // Absolute altitude, in meters - i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north) - i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east) - i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up) - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @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) -{ - mavlink_message_t msg; - mavlink_msg_global_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, lat, lon, alt, vx, vy, vz); - mavlink_send_uart(chan, &msg); -} - -#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) -{ - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; -} - -/** - * @brief Get field lat from global_position message - * - * @return Latitude, in degrees - */ -static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field lon from global_position message - * - * @return Longitude, in degrees - */ -static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field alt from global_position message - * - * @return Absolute altitude, in meters - */ -static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field 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) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field 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) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field 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) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a 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) -{ - 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); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h b/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h index 1b3277a35798fe947b90ac468baa6fd827d27124..3d624bc0513c12c5f7cd53ebbc8edd590c2d884a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h @@ -1,18 +1,39 @@ // MESSAGE GLOBAL_POSITION_INT PACKING -#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73 +#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 34 -typedef struct __mavlink_global_position_int_t +typedef struct __mavlink_global_position_int_t { - int32_t lat; ///< Latitude, expressed as * 1E7 - int32_t lon; ///< Longitude, expressed as * 1E7 - int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) - int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 - int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 - int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 - + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + int32_t lat; ///< Latitude, expressed as * 1E7 + int32_t lon; ///< Longitude, expressed as * 1E7 + int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters), above MSL + int32_t relative_alt; ///< Altitude above ground in meters, expressed as * 1000 (millimeters) + int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 + int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 + int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 + uint16_t hdg; ///< Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 } mavlink_global_position_int_t; +#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28 +#define MAVLINK_MSG_ID_34_LEN 28 + + + +#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \ + "GLOBAL_POSITION_INT", \ + 9, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \ + { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \ + { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \ + { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \ + } \ +} /** @@ -21,56 +42,103 @@ typedef struct __mavlink_global_position_int_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param lat Latitude, expressed as * 1E7 * @param lon Longitude, expressed as * 1E7 - * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL + * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) +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, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[28]; + _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_int32_t(buf, 16, relative_alt); + _mav_put_int16_t(buf, 20, vx); + _mav_put_int16_t(buf, 22, vy); + _mav_put_int16_t(buf, 24, vz); + _mav_put_uint16_t(buf, 26, hdg); + + memcpy(_MAV_PAYLOAD(msg), buf, 28); +#else + mavlink_global_position_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.relative_alt = relative_alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.hdg = hdg; - i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 - i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 - i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) - i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 - i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 - i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 + memcpy(_MAV_PAYLOAD(msg), &packet, 28); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; + return mavlink_finalize_message(msg, system_id, component_id, 28, 104); } /** - * @brief Pack a global_position_int message + * @brief Pack a global_position_int 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 time_boot_ms Timestamp (milliseconds since system boot) * @param lat Latitude, expressed as * 1E7 * @param lon Longitude, expressed as * 1E7 - * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL + * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) +static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[28]; + _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_int32_t(buf, 16, relative_alt); + _mav_put_int16_t(buf, 20, vx); + _mav_put_int16_t(buf, 22, vy); + _mav_put_int16_t(buf, 24, vz); + _mav_put_uint16_t(buf, 26, hdg); + + memcpy(_MAV_PAYLOAD(msg), buf, 28); +#else + mavlink_global_position_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.relative_alt = relative_alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.hdg = hdg; - i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 - i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 - i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) - i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 - i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 - i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 + memcpy(_MAV_PAYLOAD(msg), &packet, 28); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 104); } /** @@ -83,32 +151,71 @@ static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_ */ static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int) { - return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->vx, global_position_int->vy, global_position_int->vz); + return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg); } /** * @brief Send a global_position_int message * @param chan MAVLink channel to send the message * + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param lat Latitude, expressed as * 1E7 * @param lon Longitude, expressed as * 1E7 - * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL + * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) +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, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg) { - mavlink_message_t msg; - mavlink_msg_global_position_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, lat, lon, alt, vx, vy, vz); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[28]; + _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_int32_t(buf, 16, relative_alt); + _mav_put_int16_t(buf, 20, vx); + _mav_put_int16_t(buf, 22, vy); + _mav_put_int16_t(buf, 24, vz); + _mav_put_uint16_t(buf, 26, hdg); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 28, 104); +#else + mavlink_global_position_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.relative_alt = relative_alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.hdg = hdg; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 28, 104); +#endif } #endif + // MESSAGE GLOBAL_POSITION_INT UNPACKING + +/** + * @brief Get field time_boot_ms from global_position_int message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + /** * @brief Get field lat from global_position_int message * @@ -116,12 +223,7 @@ static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, */ static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 4); } /** @@ -131,27 +233,27 @@ 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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(int32_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 8); } /** * @brief Get field alt from global_position_int message * - * @return Altitude in meters, expressed as * 1000 (millimeters) + * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL */ static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 12); +} + +/** + * @brief Get field relative_alt from global_position_int message + * + * @return Altitude above ground in meters, expressed as * 1000 (millimeters) + */ +static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 16); } /** @@ -161,10 +263,7 @@ 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) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 20); } /** @@ -174,10 +273,7 @@ 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) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 22); } /** @@ -187,10 +283,17 @@ 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) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 24); +} + +/** + * @brief Get field hdg from global_position_int message + * + * @return Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + */ +static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 26); } /** @@ -201,10 +304,17 @@ static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_messa */ static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int) { +#if MAVLINK_NEED_BYTE_SWAP + global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg); global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg); global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg); global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg); + global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg); global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg); global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg); 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, _MAV_PAYLOAD(msg), 28); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h b/thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h new file mode 100644 index 0000000000000000000000000000000000000000..e38df91dcf9479d277a742e1740e441dccb3596b --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h @@ -0,0 +1,232 @@ +// MESSAGE GLOBAL_POSITION_SETPOINT_INT PACKING + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT 52 + +typedef struct __mavlink_global_position_setpoint_int_t +{ + int32_t latitude; ///< WGS84 Latitude position in degrees * 1E7 + int32_t longitude; ///< WGS84 Longitude position in degrees * 1E7 + int32_t altitude; ///< WGS84 Altitude in meters * 1000 (positive for up) + int16_t yaw; ///< Desired yaw angle in degrees * 100 + uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT +} mavlink_global_position_setpoint_int_t; + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN 15 +#define MAVLINK_MSG_ID_52_LEN 15 + + + +#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT { \ + "GLOBAL_POSITION_SETPOINT_INT", \ + 5, \ + { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_setpoint_int_t, latitude) }, \ + { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_setpoint_int_t, longitude) }, \ + { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_setpoint_int_t, altitude) }, \ + { "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_setpoint_int_t, yaw) }, \ + { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_global_position_setpoint_int_t, coordinate_frame) }, \ + } \ +} + + +/** + * @brief Pack a global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + * @param latitude WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _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_put_uint8_t(buf, 14, coordinate_frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 15); +#else + mavlink_global_position_setpoint_int_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 15); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; + return mavlink_finalize_message(msg, system_id, component_id, 15, 141); +} + +/** + * @brief Pack a global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + * @param latitude WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _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_put_uint8_t(buf, 14, coordinate_frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 15); +#else + mavlink_global_position_setpoint_int_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 15); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15, 141); +} + +/** + * @brief Encode a global_position_setpoint_int 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_setpoint_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_setpoint_int_t* global_position_setpoint_int) +{ + return mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, msg, global_position_setpoint_int->coordinate_frame, global_position_setpoint_int->latitude, global_position_setpoint_int->longitude, global_position_setpoint_int->altitude, global_position_setpoint_int->yaw); +} + +/** + * @brief Send a global_position_setpoint_int message + * @param chan MAVLink channel to send the message + * + * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + * @param latitude WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _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_put_uint8_t(buf, 14, coordinate_frame); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, 15, 141); +#else + mavlink_global_position_setpoint_int_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, 15, 141); +#endif +} + +#endif + +// MESSAGE GLOBAL_POSITION_SETPOINT_INT UNPACKING + + +/** + * @brief Get field coordinate_frame from global_position_setpoint_int message + * + * @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + */ +static inline uint8_t mavlink_msg_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 14); +} + +/** + * @brief Get field latitude from global_position_setpoint_int message + * + * @return WGS84 Latitude position in degrees * 1E7 + */ +static inline int32_t mavlink_msg_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field longitude from global_position_setpoint_int message + * + * @return WGS84 Longitude position in degrees * 1E7 + */ +static inline int32_t mavlink_msg_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field altitude from global_position_setpoint_int message + * + * @return WGS84 Altitude in meters * 1000 (positive for up) + */ +static inline int32_t mavlink_msg_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Get field yaw from global_position_setpoint_int message + * + * @return Desired yaw angle in degrees * 100 + */ +static inline int16_t mavlink_msg_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Decode a global_position_setpoint_int message into a struct + * + * @param msg The message to decode + * @param global_position_setpoint_int C-struct to decode the message contents into + */ +static inline void mavlink_msg_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_global_position_setpoint_int_t* global_position_setpoint_int) +{ +#if MAVLINK_NEED_BYTE_SWAP + global_position_setpoint_int->latitude = mavlink_msg_global_position_setpoint_int_get_latitude(msg); + global_position_setpoint_int->longitude = mavlink_msg_global_position_setpoint_int_get_longitude(msg); + 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); + global_position_setpoint_int->coordinate_frame = mavlink_msg_global_position_setpoint_int_get_coordinate_frame(msg); +#else + memcpy(global_position_setpoint_int, _MAV_PAYLOAD(msg), 15); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h b/thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h new file mode 100644 index 0000000000000000000000000000000000000000..06c6357b1ffb90984d5c79b7262ad90b90e02eae --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h @@ -0,0 +1,276 @@ +// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING + +#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101 + +typedef struct __mavlink_global_vision_position_estimate_t +{ + uint64_t usec; ///< Timestamp (milliseconds) + float x; ///< Global X position + float y; ///< Global Y position + float z; ///< Global Z position + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad +} mavlink_global_vision_position_estimate_t; + +#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32 +#define MAVLINK_MSG_ID_101_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \ + "GLOBAL_VISION_POSITION_ESTIMATE", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a global_vision_position_estimate 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 (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_global_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE; + return mavlink_finalize_message(msg, system_id, component_id, 32, 102); +} + +/** + * @brief Pack a global_vision_position_estimate 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 (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_global_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 102); +} + +/** + * @brief Encode a global_vision_position_estimate 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_vision_position_estimate C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate) +{ + return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw); +} + +/** + * @brief Send a global_vision_position_estimate message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, 32, 102); +#else + mavlink_global_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, 32, 102); +#endif +} + +#endif + +// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING + + +/** + * @brief Get field usec from global_vision_position_estimate message + * + * @return Timestamp (milliseconds) + */ +static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field x from global_vision_position_estimate message + * + * @return Global X position + */ +static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field y from global_vision_position_estimate message + * + * @return Global Y position + */ +static inline float mavlink_msg_global_vision_position_estimate_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field z from global_vision_position_estimate message + * + * @return Global Z position + */ +static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field roll from global_vision_position_estimate message + * + * @return Roll angle in rad + */ +static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field pitch from global_vision_position_estimate message + * + * @return Pitch angle in rad + */ +static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field yaw from global_vision_position_estimate message + * + * @return Yaw angle in rad + */ +static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a global_vision_position_estimate message into a struct + * + * @param msg The message to decode + * @param global_vision_position_estimate C-struct to decode the message contents into + */ +static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate) +{ +#if MAVLINK_NEED_BYTE_SWAP + global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg); + global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg); + global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg); + global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg); + global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg); + global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg); + global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg); +#else + memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_global_origin.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_global_origin.h new file mode 100644 index 0000000000000000000000000000000000000000..3df5a58f95af74876017148bd3c521ee70ac2db3 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_gps_global_origin.h @@ -0,0 +1,188 @@ +// MESSAGE GPS_GLOBAL_ORIGIN PACKING + +#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49 + +typedef struct __mavlink_gps_global_origin_t +{ + int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7 + int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7 + int32_t altitude; ///< Altitude(WGS84), expressed as * 1000 +} mavlink_gps_global_origin_t; + +#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12 +#define MAVLINK_MSG_ID_49_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \ + "GPS_GLOBAL_ORIGIN", \ + 3, \ + { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \ + { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \ + { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \ + } \ +} + + +/** + * @brief Pack a gps_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 latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + int32_t latitude, int32_t longitude, int32_t altitude) +{ +#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; + + 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); +} + +/** + * @brief Pack a gps_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 latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + int32_t latitude,int32_t longitude,int32_t altitude) +{ +#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; + + 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); +} + +/** + * @brief Encode a gps_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_global_origin C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin) +{ + return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude); +} + +/** + * @brief Send a gps_global_origin message + * @param chan MAVLink channel to send the message + * + * @param latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#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); + + _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; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, 12, 39); +#endif +} + +#endif + +// MESSAGE GPS_GLOBAL_ORIGIN UNPACKING + + +/** + * @brief Get field latitude from gps_global_origin message + * + * @return Latitude (WGS84), expressed as * 1E7 + */ +static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field longitude from gps_global_origin message + * + * @return Longitude (WGS84), expressed as * 1E7 + */ +static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field altitude from gps_global_origin message + * + * @return Altitude(WGS84), expressed as * 1000 + */ +static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Decode a gps_global_origin message into a struct + * + * @param msg The message to decode + * @param gps_global_origin C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg); + 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, _MAV_PAYLOAD(msg), 12); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_local_origin_set.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_local_origin_set.h deleted file mode 100644 index 156252854157547196b2fd439aa83d0aa3e41026..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_local_origin_set.h +++ /dev/null @@ -1,150 +0,0 @@ -// MESSAGE GPS_LOCAL_ORIGIN_SET PACKING - -#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49 - -typedef struct __mavlink_gps_local_origin_set_t -{ - int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7 - int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7 - int32_t altitude; ///< Altitude(WGS84), expressed as * 1000 - -} mavlink_gps_local_origin_set_t; - - - -/** - * @brief Pack a gps_local_origin_set message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param latitude Latitude (WGS84), expressed as * 1E7 - * @param longitude Longitude (WGS84), expressed as * 1E7 - * @param altitude Altitude(WGS84), expressed as * 1000 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET; - - i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7 - i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7 - i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000 - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a gps_local_origin_set message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param latitude Latitude (WGS84), expressed as * 1E7 - * @param longitude Longitude (WGS84), expressed as * 1E7 - * @param altitude Altitude(WGS84), expressed as * 1000 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET; - - i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7 - i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7 - i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000 - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a gps_local_origin_set struct into a message - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param gps_local_origin_set C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_local_origin_set_t* gps_local_origin_set) -{ - return mavlink_msg_gps_local_origin_set_pack(system_id, component_id, msg, gps_local_origin_set->latitude, gps_local_origin_set->longitude, gps_local_origin_set->altitude); -} - -/** - * @brief Send a gps_local_origin_set message - * @param chan MAVLink channel to send the message - * - * @param latitude Latitude (WGS84), expressed as * 1E7 - * @param longitude Longitude (WGS84), expressed as * 1E7 - * @param altitude Altitude(WGS84), expressed as * 1000 - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude) -{ - mavlink_message_t msg; - mavlink_msg_gps_local_origin_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, latitude, longitude, altitude); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING - -/** - * @brief Get field latitude from gps_local_origin_set message - * - * @return Latitude (WGS84), expressed as * 1E7 - */ -static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (int32_t)r.i; -} - -/** - * @brief Get field longitude from gps_local_origin_set message - * - * @return Longitude (WGS84), expressed as * 1E7 - */ -static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(int32_t))[3]; - return (int32_t)r.i; -} - -/** - * @brief Get field altitude from gps_local_origin_set message - * - * @return Altitude(WGS84), expressed as * 1000 - */ -static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3]; - return (int32_t)r.i; -} - -/** - * @brief Decode a gps_local_origin_set message into a struct - * - * @param msg The message to decode - * @param gps_local_origin_set C-struct to decode the message contents into - */ -static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set) -{ - gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg); - gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg); - gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_raw.h deleted file mode 100644 index 52d33a23b23a4aca8fab0ce8c9b1308dc3104e72..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw.h +++ /dev/null @@ -1,281 +0,0 @@ -// MESSAGE GPS_RAW PACKING - -#define MAVLINK_MSG_ID_GPS_RAW 32 - -typedef struct __mavlink_gps_raw_t -{ - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - float lat; ///< Latitude in degrees - float lon; ///< Longitude in degrees - float alt; ///< Altitude in meters - float eph; ///< GPS HDOP - float epv; ///< GPS VDOP - float v; ///< GPS ground speed - float hdg; ///< Compass heading in degrees, 0..360 degrees - -} mavlink_gps_raw_t; - - - -/** - * @brief Pack a gps_raw message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - * @param lat Latitude in degrees - * @param lon Longitude in degrees - * @param alt Altitude in meters - * @param eph GPS HDOP - * @param epv GPS VDOP - * @param v GPS ground speed - * @param hdg Compass heading in degrees, 0..360 degrees - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_RAW; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - i += put_float_by_index(lat, i, msg->payload); // Latitude in degrees - i += put_float_by_index(lon, i, msg->payload); // Longitude in degrees - i += put_float_by_index(alt, i, msg->payload); // Altitude in meters - i += put_float_by_index(eph, i, msg->payload); // GPS HDOP - i += put_float_by_index(epv, i, msg->payload); // GPS VDOP - i += put_float_by_index(v, i, msg->payload); // GPS ground speed - i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a gps_raw message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - * @param lat Latitude in degrees - * @param lon Longitude in degrees - * @param alt Altitude in meters - * @param eph GPS HDOP - * @param epv GPS VDOP - * @param v GPS ground speed - * @param hdg Compass heading in degrees, 0..360 degrees - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_RAW; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - i += put_float_by_index(lat, i, msg->payload); // Latitude in degrees - i += put_float_by_index(lon, i, msg->payload); // Longitude in degrees - i += put_float_by_index(alt, i, msg->payload); // Altitude in meters - i += put_float_by_index(eph, i, msg->payload); // GPS HDOP - i += put_float_by_index(epv, i, msg->payload); // GPS VDOP - i += put_float_by_index(v, i, msg->payload); // GPS ground speed - i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a gps_raw 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_raw C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_t* gps_raw) -{ - return mavlink_msg_gps_raw_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->alt, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg); -} - -/** - * @brief Send a gps_raw message - * @param chan MAVLink channel to send the message - * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - * @param lat Latitude in degrees - * @param lon Longitude in degrees - * @param alt Altitude in meters - * @param eph GPS HDOP - * @param epv GPS VDOP - * @param v GPS ground speed - * @param hdg Compass heading in degrees, 0..360 degrees - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) -{ - mavlink_message_t msg; - mavlink_msg_gps_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE GPS_RAW UNPACKING - -/** - * @brief Get field usec from gps_raw message - * - * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) - */ -static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg) -{ - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; -} - -/** - * @brief Get field fix_type from gps_raw message - * - * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - */ -static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint64_t))[0]; -} - -/** - * @brief Get field lat from gps_raw message - * - * @return Latitude in degrees - */ -static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field lon from gps_raw message - * - * @return Longitude in degrees - */ -static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field alt from gps_raw message - * - * @return Altitude in meters - */ -static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field eph from gps_raw message - * - * @return GPS HDOP - */ -static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field epv from gps_raw message - * - * @return GPS VDOP - */ -static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field v from gps_raw message - * - * @return GPS ground speed - */ -static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field hdg from gps_raw message - * - * @return Compass heading in degrees, 0..360 degrees - */ -static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a gps_raw message into a struct - * - * @param msg The message to decode - * @param gps_raw C-struct to decode the message contents into - */ -static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw) -{ - gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg); - gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg); - gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg); - gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg); - gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg); - gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg); - gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg); - gps_raw->v = mavlink_msg_gps_raw_get_v(msg); - gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h index b49498febc6519f905ade7271b9c607910488511..866ada26e4e050b02293b64a0389ff1b2504e760 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h @@ -1,21 +1,41 @@ // MESSAGE GPS_RAW_INT PACKING -#define MAVLINK_MSG_ID_GPS_RAW_INT 25 +#define MAVLINK_MSG_ID_GPS_RAW_INT 24 -typedef struct __mavlink_gps_raw_int_t +typedef struct __mavlink_gps_raw_int_t { - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - int32_t lat; ///< Latitude in 1E7 degrees - int32_t lon; ///< Longitude in 1E7 degrees - int32_t alt; ///< Altitude in 1E3 meters (millimeters) - float eph; ///< GPS HDOP - float epv; ///< GPS VDOP - float v; ///< GPS ground speed (m/s) - float hdg; ///< Compass heading in degrees, 0..360 degrees - + uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + int32_t lat; ///< Latitude in 1E7 degrees + int32_t lon; ///< Longitude in 1E7 degrees + int32_t alt; ///< Altitude in 1E3 meters (millimeters) above MSL + uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535 + uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255 } mavlink_gps_raw_int_t; +#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 30 +#define MAVLINK_MSG_ID_24_LEN 30 + + + +#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \ + "GPS_RAW_INT", \ + 10, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, time_usec) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_raw_int_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_raw_int_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_raw_int_t, alt) }, \ + { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_gps_raw_int_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_gps_raw_int_t, epv) }, \ + { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps_raw_int_t, vel) }, \ + { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps_raw_int_t, cog) }, \ + { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_gps_raw_int_t, fix_type) }, \ + { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_gps_raw_int_t, satellites_visible) }, \ + } \ +} /** @@ -24,68 +44,109 @@ typedef struct __mavlink_gps_raw_int_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. * @param lat Latitude in 1E7 degrees * @param lon Longitude in 1E7 degrees - * @param alt Altitude in 1E3 meters (millimeters) - * @param eph GPS HDOP - * @param epv GPS VDOP - * @param v GPS ground speed (m/s) - * @param hdg Compass heading in degrees, 0..360 degrees + * @param alt Altitude in 1E3 meters (millimeters) above MSL + * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 + * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg) +static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint16_t(buf, 20, eph); + _mav_put_uint16_t(buf, 22, epv); + _mav_put_uint16_t(buf, 24, vel); + _mav_put_uint16_t(buf, 26, cog); + _mav_put_uint8_t(buf, 28, fix_type); + _mav_put_uint8_t(buf, 29, satellites_visible); - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - i += put_int32_t_by_index(lat, i, msg->payload); // Latitude in 1E7 degrees - i += put_int32_t_by_index(lon, i, msg->payload); // Longitude in 1E7 degrees - i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in 1E3 meters (millimeters) - i += put_float_by_index(eph, i, msg->payload); // GPS HDOP - i += put_float_by_index(epv, i, msg->payload); // GPS VDOP - i += put_float_by_index(v, i, msg->payload); // GPS ground speed (m/s) - i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), buf, 30); +#else + mavlink_gps_raw_int_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.vel = vel; + packet.cog = cog; + packet.fix_type = fix_type; + packet.satellites_visible = satellites_visible; + + memcpy(_MAV_PAYLOAD(msg), &packet, 30); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; + return mavlink_finalize_message(msg, system_id, component_id, 30, 24); } /** - * @brief Pack a gps_raw_int message + * @brief Pack a gps_raw_int 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 or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. * @param lat Latitude in 1E7 degrees * @param lon Longitude in 1E7 degrees - * @param alt Altitude in 1E3 meters (millimeters) - * @param eph GPS HDOP - * @param epv GPS VDOP - * @param v GPS ground speed (m/s) - * @param hdg Compass heading in degrees, 0..360 degrees + * @param alt Altitude in 1E3 meters (millimeters) above MSL + * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 + * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg) +static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint16_t(buf, 20, eph); + _mav_put_uint16_t(buf, 22, epv); + _mav_put_uint16_t(buf, 24, vel); + _mav_put_uint16_t(buf, 26, cog); + _mav_put_uint8_t(buf, 28, fix_type); + _mav_put_uint8_t(buf, 29, satellites_visible); + + memcpy(_MAV_PAYLOAD(msg), buf, 30); +#else + mavlink_gps_raw_int_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.vel = vel; + packet.cog = cog; + packet.fix_type = fix_type; + packet.satellites_visible = satellites_visible; + + memcpy(_MAV_PAYLOAD(msg), &packet, 30); +#endif - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - i += put_int32_t_by_index(lat, i, msg->payload); // Latitude in 1E7 degrees - i += put_int32_t_by_index(lon, i, msg->payload); // Longitude in 1E7 degrees - i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in 1E3 meters (millimeters) - i += put_float_by_index(eph, i, msg->payload); // GPS HDOP - i += put_float_by_index(epv, i, msg->payload); // GPS VDOP - i += put_float_by_index(v, i, msg->payload); // GPS ground speed (m/s) - i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 24); } /** @@ -98,52 +159,72 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint */ static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int) { - return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->v, gps_raw_int->hdg); + return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible); } /** * @brief Send a gps_raw_int message * @param chan MAVLink channel to send the message * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. * @param lat Latitude in 1E7 degrees * @param lon Longitude in 1E7 degrees - * @param alt Altitude in 1E3 meters (millimeters) - * @param eph GPS HDOP - * @param epv GPS VDOP - * @param v GPS ground speed (m/s) - * @param hdg Compass heading in degrees, 0..360 degrees + * @param alt Altitude in 1E3 meters (millimeters) above MSL + * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 + * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + * @param satellites_visible Number of satellites visible. If unknown, set to 255 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg) +static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible) { - mavlink_message_t msg; - mavlink_msg_gps_raw_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint16_t(buf, 20, eph); + _mav_put_uint16_t(buf, 22, epv); + _mav_put_uint16_t(buf, 24, vel); + _mav_put_uint16_t(buf, 26, cog); + _mav_put_uint8_t(buf, 28, fix_type); + _mav_put_uint8_t(buf, 29, satellites_visible); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, 30, 24); +#else + mavlink_gps_raw_int_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.vel = vel; + packet.cog = cog; + packet.fix_type = fix_type; + packet.satellites_visible = satellites_visible; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, 30, 24); +#endif } #endif + // MESSAGE GPS_RAW_INT UNPACKING + /** - * @brief Get field usec from gps_raw_int message + * @brief Get field time_usec from gps_raw_int message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ -static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_gps_raw_int_get_time_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -153,7 +234,7 @@ static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t* */ static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint64_t))[0]; + return _MAV_RETURN_uint8_t(msg, 28); } /** @@ -163,12 +244,7 @@ static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message */ static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 8); } /** @@ -178,87 +254,67 @@ static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* m */ static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 12); } /** * @brief Get field alt from gps_raw_int message * - * @return Altitude in 1E3 meters (millimeters) + * @return Altitude in 1E3 meters (millimeters) above MSL */ static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 16); } /** * @brief Get field eph from gps_raw_int message * - * @return GPS HDOP + * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ -static inline float mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[3]; - return (float)r.f; + return _MAV_RETURN_uint16_t(msg, 20); } /** * @brief Get field epv from gps_raw_int message * - * @return GPS VDOP + * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ -static inline float mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_uint16_t(msg, 22); } /** - * @brief Get field v from gps_raw_int message + * @brief Get field vel from gps_raw_int message * - * @return GPS ground speed (m/s) + * @return GPS ground speed (m/s * 100). If unknown, set to: 65535 */ -static inline float mavlink_msg_gps_raw_int_get_v(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_gps_raw_int_get_vel(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_uint16_t(msg, 24); } /** - * @brief Get field hdg from gps_raw_int message + * @brief Get field cog from gps_raw_int message * - * @return Compass heading in degrees, 0..360 degrees + * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */ -static inline float mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_gps_raw_int_get_cog(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_uint16_t(msg, 26); +} + +/** + * @brief Get field satellites_visible from gps_raw_int message + * + * @return Number of satellites visible. If unknown, set to 255 + */ +static inline uint8_t mavlink_msg_gps_raw_int_get_satellites_visible(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 29); } /** @@ -269,13 +325,18 @@ static inline float mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg */ static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int) { - gps_raw_int->usec = mavlink_msg_gps_raw_int_get_usec(msg); - gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg); +#if MAVLINK_NEED_BYTE_SWAP + gps_raw_int->time_usec = mavlink_msg_gps_raw_int_get_time_usec(msg); gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg); gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg); gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg); gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg); gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg); - gps_raw_int->v = mavlink_msg_gps_raw_int_get_v(msg); - gps_raw_int->hdg = mavlink_msg_gps_raw_int_get_hdg(msg); + gps_raw_int->vel = mavlink_msg_gps_raw_int_get_vel(msg); + gps_raw_int->cog = mavlink_msg_gps_raw_int_get_cog(msg); + gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg); + gps_raw_int->satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg); +#else + memcpy(gps_raw_int, _MAV_PAYLOAD(msg), 30); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_set_global_origin.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_set_global_origin.h deleted file mode 100644 index 47ddc2e23b90a31fe6f6c3efa43a4e68735c0f4b..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_set_global_origin.h +++ /dev/null @@ -1,184 +0,0 @@ -// MESSAGE GPS_SET_GLOBAL_ORIGIN PACKING - -#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN 48 - -typedef struct __mavlink_gps_set_global_origin_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - int32_t latitude; ///< global position * 1E7 - int32_t longitude; ///< global position * 1E7 - int32_t altitude; ///< global position * 1000 - -} mavlink_gps_set_global_origin_t; - - - -/** - * @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) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_int32_t_by_index(latitude, i, msg->payload); // global position * 1E7 - i += put_int32_t_by_index(longitude, i, msg->payload); // global position * 1E7 - i += put_int32_t_by_index(altitude, i, msg->payload); // global position * 1000 - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @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 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) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_int32_t_by_index(latitude, i, msg->payload); // global position * 1E7 - i += put_int32_t_by_index(longitude, i, msg->payload); // global position * 1E7 - i += put_int32_t_by_index(altitude, i, msg->payload); // global position * 1000 - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @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) -{ - mavlink_message_t msg; - mavlink_msg_gps_set_global_origin_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, latitude, longitude, altitude); - mavlink_send_uart(chan, &msg); -} - -#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 (uint8_t)(msg->payload)[0]; -} - -/** - * @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 (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @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) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (int32_t)r.i; -} - -/** - * @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) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[3]; - return (int32_t)r.i; -} - -/** - * @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) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[3]; - return (int32_t)r.i; -} - -/** - * @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) -{ - 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); - 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); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h index fd04a9a262f39d53f5a566d977a6112dbe9d6add..f363daa96a85729fd767529c06531f265b410119 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h @@ -1,24 +1,38 @@ // MESSAGE GPS_STATUS PACKING -#define MAVLINK_MSG_ID_GPS_STATUS 27 +#define MAVLINK_MSG_ID_GPS_STATUS 25 -typedef struct __mavlink_gps_status_t +typedef struct __mavlink_gps_status_t { - uint8_t satellites_visible; ///< Number of satellites visible - int8_t satellite_prn[20]; ///< Global satellite ID - int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization - int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite - int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg. - int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite - + uint8_t satellites_visible; ///< Number of satellites visible + uint8_t satellite_prn[20]; ///< Global satellite ID + uint8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization + uint8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite + uint8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg. + uint8_t satellite_snr[20]; ///< Signal to noise ratio of satellite } mavlink_gps_status_t; +#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101 +#define MAVLINK_MSG_ID_25_LEN 101 + #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20 +#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \ + "GPS_STATUS", \ + 6, \ + { { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \ + { "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \ + { "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \ + { "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \ + { "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \ + { "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \ + } \ +} + /** * @brief Pack a gps_status message @@ -34,23 +48,35 @@ typedef struct __mavlink_gps_status_t * @param satellite_snr Signal to noise ratio of satellite * @return length of the message in bytes (excluding serial stream start sign) */ -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 int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) +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) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; - - i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible - i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID - i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization - i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite - i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg. - i += put_array_by_index(satellite_snr, 20, i, msg->payload); // 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 - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 101, 23); } /** - * @brief Pack a gps_status message + * @brief Pack a gps_status 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 @@ -63,19 +89,32 @@ static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t co * @param satellite_snr Signal to noise ratio of satellite * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) +static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + 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) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; - - i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible - i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID - i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization - i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite - i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg. - i += put_array_by_index(satellite_snr, 20, i, msg->payload); // 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 - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101, 23); } /** @@ -104,16 +143,34 @@ static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) +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_message_t msg; - mavlink_msg_gps_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr); - mavlink_send_uart(chan, &msg); +#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 + // MESSAGE GPS_STATUS UNPACKING + /** * @brief Get field satellites_visible from gps_status message * @@ -121,7 +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 (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 0); } /** @@ -129,11 +186,9 @@ static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlin * * @return Global satellite ID */ -static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t *satellite_prn) { - - memcpy(r_data, msg->payload+sizeof(uint8_t), 20); - return 20; + return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20, 1); } /** @@ -141,11 +196,9 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_me * * @return 0: Satellite not used, 1: used for localization */ -static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t *satellite_used) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+20, 20); - return 20; + return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20, 21); } /** @@ -153,11 +206,9 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_m * * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ -static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t *satellite_elevation) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20, 20); - return 20; + return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20, 41); } /** @@ -165,11 +216,9 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavl * * @return Direction of satellite, 0: 0 deg, 255: 360 deg. */ -static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t *satellite_azimuth) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20, 20); - return 20; + return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20, 61); } /** @@ -177,11 +226,9 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlin * * @return Signal to noise ratio of satellite */ -static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t *satellite_snr) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20+20, 20); - return 20; + return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20, 81); } /** @@ -192,10 +239,14 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_me */ static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status) { +#if MAVLINK_NEED_BYTE_SWAP gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg); mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn); mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used); mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation); 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, _MAV_PAYLOAD(msg), 101); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h b/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h index 0e5c4db5ca00fb627f2c5072cd8b2d1d7cbd02ad..d194f2127717befb539a4049ce5471bfb1667fbc 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h @@ -2,14 +2,32 @@ #define MAVLINK_MSG_ID_HEARTBEAT 0 -typedef struct __mavlink_heartbeat_t +typedef struct __mavlink_heartbeat_t { - uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - uint8_t mavlink_version; ///< MAVLink version - + uint32_t custom_mode; ///< Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + uint8_t autopilot; ///< Autopilot type / class. defined in MAV_CLASS ENUM + uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + uint8_t system_status; ///< System status flag, see MAV_STATUS ENUM + uint8_t mavlink_version; ///< MAVLink version } mavlink_heartbeat_t; +#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9 +#define MAVLINK_MSG_ID_0_LEN 9 + + + +#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \ + "HEARTBEAT", \ + 6, \ + { { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \ + { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \ + { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \ + { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \ + { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \ + } \ +} /** @@ -19,41 +37,82 @@ typedef struct __mavlink_heartbeat_t * @param msg The MAVLink message to compress the data into * * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + * @param system_status System status flag, see MAV_STATUS ENUM * @return length of the message in bytes (excluding serial stream start sign) */ -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) +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, uint32_t custom_mode, uint8_t system_status) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; - - i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[9]; + _mav_put_uint32_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, autopilot); + _mav_put_uint8_t(buf, 6, base_mode); + _mav_put_uint8_t(buf, 7, system_status); + _mav_put_uint8_t(buf, 8, 3); + + memcpy(_MAV_PAYLOAD(msg), buf, 9); +#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, 9); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + return mavlink_finalize_message(msg, system_id, component_id, 9, 50); } /** - * @brief Pack a heartbeat message + * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + * @param system_status System status flag, see MAV_STATUS ENUM * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot) +static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; - - i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[9]; + _mav_put_uint32_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, autopilot); + _mav_put_uint8_t(buf, 6, base_mode); + _mav_put_uint8_t(buf, 7, system_status); + _mav_put_uint8_t(buf, 8, 3); + + memcpy(_MAV_PAYLOAD(msg), buf, 9); +#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, 9); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 50); } /** @@ -66,7 +125,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_ */ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat) { - return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot); + return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status); } /** @@ -74,20 +133,43 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c * @param chan MAVLink channel to send the message * * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + * @param system_status System status flag, see MAV_STATUS ENUM */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot) +static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status) { - mavlink_message_t msg; - mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[9]; + _mav_put_uint32_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, autopilot); + _mav_put_uint8_t(buf, 6, base_mode); + _mav_put_uint8_t(buf, 7, system_status); + _mav_put_uint8_t(buf, 8, 3); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 9, 50); +#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, 9, 50); +#endif } #endif + // MESSAGE HEARTBEAT UNPACKING + /** * @brief Get field type from heartbeat message * @@ -95,17 +177,47 @@ 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 (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 4); } /** * @brief Get field autopilot from heartbeat message * - * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @return Autopilot type / class. defined in MAV_CLASS ENUM */ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field base_mode from heartbeat message + * + * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + */ +static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field custom_mode from heartbeat message + * + * @return Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + */ +static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field system_status from heartbeat message + * + * @return System status flag, see MAV_STATUS ENUM + */ +static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 7); } /** @@ -115,7 +227,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_ */ static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 8); } /** @@ -126,7 +238,14 @@ static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_me */ static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat) { +#if MAVLINK_NEED_BYTE_SWAP + heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg); heartbeat->type = mavlink_msg_heartbeat_get_type(msg); heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg); + heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg); + heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg); heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg); +#else + memcpy(heartbeat, _MAV_PAYLOAD(msg), 9); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h b/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h index 80f33ebd06a9497d2d3f8678d8a104960d280926..23c84bc562e1cd696e8cc7ffd7c6b3a5584cee1b 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h @@ -1,19 +1,43 @@ // MESSAGE HIL_CONTROLS PACKING -#define MAVLINK_MSG_ID_HIL_CONTROLS 68 +#define MAVLINK_MSG_ID_HIL_CONTROLS 91 -typedef struct __mavlink_hil_controls_t +typedef struct __mavlink_hil_controls_t { - uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - float roll_ailerons; ///< Control output -3 .. 1 - float pitch_elevator; ///< Control output -1 .. 1 - float yaw_rudder; ///< Control output -1 .. 1 - float throttle; ///< Throttle 0 .. 1 - uint8_t mode; ///< System mode (MAV_MODE) - uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) - + uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float roll_ailerons; ///< Control output -1 .. 1 + float pitch_elevator; ///< Control output -1 .. 1 + float yaw_rudder; ///< Control output -1 .. 1 + float throttle; ///< Throttle 0 .. 1 + float aux1; ///< Aux 1, -1 .. 1 + float aux2; ///< Aux 2, -1 .. 1 + float aux3; ///< Aux 3, -1 .. 1 + float aux4; ///< Aux 4, -1 .. 1 + uint8_t mode; ///< System mode (MAV_MODE) + uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) } mavlink_hil_controls_t; +#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42 +#define MAVLINK_MSG_ID_91_LEN 42 + + + +#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \ + "HIL_CONTROLS", \ + 11, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \ + { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \ + { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \ + { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \ + { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \ + { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \ + { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \ + { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \ + { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \ + { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \ + { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \ + } \ +} /** @@ -22,60 +46,115 @@ typedef struct __mavlink_hil_controls_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll_ailerons Control output -3 .. 1 + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll_ailerons Control output -1 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 + * @param aux1 Aux 1, -1 .. 1 + * @param aux2 Aux 2, -1 .. 1 + * @param aux3 Aux 3, -1 .. 1 + * @param aux4 Aux 4, -1 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) +static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll_ailerons); + _mav_put_float(buf, 12, pitch_elevator); + _mav_put_float(buf, 16, yaw_rudder); + _mav_put_float(buf, 20, throttle); + _mav_put_float(buf, 24, aux1); + _mav_put_float(buf, 28, aux2); + _mav_put_float(buf, 32, aux3); + _mav_put_float(buf, 36, aux4); + _mav_put_uint8_t(buf, 40, mode); + _mav_put_uint8_t(buf, 41, nav_mode); - i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1 - i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1 - i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1 - i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1 - i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE) - i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE) + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_hil_controls_t packet; + packet.time_usec = time_usec; + packet.roll_ailerons = roll_ailerons; + packet.pitch_elevator = pitch_elevator; + packet.yaw_rudder = yaw_rudder; + packet.throttle = throttle; + packet.aux1 = aux1; + packet.aux2 = aux2; + packet.aux3 = aux3; + packet.aux4 = aux4; + packet.mode = mode; + packet.nav_mode = nav_mode; - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; + return mavlink_finalize_message(msg, system_id, component_id, 42, 63); } /** - * @brief Pack a hil_controls message + * @brief Pack a hil_controls 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 time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll_ailerons Control output -3 .. 1 + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll_ailerons Control output -1 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 + * @param aux1 Aux 1, -1 .. 1 + * @param aux2 Aux 2, -1 .. 1 + * @param aux3 Aux 3, -1 .. 1 + * @param aux4 Aux 4, -1 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) +static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll_ailerons); + _mav_put_float(buf, 12, pitch_elevator); + _mav_put_float(buf, 16, yaw_rudder); + _mav_put_float(buf, 20, throttle); + _mav_put_float(buf, 24, aux1); + _mav_put_float(buf, 28, aux2); + _mav_put_float(buf, 32, aux3); + _mav_put_float(buf, 36, aux4); + _mav_put_uint8_t(buf, 40, mode); + _mav_put_uint8_t(buf, 41, nav_mode); - i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1 - i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1 - i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1 - i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1 - i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE) - i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE) + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_hil_controls_t packet; + packet.time_usec = time_usec; + packet.roll_ailerons = roll_ailerons; + packet.pitch_elevator = pitch_elevator; + packet.yaw_rudder = yaw_rudder; + packet.throttle = throttle; + packet.aux1 = aux1; + packet.aux2 = aux2; + packet.aux3 = aux3; + packet.aux4 = aux4; + packet.mode = mode; + packet.nav_mode = nav_mode; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 63); } /** @@ -88,65 +167,85 @@ static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uin */ static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) { - return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode); + return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); } /** * @brief Send a hil_controls message * @param chan MAVLink channel to send the message * - * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll_ailerons Control output -3 .. 1 + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll_ailerons Control output -1 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 + * @param aux1 Aux 1, -1 .. 1 + * @param aux2 Aux 2, -1 .. 1 + * @param aux3 Aux 3, -1 .. 1 + * @param aux4 Aux 4, -1 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) +static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) { - mavlink_message_t msg; - mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll_ailerons); + _mav_put_float(buf, 12, pitch_elevator); + _mav_put_float(buf, 16, yaw_rudder); + _mav_put_float(buf, 20, throttle); + _mav_put_float(buf, 24, aux1); + _mav_put_float(buf, 28, aux2); + _mav_put_float(buf, 32, aux3); + _mav_put_float(buf, 36, aux4); + _mav_put_uint8_t(buf, 40, mode); + _mav_put_uint8_t(buf, 41, nav_mode); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 42, 63); +#else + mavlink_hil_controls_t packet; + packet.time_usec = time_usec; + packet.roll_ailerons = roll_ailerons; + packet.pitch_elevator = pitch_elevator; + packet.yaw_rudder = yaw_rudder; + packet.throttle = throttle; + packet.aux1 = aux1; + packet.aux2 = aux2; + packet.aux3 = aux3; + packet.aux4 = aux4; + packet.mode = mode; + packet.nav_mode = nav_mode; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 42, 63); +#endif } #endif + // MESSAGE HIL_CONTROLS UNPACKING + /** - * @brief Get field time_us from hil_controls message + * @brief Get field time_usec from hil_controls message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ -static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field roll_ailerons from hil_controls message * - * @return Control output -3 .. 1 + * @return Control output -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -156,12 +255,7 @@ static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_mes */ static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -171,12 +265,7 @@ static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_me */ static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -186,12 +275,47 @@ static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_messag */ static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field aux1 from hil_controls message + * + * @return Aux 1, -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field aux2 from hil_controls message + * + * @return Aux 2, -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field aux3 from hil_controls message + * + * @return Aux 3, -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field aux4 from hil_controls message + * + * @return Aux 4, -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 36); } /** @@ -201,7 +325,7 @@ static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_ */ static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + return _MAV_RETURN_uint8_t(msg, 40); } /** @@ -211,7 +335,7 @@ static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* */ static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 41); } /** @@ -222,11 +346,19 @@ static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_messag */ static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls) { - hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg); +#if MAVLINK_NEED_BYTE_SWAP + hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg); hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg); hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg); hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg); hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg); + hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg); + hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg); + hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg); + hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg); hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg); hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg); +#else + memcpy(hil_controls, _MAV_PAYLOAD(msg), 42); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h b/thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h new file mode 100644 index 0000000000000000000000000000000000000000..d02c415397739be0b72a3738e8e74b682e0a702a --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h @@ -0,0 +1,430 @@ +// MESSAGE HIL_RC_INPUTS_RAW PACKING + +#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW 92 + +typedef struct __mavlink_hil_rc_inputs_raw_t +{ + uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + uint16_t chan1_raw; ///< RC channel 1 value, in microseconds + uint16_t chan2_raw; ///< RC channel 2 value, in microseconds + uint16_t chan3_raw; ///< RC channel 3 value, in microseconds + uint16_t chan4_raw; ///< RC channel 4 value, in microseconds + uint16_t chan5_raw; ///< RC channel 5 value, in microseconds + uint16_t chan6_raw; ///< RC channel 6 value, in microseconds + uint16_t chan7_raw; ///< RC channel 7 value, in microseconds + uint16_t chan8_raw; ///< RC channel 8 value, in microseconds + uint16_t chan9_raw; ///< RC channel 9 value, in microseconds + uint16_t chan10_raw; ///< RC channel 10 value, in microseconds + uint16_t chan11_raw; ///< RC channel 11 value, in microseconds + uint16_t chan12_raw; ///< RC channel 12 value, in microseconds + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% +} mavlink_hil_rc_inputs_raw_t; + +#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN 33 +#define MAVLINK_MSG_ID_92_LEN 33 + + + +#define MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW { \ + "HIL_RC_INPUTS_RAW", \ + 14, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_rc_inputs_raw_t, time_usec) }, \ + { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_hil_rc_inputs_raw_t, chan1_raw) }, \ + { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_hil_rc_inputs_raw_t, chan2_raw) }, \ + { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_hil_rc_inputs_raw_t, chan3_raw) }, \ + { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_hil_rc_inputs_raw_t, chan4_raw) }, \ + { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_hil_rc_inputs_raw_t, chan5_raw) }, \ + { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_hil_rc_inputs_raw_t, chan6_raw) }, \ + { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_rc_inputs_raw_t, chan7_raw) }, \ + { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_rc_inputs_raw_t, chan8_raw) }, \ + { "chan9_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_rc_inputs_raw_t, chan9_raw) }, \ + { "chan10_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_hil_rc_inputs_raw_t, chan10_raw) }, \ + { "chan11_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_hil_rc_inputs_raw_t, chan11_raw) }, \ + { "chan12_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_hil_rc_inputs_raw_t, chan12_raw) }, \ + { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_hil_rc_inputs_raw_t, rssi) }, \ + } \ +} + + +/** + * @brief Pack a hil_rc_inputs_raw 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + * @param chan9_raw RC channel 9 value, in microseconds + * @param chan10_raw RC channel 10 value, in microseconds + * @param chan11_raw RC channel 11 value, in microseconds + * @param chan12_raw RC channel 12 value, in microseconds + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[33]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_uint16_t(buf, 8, chan1_raw); + _mav_put_uint16_t(buf, 10, chan2_raw); + _mav_put_uint16_t(buf, 12, chan3_raw); + _mav_put_uint16_t(buf, 14, chan4_raw); + _mav_put_uint16_t(buf, 16, chan5_raw); + _mav_put_uint16_t(buf, 18, chan6_raw); + _mav_put_uint16_t(buf, 20, chan7_raw); + _mav_put_uint16_t(buf, 22, chan8_raw); + _mav_put_uint16_t(buf, 24, chan9_raw); + _mav_put_uint16_t(buf, 26, chan10_raw); + _mav_put_uint16_t(buf, 28, chan11_raw); + _mav_put_uint16_t(buf, 30, chan12_raw); + _mav_put_uint8_t(buf, 32, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 33); +#else + mavlink_hil_rc_inputs_raw_t packet; + packet.time_usec = time_usec; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.chan9_raw = chan9_raw; + packet.chan10_raw = chan10_raw; + packet.chan11_raw = chan11_raw; + packet.chan12_raw = chan12_raw; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD(msg), &packet, 33); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW; + return mavlink_finalize_message(msg, system_id, component_id, 33, 54); +} + +/** + * @brief Pack a hil_rc_inputs_raw 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + * @param chan9_raw RC channel 9 value, in microseconds + * @param chan10_raw RC channel 10 value, in microseconds + * @param chan11_raw RC channel 11 value, in microseconds + * @param chan12_raw RC channel 12 value, in microseconds + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint16_t chan9_raw,uint16_t chan10_raw,uint16_t chan11_raw,uint16_t chan12_raw,uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[33]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_uint16_t(buf, 8, chan1_raw); + _mav_put_uint16_t(buf, 10, chan2_raw); + _mav_put_uint16_t(buf, 12, chan3_raw); + _mav_put_uint16_t(buf, 14, chan4_raw); + _mav_put_uint16_t(buf, 16, chan5_raw); + _mav_put_uint16_t(buf, 18, chan6_raw); + _mav_put_uint16_t(buf, 20, chan7_raw); + _mav_put_uint16_t(buf, 22, chan8_raw); + _mav_put_uint16_t(buf, 24, chan9_raw); + _mav_put_uint16_t(buf, 26, chan10_raw); + _mav_put_uint16_t(buf, 28, chan11_raw); + _mav_put_uint16_t(buf, 30, chan12_raw); + _mav_put_uint8_t(buf, 32, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 33); +#else + mavlink_hil_rc_inputs_raw_t packet; + packet.time_usec = time_usec; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.chan9_raw = chan9_raw; + packet.chan10_raw = chan10_raw; + packet.chan11_raw = chan11_raw; + packet.chan12_raw = chan12_raw; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD(msg), &packet, 33); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 54); +} + +/** + * @brief Encode a hil_rc_inputs_raw 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 hil_rc_inputs_raw C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw) +{ + return mavlink_msg_hil_rc_inputs_raw_pack(system_id, component_id, msg, hil_rc_inputs_raw->time_usec, hil_rc_inputs_raw->chan1_raw, hil_rc_inputs_raw->chan2_raw, hil_rc_inputs_raw->chan3_raw, hil_rc_inputs_raw->chan4_raw, hil_rc_inputs_raw->chan5_raw, hil_rc_inputs_raw->chan6_raw, hil_rc_inputs_raw->chan7_raw, hil_rc_inputs_raw->chan8_raw, hil_rc_inputs_raw->chan9_raw, hil_rc_inputs_raw->chan10_raw, hil_rc_inputs_raw->chan11_raw, hil_rc_inputs_raw->chan12_raw, hil_rc_inputs_raw->rssi); +} + +/** + * @brief Send a hil_rc_inputs_raw message + * @param chan MAVLink channel to send the message + * + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + * @param chan9_raw RC channel 9 value, in microseconds + * @param chan10_raw RC channel 10 value, in microseconds + * @param chan11_raw RC channel 11 value, in microseconds + * @param chan12_raw RC channel 12 value, in microseconds + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_hil_rc_inputs_raw_send(mavlink_channel_t chan, uint64_t time_usec, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[33]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_uint16_t(buf, 8, chan1_raw); + _mav_put_uint16_t(buf, 10, chan2_raw); + _mav_put_uint16_t(buf, 12, chan3_raw); + _mav_put_uint16_t(buf, 14, chan4_raw); + _mav_put_uint16_t(buf, 16, chan5_raw); + _mav_put_uint16_t(buf, 18, chan6_raw); + _mav_put_uint16_t(buf, 20, chan7_raw); + _mav_put_uint16_t(buf, 22, chan8_raw); + _mav_put_uint16_t(buf, 24, chan9_raw); + _mav_put_uint16_t(buf, 26, chan10_raw); + _mav_put_uint16_t(buf, 28, chan11_raw); + _mav_put_uint16_t(buf, 30, chan12_raw); + _mav_put_uint8_t(buf, 32, rssi); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, buf, 33, 54); +#else + mavlink_hil_rc_inputs_raw_t packet; + packet.time_usec = time_usec; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.chan9_raw = chan9_raw; + packet.chan10_raw = chan10_raw; + packet.chan11_raw = chan11_raw; + packet.chan12_raw = chan12_raw; + packet.rssi = rssi; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, (const char *)&packet, 33, 54); +#endif +} + +#endif + +// MESSAGE HIL_RC_INPUTS_RAW UNPACKING + + +/** + * @brief Get field time_usec from hil_rc_inputs_raw message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_hil_rc_inputs_raw_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field chan1_raw from hil_rc_inputs_raw message + * + * @return RC channel 1 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan1_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field chan2_raw from hil_rc_inputs_raw message + * + * @return RC channel 2 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan2_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Get field chan3_raw from hil_rc_inputs_raw message + * + * @return RC channel 3 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan3_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field chan4_raw from hil_rc_inputs_raw message + * + * @return RC channel 4 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan4_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 14); +} + +/** + * @brief Get field chan5_raw from hil_rc_inputs_raw message + * + * @return RC channel 5 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan5_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 16); +} + +/** + * @brief Get field chan6_raw from hil_rc_inputs_raw message + * + * @return RC channel 6 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan6_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 18); +} + +/** + * @brief Get field chan7_raw from hil_rc_inputs_raw message + * + * @return RC channel 7 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan7_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 20); +} + +/** + * @brief Get field chan8_raw from hil_rc_inputs_raw message + * + * @return RC channel 8 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan8_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 22); +} + +/** + * @brief Get field chan9_raw from hil_rc_inputs_raw message + * + * @return RC channel 9 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan9_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 24); +} + +/** + * @brief Get field chan10_raw from hil_rc_inputs_raw message + * + * @return RC channel 10 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan10_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 26); +} + +/** + * @brief Get field chan11_raw from hil_rc_inputs_raw message + * + * @return RC channel 11 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan11_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 28); +} + +/** + * @brief Get field chan12_raw from hil_rc_inputs_raw message + * + * @return RC channel 12 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan12_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 30); +} + +/** + * @brief Get field rssi from hil_rc_inputs_raw message + * + * @return Receive signal strength indicator, 0: 0%, 255: 100% + */ +static inline uint8_t mavlink_msg_hil_rc_inputs_raw_get_rssi(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 32); +} + +/** + * @brief Decode a hil_rc_inputs_raw message into a struct + * + * @param msg The message to decode + * @param hil_rc_inputs_raw C-struct to decode the message contents into + */ +static inline void mavlink_msg_hil_rc_inputs_raw_decode(const mavlink_message_t* msg, mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP + hil_rc_inputs_raw->time_usec = mavlink_msg_hil_rc_inputs_raw_get_time_usec(msg); + hil_rc_inputs_raw->chan1_raw = mavlink_msg_hil_rc_inputs_raw_get_chan1_raw(msg); + hil_rc_inputs_raw->chan2_raw = mavlink_msg_hil_rc_inputs_raw_get_chan2_raw(msg); + hil_rc_inputs_raw->chan3_raw = mavlink_msg_hil_rc_inputs_raw_get_chan3_raw(msg); + hil_rc_inputs_raw->chan4_raw = mavlink_msg_hil_rc_inputs_raw_get_chan4_raw(msg); + hil_rc_inputs_raw->chan5_raw = mavlink_msg_hil_rc_inputs_raw_get_chan5_raw(msg); + hil_rc_inputs_raw->chan6_raw = mavlink_msg_hil_rc_inputs_raw_get_chan6_raw(msg); + hil_rc_inputs_raw->chan7_raw = mavlink_msg_hil_rc_inputs_raw_get_chan7_raw(msg); + hil_rc_inputs_raw->chan8_raw = mavlink_msg_hil_rc_inputs_raw_get_chan8_raw(msg); + hil_rc_inputs_raw->chan9_raw = mavlink_msg_hil_rc_inputs_raw_get_chan9_raw(msg); + hil_rc_inputs_raw->chan10_raw = mavlink_msg_hil_rc_inputs_raw_get_chan10_raw(msg); + hil_rc_inputs_raw->chan11_raw = mavlink_msg_hil_rc_inputs_raw_get_chan11_raw(msg); + hil_rc_inputs_raw->chan12_raw = mavlink_msg_hil_rc_inputs_raw_get_chan12_raw(msg); + hil_rc_inputs_raw->rssi = mavlink_msg_hil_rc_inputs_raw_get_rssi(msg); +#else + memcpy(hil_rc_inputs_raw, _MAV_PAYLOAD(msg), 33); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_hil_state.h b/thirdParty/mavlink/include/common/mavlink_msg_hil_state.h index 371cd4ae46255970abd252901ef905bd96ddf9af..f61c5170fd5de543051b5d79323eddb39fc7d419 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_hil_state.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_hil_state.h @@ -1,28 +1,53 @@ // MESSAGE HIL_STATE PACKING -#define MAVLINK_MSG_ID_HIL_STATE 67 +#define MAVLINK_MSG_ID_HIL_STATE 90 -typedef struct __mavlink_hil_state_t +typedef struct __mavlink_hil_state_t { - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - float roll; ///< Roll angle (rad) - float pitch; ///< Pitch angle (rad) - float yaw; ///< Yaw angle (rad) - float rollspeed; ///< Roll angular speed (rad/s) - float pitchspeed; ///< Pitch angular speed (rad/s) - float yawspeed; ///< Yaw angular speed (rad/s) - int32_t lat; ///< Latitude, expressed as * 1E7 - int32_t lon; ///< Longitude, expressed as * 1E7 - int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) - int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 - int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 - int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 - int16_t xacc; ///< X acceleration (mg) - int16_t yacc; ///< Y acceleration (mg) - int16_t zacc; ///< Z acceleration (mg) - + uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float roll; ///< Roll angle (rad) + float pitch; ///< Pitch angle (rad) + float yaw; ///< Yaw angle (rad) + float rollspeed; ///< Roll angular speed (rad/s) + float pitchspeed; ///< Pitch angular speed (rad/s) + float yawspeed; ///< Yaw angular speed (rad/s) + int32_t lat; ///< Latitude, expressed as * 1E7 + int32_t lon; ///< Longitude, expressed as * 1E7 + int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) + int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 + int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 + int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 + int16_t xacc; ///< X acceleration (mg) + int16_t yacc; ///< Y acceleration (mg) + int16_t zacc; ///< Z acceleration (mg) } mavlink_hil_state_t; +#define MAVLINK_MSG_ID_HIL_STATE_LEN 56 +#define MAVLINK_MSG_ID_90_LEN 56 + + + +#define MAVLINK_MESSAGE_INFO_HIL_STATE { \ + "HIL_STATE", \ + 16, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \ + { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \ + { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \ + { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \ + { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \ + } \ +} /** @@ -31,7 +56,7 @@ typedef struct __mavlink_hil_state_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) @@ -49,38 +74,62 @@ typedef struct __mavlink_hil_state_t * @param zacc Z acceleration (mg) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) +static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HIL_STATE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[56]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + _mav_put_int32_t(buf, 32, lat); + _mav_put_int32_t(buf, 36, lon); + _mav_put_int32_t(buf, 40, alt); + _mav_put_int16_t(buf, 44, vx); + _mav_put_int16_t(buf, 46, vy); + _mav_put_int16_t(buf, 48, vz); + _mav_put_int16_t(buf, 50, xacc); + _mav_put_int16_t(buf, 52, yacc); + _mav_put_int16_t(buf, 54, zacc); + + memcpy(_MAV_PAYLOAD(msg), buf, 56); +#else + mavlink_hil_state_t packet; + packet.time_usec = time_usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + + memcpy(_MAV_PAYLOAD(msg), &packet, 56); +#endif - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) - i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) - i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) - i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) - i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 - i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 - i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) - i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 - i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 - i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 - i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) - i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) - i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) - - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_HIL_STATE; + return mavlink_finalize_message(msg, system_id, component_id, 56, 183); } /** - * @brief Pack a hil_state message + * @brief Pack a hil_state 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 or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) @@ -98,29 +147,54 @@ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t com * @param zacc Z acceleration (mg) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) +static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HIL_STATE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[56]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + _mav_put_int32_t(buf, 32, lat); + _mav_put_int32_t(buf, 36, lon); + _mav_put_int32_t(buf, 40, alt); + _mav_put_int16_t(buf, 44, vx); + _mav_put_int16_t(buf, 46, vy); + _mav_put_int16_t(buf, 48, vz); + _mav_put_int16_t(buf, 50, xacc); + _mav_put_int16_t(buf, 52, yacc); + _mav_put_int16_t(buf, 54, zacc); + + memcpy(_MAV_PAYLOAD(msg), buf, 56); +#else + mavlink_hil_state_t packet; + packet.time_usec = time_usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + + memcpy(_MAV_PAYLOAD(msg), &packet, 56); +#endif - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) - i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) - i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) - i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) - i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 - i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 - i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) - i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 - i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 - i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 - i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) - i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) - i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_HIL_STATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56, 183); } /** @@ -133,14 +207,14 @@ static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_ */ static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state) { - return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); + return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); } /** * @brief Send a hil_state message * @param chan MAVLink channel to send the message * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) @@ -159,33 +233,64 @@ static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t c */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) +static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) { - mavlink_message_t msg; - mavlink_msg_hil_state_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[56]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + _mav_put_int32_t(buf, 32, lat); + _mav_put_int32_t(buf, 36, lon); + _mav_put_int32_t(buf, 40, alt); + _mav_put_int16_t(buf, 44, vx); + _mav_put_int16_t(buf, 46, vy); + _mav_put_int16_t(buf, 48, vz); + _mav_put_int16_t(buf, 50, xacc); + _mav_put_int16_t(buf, 52, yacc); + _mav_put_int16_t(buf, 54, zacc); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56, 183); +#else + mavlink_hil_state_t packet; + packet.time_usec = time_usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56, 183); +#endif } #endif + // MESSAGE HIL_STATE UNPACKING + /** - * @brief Get field usec from hil_state message + * @brief Get field time_usec from hil_state message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ -static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -195,12 +300,7 @@ static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* m */ static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -210,12 +310,7 @@ static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) */ static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -225,12 +320,7 @@ static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg */ static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -240,12 +330,7 @@ static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) */ static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -255,12 +340,7 @@ static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* */ static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -270,12 +350,7 @@ static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t */ static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 28); } /** @@ -285,12 +360,7 @@ static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* */ static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 32); } /** @@ -300,12 +370,7 @@ static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg */ static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 36); } /** @@ -315,12 +380,7 @@ static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg */ static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 40); } /** @@ -330,10 +390,7 @@ static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg */ static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 44); } /** @@ -343,10 +400,7 @@ static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 46); } /** @@ -356,10 +410,7 @@ static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 48); } /** @@ -369,10 +420,7 @@ static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 50); } /** @@ -382,10 +430,7 @@ static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* ms */ static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 52); } /** @@ -395,10 +440,7 @@ static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* ms */ static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 54); } /** @@ -409,7 +451,8 @@ static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* ms */ static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state) { - hil_state->usec = mavlink_msg_hil_state_get_usec(msg); +#if MAVLINK_NEED_BYTE_SWAP + hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg); hil_state->roll = mavlink_msg_hil_state_get_roll(msg); hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg); hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg); @@ -425,4 +468,7 @@ static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, ma hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg); hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg); hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg); +#else + memcpy(hil_state, _MAV_PAYLOAD(msg), 56); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position.h b/thirdParty/mavlink/include/common/mavlink_msg_local_position.h deleted file mode 100644 index c9cb453c0e0dd4e5ef4aa771b7612a5aa30ca6db..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_local_position.h +++ /dev/null @@ -1,242 +0,0 @@ -// MESSAGE LOCAL_POSITION PACKING - -#define MAVLINK_MSG_ID_LOCAL_POSITION 31 - -typedef struct __mavlink_local_position_t -{ - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - float x; ///< X Position - float y; ///< Y Position - float z; ///< Z Position - float vx; ///< X Speed - float vy; ///< Y Speed - float vz; ///< Z Speed - -} mavlink_local_position_t; - - - -/** - * @brief Pack a local_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 or microseconds since system boot) - * @param x X Position - * @param y Y Position - * @param z Z Position - * @param vx X Speed - * @param vy Y Speed - * @param vz Z Speed - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(x, i, msg->payload); // X Position - i += put_float_by_index(y, i, msg->payload); // Y Position - i += put_float_by_index(z, i, msg->payload); // Z Position - i += put_float_by_index(vx, i, msg->payload); // X Speed - i += put_float_by_index(vy, i, msg->payload); // Y Speed - i += put_float_by_index(vz, i, msg->payload); // Z Speed - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a local_position message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param x X Position - * @param y Y Position - * @param z Z Position - * @param vx X Speed - * @param vy Y Speed - * @param vz Z Speed - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(x, i, msg->payload); // X Position - i += put_float_by_index(y, i, msg->payload); // Y Position - i += put_float_by_index(z, i, msg->payload); // Z Position - i += put_float_by_index(vx, i, msg->payload); // X Speed - i += put_float_by_index(vy, i, msg->payload); // Y Speed - i += put_float_by_index(vz, i, msg->payload); // Z Speed - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a local_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 local_position C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position) -{ - return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz); -} - -/** - * @brief Send a local_position message - * @param chan MAVLink channel to send the message - * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param x X Position - * @param y Y Position - * @param z Z Position - * @param vx X Speed - * @param vy Y Speed - * @param vz Z Speed - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) -{ - mavlink_message_t msg; - mavlink_msg_local_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, vx, vy, vz); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE LOCAL_POSITION UNPACKING - -/** - * @brief Get field usec from local_position message - * - * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) - */ -static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg) -{ - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; -} - -/** - * @brief Get field x from local_position message - * - * @return X Position - */ -static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field y from local_position message - * - * @return Y Position - */ -static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field z from local_position message - * - * @return Z Position - */ -static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field vx from local_position message - * - * @return X Speed - */ -static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field vy from local_position message - * - * @return Y Speed - */ -static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field vz from local_position message - * - * @return Z Speed - */ -static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a local_position message into a struct - * - * @param msg The message to decode - * @param local_position C-struct to decode the message contents into - */ -static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position) -{ - local_position->usec = mavlink_msg_local_position_get_usec(msg); - local_position->x = mavlink_msg_local_position_get_x(msg); - local_position->y = mavlink_msg_local_position_get_y(msg); - local_position->z = mavlink_msg_local_position_get_z(msg); - local_position->vx = mavlink_msg_local_position_get_vx(msg); - local_position->vy = mavlink_msg_local_position_get_vy(msg); - local_position->vz = mavlink_msg_local_position_get_vz(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position_ned.h b/thirdParty/mavlink/include/common/mavlink_msg_local_position_ned.h new file mode 100644 index 0000000000000000000000000000000000000000..d59ae0b1a870f021944a1b0da592443d01b004f5 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_local_position_ned.h @@ -0,0 +1,276 @@ +// MESSAGE LOCAL_POSITION_NED PACKING + +#define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32 + +typedef struct __mavlink_local_position_ned_t +{ + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + float x; ///< X Position + float y; ///< Y Position + float z; ///< Z Position + float vx; ///< X Speed + float vy; ///< Y Speed + float vz; ///< Z Speed +} mavlink_local_position_ned_t; + +#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28 +#define MAVLINK_MSG_ID_32_LEN 28 + + + +#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \ + "LOCAL_POSITION_NED", \ + 7, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \ + { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \ + } \ +} + + +/** + * @brief Pack a local_position_ned 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 time_boot_ms Timestamp (milliseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz) +{ +#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, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + + memcpy(_MAV_PAYLOAD(msg), buf, 28); +#else + mavlink_local_position_ned_t packet; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + memcpy(_MAV_PAYLOAD(msg), &packet, 28); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED; + return mavlink_finalize_message(msg, system_id, component_id, 28, 185); +} + +/** + * @brief Pack a local_position_ned 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 time_boot_ms Timestamp (milliseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz) +{ +#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, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + + memcpy(_MAV_PAYLOAD(msg), buf, 28); +#else + mavlink_local_position_ned_t packet; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + memcpy(_MAV_PAYLOAD(msg), &packet, 28); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 185); +} + +/** + * @brief Encode a local_position_ned 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 local_position_ned C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned) +{ + return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz); +} + +/** + * @brief Send a local_position_ned message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz) +{ +#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, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, 28, 185); +#else + mavlink_local_position_ned_t packet; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, 28, 185); +#endif +} + +#endif + +// MESSAGE LOCAL_POSITION_NED UNPACKING + + +/** + * @brief Get field time_boot_ms from local_position_ned message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field x from local_position_ned message + * + * @return X Position + */ +static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field y from local_position_ned message + * + * @return Y Position + */ +static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field z from local_position_ned message + * + * @return Z Position + */ +static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field vx from local_position_ned message + * + * @return X Speed + */ +static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field vy from local_position_ned message + * + * @return Y Speed + */ +static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field vz from local_position_ned message + * + * @return Z Speed + */ +static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Decode a local_position_ned message into a struct + * + * @param msg The message to decode + * @param local_position_ned C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned) +{ +#if MAVLINK_NEED_BYTE_SWAP + local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg); + local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg); + local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg); + local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg); + local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg); + local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg); + local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg); +#else + memcpy(local_position_ned, _MAV_PAYLOAD(msg), 28); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h b/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h index fcf4733476ec7c3312819ebac11a91a0d10ba1c5..7a83b16c6f378ba88c3cc900fbcea116c6d2ab43 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h @@ -2,15 +2,30 @@ #define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51 -typedef struct __mavlink_local_position_setpoint_t +typedef struct __mavlink_local_position_setpoint_t { - float x; ///< x position - float y; ///< y position - float z; ///< z position - float yaw; ///< Desired yaw angle - + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< Desired yaw angle + uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU } mavlink_local_position_setpoint_t; +#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 17 +#define MAVLINK_MSG_ID_51_LEN 17 + + + +#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \ + "LOCAL_POSITION_SETPOINT", \ + 5, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \ + { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_local_position_setpoint_t, coordinate_frame) }, \ + } \ +} /** @@ -19,48 +34,79 @@ typedef struct __mavlink_local_position_setpoint_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU * @param x x position * @param y y position * @param z z position * @param yaw Desired yaw angle * @return length of the message in bytes (excluding serial stream start sign) */ -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) +static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t coordinate_frame, float x, float y, float z, float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; - - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _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_put_uint8_t(buf, 16, coordinate_frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 17); +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 17); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 17, 223); } /** - * @brief Pack a local_position_setpoint message + * @brief Pack a local_position_setpoint 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU * @param x x position * @param y y position * @param z z position * @param yaw Desired yaw angle * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, float yaw) +static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t coordinate_frame,float x,float y,float z,float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; - - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _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_put_uint8_t(buf, 16, coordinate_frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 17); +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 17); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17, 223); } /** @@ -73,13 +119,14 @@ static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t sys */ static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint) { - return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw); + return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->coordinate_frame, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw); } /** * @brief Send a local_position_setpoint message * @param chan MAVLink channel to send the message * + * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU * @param x x position * @param y y position * @param z z position @@ -87,16 +134,44 @@ static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, float x, float y, float z, float yaw) +static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, uint8_t coordinate_frame, float x, float y, float z, float yaw) { - mavlink_message_t msg; - mavlink_msg_local_position_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _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_put_uint8_t(buf, 16, coordinate_frame); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 17, 223); +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, 17, 223); +#endif } #endif + // MESSAGE LOCAL_POSITION_SETPOINT UNPACKING + +/** + * @brief Get field coordinate_frame from local_position_setpoint message + * + * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + */ +static inline uint8_t mavlink_msg_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + /** * @brief Get field x from local_position_setpoint message * @@ -104,12 +179,7 @@ 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) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -119,12 +189,7 @@ 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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -134,12 +199,7 @@ 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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -149,12 +209,7 @@ 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) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -165,8 +220,13 @@ static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_me */ static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_t* local_position_setpoint) { +#if MAVLINK_NEED_BYTE_SWAP local_position_setpoint->x = mavlink_msg_local_position_setpoint_get_x(msg); local_position_setpoint->y = mavlink_msg_local_position_setpoint_get_y(msg); local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg); local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg); + local_position_setpoint->coordinate_frame = mavlink_msg_local_position_setpoint_get_coordinate_frame(msg); +#else + memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 17); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint_set.h b/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint_set.h deleted file mode 100644 index f3383287eb40a3154f961b5698f0208d1b13f1c9..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint_set.h +++ /dev/null @@ -1,206 +0,0 @@ -// MESSAGE LOCAL_POSITION_SETPOINT_SET PACKING - -#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET 50 - -typedef struct __mavlink_local_position_setpoint_set_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - float x; ///< x position - float y; ///< y position - float z; ///< z position - float yaw; ///< Desired yaw angle - -} mavlink_local_position_setpoint_set_t; - - - -/** - * @brief Pack a local_position_setpoint_set message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param target_system System ID - * @param target_component Component ID - * @param x x position - * @param y y position - * @param z z position - * @param yaw Desired yaw angle - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a local_position_setpoint_set message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @param x x position - * @param y y position - * @param z z position - * @param yaw Desired yaw angle - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_local_position_setpoint_set_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, float x, float y, float z, float yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a local_position_setpoint_set struct into a message - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param local_position_setpoint_set C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_set_t* local_position_setpoint_set) -{ - return mavlink_msg_local_position_setpoint_set_pack(system_id, component_id, msg, local_position_setpoint_set->target_system, local_position_setpoint_set->target_component, local_position_setpoint_set->x, local_position_setpoint_set->y, local_position_setpoint_set->z, local_position_setpoint_set->yaw); -} - -/** - * @brief Send a local_position_setpoint_set message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - * @param x x position - * @param y y position - * @param z z position - * @param yaw Desired yaw angle - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) -{ - mavlink_message_t msg; - mavlink_msg_local_position_setpoint_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, x, y, z, yaw); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE LOCAL_POSITION_SETPOINT_SET UNPACKING - -/** - * @brief Get field target_system from local_position_setpoint_set message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from local_position_setpoint_set message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field x from local_position_setpoint_set message - * - * @return x position - */ -static inline float mavlink_msg_local_position_setpoint_set_get_x(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field y from local_position_setpoint_set message - * - * @return y position - */ -static inline float mavlink_msg_local_position_setpoint_set_get_y(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field z from local_position_setpoint_set message - * - * @return z position - */ -static inline float mavlink_msg_local_position_setpoint_set_get_z(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field yaw from local_position_setpoint_set message - * - * @return Desired yaw angle - */ -static inline float mavlink_msg_local_position_setpoint_set_get_yaw(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a local_position_setpoint_set message into a struct - * - * @param msg The message to decode - * @param local_position_setpoint_set C-struct to decode the message contents into - */ -static inline void mavlink_msg_local_position_setpoint_set_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_set_t* local_position_setpoint_set) -{ - local_position_setpoint_set->target_system = mavlink_msg_local_position_setpoint_set_get_target_system(msg); - local_position_setpoint_set->target_component = mavlink_msg_local_position_setpoint_set_get_target_component(msg); - local_position_setpoint_set->x = mavlink_msg_local_position_setpoint_set_get_x(msg); - local_position_setpoint_set->y = mavlink_msg_local_position_setpoint_set_get_y(msg); - local_position_setpoint_set->z = mavlink_msg_local_position_setpoint_set_get_z(msg); - local_position_setpoint_set->yaw = mavlink_msg_local_position_setpoint_set_get_yaw(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h b/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h index deec098f63c8cbd6779a077c96c5bf806e7bd308..febb4535e23475c8c5a93e188a9a5ae4d0079935 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h @@ -2,20 +2,38 @@ #define MAVLINK_MSG_ID_MANUAL_CONTROL 69 -typedef struct __mavlink_manual_control_t +typedef struct __mavlink_manual_control_t { - uint8_t target; ///< The system to be controlled - float roll; ///< roll - float pitch; ///< pitch - float yaw; ///< yaw - float thrust; ///< thrust - uint8_t roll_manual; ///< roll control enabled auto:0, manual:1 - uint8_t pitch_manual; ///< pitch auto:0, manual:1 - uint8_t yaw_manual; ///< yaw auto:0, manual:1 - uint8_t thrust_manual; ///< thrust auto:0, manual:1 - + float roll; ///< roll + float pitch; ///< pitch + float yaw; ///< yaw + float thrust; ///< thrust + uint8_t target; ///< The system to be controlled + uint8_t roll_manual; ///< roll control enabled auto:0, manual:1 + uint8_t pitch_manual; ///< pitch auto:0, manual:1 + uint8_t yaw_manual; ///< yaw auto:0, manual:1 + uint8_t thrust_manual; ///< thrust auto:0, manual:1 } mavlink_manual_control_t; +#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21 +#define MAVLINK_MSG_ID_69_LEN 21 + + + +#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \ + "MANUAL_CONTROL", \ + 9, \ + { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_manual_control_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_control_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_control_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_control_t, thrust) }, \ + { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_manual_control_t, target) }, \ + { "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \ + { "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \ + { "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \ + { "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \ + } \ +} /** @@ -35,26 +53,43 @@ typedef struct __mavlink_manual_control_t * @param thrust_manual thrust auto:0, manual:1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); - i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled - i += put_float_by_index(roll, i, msg->payload); // roll - i += put_float_by_index(pitch, i, msg->payload); // pitch - i += put_float_by_index(yaw, i, msg->payload); // yaw - i += put_float_by_index(thrust, i, msg->payload); // thrust - i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1 - i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1 - i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1 - i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1 - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_manual_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target = target; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 21, 52); } /** - * @brief Pack a manual_control message + * @brief Pack a manual_control 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 @@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_ * @param thrust_manual thrust auto:0, manual:1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); - i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled - i += put_float_by_index(roll, i, msg->payload); // roll - i += put_float_by_index(pitch, i, msg->payload); // pitch - i += put_float_by_index(yaw, i, msg->payload); // yaw - i += put_float_by_index(thrust, i, msg->payload); // thrust - i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1 - i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1 - i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1 - i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1 - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_manual_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target = target; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 52); } /** @@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) { - mavlink_message_t msg; - mavlink_msg_manual_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21, 52); +#else + mavlink_manual_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target = target; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21, 52); +#endif } #endif + // MESSAGE MANUAL_CONTROL UNPACKING + /** * @brief Get field target from manual_control message * @@ -134,7 +213,7 @@ static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8 */ static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 16); } /** @@ -144,12 +223,7 @@ static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_messag */ static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -159,12 +233,7 @@ static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* */ static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -174,12 +243,7 @@ static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t */ static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -189,12 +253,7 @@ static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* */ static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -204,7 +263,7 @@ static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_ */ static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + return _MAV_RETURN_uint8_t(msg, 17); } /** @@ -214,7 +273,7 @@ static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_m */ static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 18); } /** @@ -224,7 +283,7 @@ static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_ */ static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 19); } /** @@ -234,7 +293,7 @@ static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_me */ static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 20); } /** @@ -245,13 +304,17 @@ static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink */ static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control) { - manual_control->target = mavlink_msg_manual_control_get_target(msg); +#if MAVLINK_NEED_BYTE_SWAP manual_control->roll = mavlink_msg_manual_control_get_roll(msg); manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg); manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg); manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg); + manual_control->target = mavlink_msg_manual_control_get_target(msg); manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg); manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg); manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg); manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg); +#else + memcpy(manual_control, _MAV_PAYLOAD(msg), 21); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h b/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h new file mode 100644 index 0000000000000000000000000000000000000000..fadb79ef98cb2a7fdb4bf3b5b0dea490a20759ca --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h @@ -0,0 +1,204 @@ +// MESSAGE MEMORY_VECT PACKING + +#define MAVLINK_MSG_ID_MEMORY_VECT 249 + +typedef struct __mavlink_memory_vect_t +{ + uint16_t address; ///< Starting address of the debug variables + uint8_t ver; ///< Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below + uint8_t type; ///< Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 + int8_t value[32]; ///< Memory contents at specified address +} mavlink_memory_vect_t; + +#define MAVLINK_MSG_ID_MEMORY_VECT_LEN 36 +#define MAVLINK_MSG_ID_249_LEN 36 + +#define MAVLINK_MSG_MEMORY_VECT_FIELD_VALUE_LEN 32 + +#define MAVLINK_MESSAGE_INFO_MEMORY_VECT { \ + "MEMORY_VECT", \ + 4, \ + { { "address", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_memory_vect_t, address) }, \ + { "ver", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_memory_vect_t, ver) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_memory_vect_t, type) }, \ + { "value", NULL, MAVLINK_TYPE_INT8_T, 32, 4, offsetof(mavlink_memory_vect_t, value) }, \ + } \ +} + + +/** + * @brief Pack a memory_vect message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param address Starting address of the debug variables + * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below + * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 + * @param value Memory contents at specified address + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_memory_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t address, uint8_t ver, uint8_t type, const int8_t *value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint16_t(buf, 0, address); + _mav_put_uint8_t(buf, 2, ver); + _mav_put_uint8_t(buf, 3, type); + _mav_put_int8_t_array(buf, 4, value, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_memory_vect_t packet; + packet.address = address; + packet.ver = ver; + packet.type = type; + memcpy(packet.value, value, sizeof(int8_t)*32); + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_MEMORY_VECT; + return mavlink_finalize_message(msg, system_id, component_id, 36, 204); +} + +/** + * @brief Pack a memory_vect 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 address Starting address of the debug variables + * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below + * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 + * @param value Memory contents at specified address + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_memory_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t address,uint8_t ver,uint8_t type,const int8_t *value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint16_t(buf, 0, address); + _mav_put_uint8_t(buf, 2, ver); + _mav_put_uint8_t(buf, 3, type); + _mav_put_int8_t_array(buf, 4, value, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_memory_vect_t packet; + packet.address = address; + packet.ver = ver; + packet.type = type; + memcpy(packet.value, value, sizeof(int8_t)*32); + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_MEMORY_VECT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 204); +} + +/** + * @brief Encode a memory_vect struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param memory_vect C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_memory_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_memory_vect_t* memory_vect) +{ + return mavlink_msg_memory_vect_pack(system_id, component_id, msg, memory_vect->address, memory_vect->ver, memory_vect->type, memory_vect->value); +} + +/** + * @brief Send a memory_vect message + * @param chan MAVLink channel to send the message + * + * @param address Starting address of the debug variables + * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below + * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 + * @param value Memory contents at specified address + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_memory_vect_send(mavlink_channel_t chan, uint16_t address, uint8_t ver, uint8_t type, const int8_t *value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint16_t(buf, 0, address); + _mav_put_uint8_t(buf, 2, ver); + _mav_put_uint8_t(buf, 3, type); + _mav_put_int8_t_array(buf, 4, value, 32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, buf, 36, 204); +#else + mavlink_memory_vect_t packet; + packet.address = address; + packet.ver = ver; + packet.type = type; + memcpy(packet.value, value, sizeof(int8_t)*32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, (const char *)&packet, 36, 204); +#endif +} + +#endif + +// MESSAGE MEMORY_VECT UNPACKING + + +/** + * @brief Get field address from memory_vect message + * + * @return Starting address of the debug variables + */ +static inline uint16_t mavlink_msg_memory_vect_get_address(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field ver from memory_vect message + * + * @return Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below + */ +static inline uint8_t mavlink_msg_memory_vect_get_ver(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field type from memory_vect message + * + * @return Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 + */ +static inline uint8_t mavlink_msg_memory_vect_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field value from memory_vect message + * + * @return Memory contents at specified address + */ +static inline uint16_t mavlink_msg_memory_vect_get_value(const mavlink_message_t* msg, int8_t *value) +{ + return _MAV_RETURN_int8_t_array(msg, value, 32, 4); +} + +/** + * @brief Decode a memory_vect message into a struct + * + * @param msg The message to decode + * @param memory_vect C-struct to decode the message contents into + */ +static inline void mavlink_msg_memory_vect_decode(const mavlink_message_t* msg, mavlink_memory_vect_t* memory_vect) +{ +#if MAVLINK_NEED_BYTE_SWAP + memory_vect->address = mavlink_msg_memory_vect_get_address(msg); + memory_vect->ver = mavlink_msg_memory_vect_get_ver(msg); + memory_vect->type = mavlink_msg_memory_vect_get_type(msg); + mavlink_msg_memory_vect_get_value(msg, memory_vect->value); +#else + memcpy(memory_vect, _MAV_PAYLOAD(msg), 36); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_ack.h new file mode 100644 index 0000000000000000000000000000000000000000..23682fc06843a10442225fb84a8a3571e36a0c13 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_ack.h @@ -0,0 +1,188 @@ +// MESSAGE MISSION_ACK PACKING + +#define MAVLINK_MSG_ID_MISSION_ACK 47 + +typedef struct __mavlink_mission_ack_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t type; ///< 0: OK, 1: generic error / not accepting mission commands at all right now, 2: coordinate frame is not supported, 3: command is not supported, 4: mission item exceeds storage space, 5: one of the parameters has an invalid value, 6: param1 has an invalid value, 7: param2 has an invalid value, 8: param3 has an invalid value, 9: param4 has an invalid value, 10: x/param5 has an invalid value, 11: y:param6 has an invalid value, 12: z:param7 has an invalid value, 13: received waypoint out of sequence, 14: not accepting any mission commands from this communication partner +} mavlink_mission_ack_t; + +#define MAVLINK_MSG_ID_MISSION_ACK_LEN 3 +#define MAVLINK_MSG_ID_47_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_ACK { \ + "MISSION_ACK", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_ack_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_ack_t, target_component) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_ack_t, type) }, \ + } \ +} + + +/** + * @brief Pack a mission_ack message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param target_system System ID + * @param target_component Component ID + * @param type 0: OK, 1: generic error / not accepting mission commands at all right now, 2: coordinate frame is not supported, 3: command is not supported, 4: mission item exceeds storage space, 5: one of the parameters has an invalid value, 6: param1 has an invalid value, 7: param2 has an invalid value, 8: param3 has an invalid value, 9: param4 has an invalid value, 10: x/param5 has an invalid value, 11: y:param6 has an invalid value, 12: z:param7 has an invalid value, 13: received waypoint out of sequence, 14: not accepting any mission commands from this communication partner + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t type) +{ +#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, type); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_mission_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_ACK; + return mavlink_finalize_message(msg, system_id, component_id, 3, 153); +} + +/** + * @brief Pack a mission_ack message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param type 0: OK, 1: generic error / not accepting mission commands at all right now, 2: coordinate frame is not supported, 3: command is not supported, 4: mission item exceeds storage space, 5: one of the parameters has an invalid value, 6: param1 has an invalid value, 7: param2 has an invalid value, 8: param3 has an invalid value, 9: param4 has an invalid value, 10: x/param5 has an invalid value, 11: y:param6 has an invalid value, 12: z:param7 has an invalid value, 13: received waypoint out of sequence, 14: not accepting any mission commands from this communication partner + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_ack_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,uint8_t type) +{ +#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, type); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_mission_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_ACK; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 153); +} + +/** + * @brief Encode a mission_ack struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param mission_ack C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_ack_t* mission_ack) +{ + return mavlink_msg_mission_ack_pack(system_id, component_id, msg, mission_ack->target_system, mission_ack->target_component, mission_ack->type); +} + +/** + * @brief Send a mission_ack message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param type 0: OK, 1: generic error / not accepting mission commands at all right now, 2: coordinate frame is not supported, 3: command is not supported, 4: mission item exceeds storage space, 5: one of the parameters has an invalid value, 6: param1 has an invalid value, 7: param2 has an invalid value, 8: param3 has an invalid value, 9: param4 has an invalid value, 10: x/param5 has an invalid value, 11: y:param6 has an invalid value, 12: z:param7 has an invalid value, 13: received waypoint out of sequence, 14: not accepting any mission commands from this communication partner + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type) +{ +#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, type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, buf, 3, 153); +#else + mavlink_mission_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, (const char *)&packet, 3, 153); +#endif +} + +#endif + +// MESSAGE MISSION_ACK UNPACKING + + +/** + * @brief Get field target_system from mission_ack message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mission_ack_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from mission_ack message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mission_ack_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field type from mission_ack message + * + * @return 0: OK, 1: generic error / not accepting mission commands at all right now, 2: coordinate frame is not supported, 3: command is not supported, 4: mission item exceeds storage space, 5: one of the parameters has an invalid value, 6: param1 has an invalid value, 7: param2 has an invalid value, 8: param3 has an invalid value, 9: param4 has an invalid value, 10: x/param5 has an invalid value, 11: y:param6 has an invalid value, 12: z:param7 has an invalid value, 13: received waypoint out of sequence, 14: not accepting any mission commands from this communication partner + */ +static inline uint8_t mavlink_msg_mission_ack_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a mission_ack message into a struct + * + * @param msg The message to decode + * @param mission_ack C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_ack_decode(const mavlink_message_t* msg, mavlink_mission_ack_t* mission_ack) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_ack->target_system = mavlink_msg_mission_ack_get_target_system(msg); + mission_ack->target_component = mavlink_msg_mission_ack_get_target_component(msg); + mission_ack->type = mavlink_msg_mission_ack_get_type(msg); +#else + memcpy(mission_ack, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_clear_all.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_clear_all.h new file mode 100644 index 0000000000000000000000000000000000000000..c421f57893800c45871d7e626d63a0597706c7fe --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_clear_all.h @@ -0,0 +1,166 @@ +// MESSAGE MISSION_CLEAR_ALL PACKING + +#define MAVLINK_MSG_ID_MISSION_CLEAR_ALL 45 + +typedef struct __mavlink_mission_clear_all_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_mission_clear_all_t; + +#define MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN 2 +#define MAVLINK_MSG_ID_45_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL { \ + "MISSION_CLEAR_ALL", \ + 2, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_clear_all_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_clear_all_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a mission_clear_all 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 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_mission_clear_all_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL; + return mavlink_finalize_message(msg, system_id, component_id, 2, 232); +} + +/** + * @brief Pack a mission_clear_all 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 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_clear_all_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) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_mission_clear_all_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 232); +} + +/** + * @brief Encode a mission_clear_all 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 mission_clear_all C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_clear_all_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_clear_all_t* mission_clear_all) +{ + return mavlink_msg_mission_clear_all_pack(system_id, component_id, msg, mission_clear_all->target_system, mission_clear_all->target_component); +} + +/** + * @brief Send a mission_clear_all message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, buf, 2, 232); +#else + mavlink_mission_clear_all_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, (const char *)&packet, 2, 232); +#endif +} + +#endif + +// MESSAGE MISSION_CLEAR_ALL UNPACKING + + +/** + * @brief Get field target_system from mission_clear_all message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mission_clear_all_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from mission_clear_all message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mission_clear_all_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a mission_clear_all message into a struct + * + * @param msg The message to decode + * @param mission_clear_all C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_clear_all_decode(const mavlink_message_t* msg, mavlink_mission_clear_all_t* mission_clear_all) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_clear_all->target_system = mavlink_msg_mission_clear_all_get_target_system(msg); + mission_clear_all->target_component = mavlink_msg_mission_clear_all_get_target_component(msg); +#else + memcpy(mission_clear_all, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_count.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_count.h new file mode 100644 index 0000000000000000000000000000000000000000..e93c1e86774aa2d127d3dde5f97b4c94b312df77 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_count.h @@ -0,0 +1,188 @@ +// MESSAGE MISSION_COUNT PACKING + +#define MAVLINK_MSG_ID_MISSION_COUNT 44 + +typedef struct __mavlink_mission_count_t +{ + uint16_t count; ///< Number of MISSIONs in the Sequence + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_mission_count_t; + +#define MAVLINK_MSG_ID_MISSION_COUNT_LEN 4 +#define MAVLINK_MSG_ID_44_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_COUNT { \ + "MISSION_COUNT", \ + 3, \ + { { "count", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_count_t, count) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_count_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_count_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a mission_count 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 count Number of MISSIONs in the Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, count); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_mission_count_t packet; + packet.count = count; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_COUNT; + return mavlink_finalize_message(msg, system_id, component_id, 4, 221); +} + +/** + * @brief Pack a mission_count 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 count Number of MISSIONs in the Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_count_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,uint16_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, count); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_mission_count_t packet; + packet.count = count; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_COUNT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 221); +} + +/** + * @brief Encode a mission_count 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 mission_count C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_count_t* mission_count) +{ + return mavlink_msg_mission_count_pack(system_id, component_id, msg, mission_count->target_system, mission_count->target_component, mission_count->count); +} + +/** + * @brief Send a mission_count message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param count Number of MISSIONs in the Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, count); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, buf, 4, 221); +#else + mavlink_mission_count_t packet; + packet.count = count; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, (const char *)&packet, 4, 221); +#endif +} + +#endif + +// MESSAGE MISSION_COUNT UNPACKING + + +/** + * @brief Get field target_system from mission_count message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mission_count_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field target_component from mission_count message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mission_count_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field count from mission_count message + * + * @return Number of MISSIONs in the Sequence + */ +static inline uint16_t mavlink_msg_mission_count_get_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Decode a mission_count message into a struct + * + * @param msg The message to decode + * @param mission_count C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_count_decode(const mavlink_message_t* msg, mavlink_mission_count_t* mission_count) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_count->count = mavlink_msg_mission_count_get_count(msg); + mission_count->target_system = mavlink_msg_mission_count_get_target_system(msg); + mission_count->target_component = mavlink_msg_mission_count_get_target_component(msg); +#else + memcpy(mission_count, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_current.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_current.h new file mode 100644 index 0000000000000000000000000000000000000000..2ad9fbc601c3338a8d317194e9edae62176b8f45 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_current.h @@ -0,0 +1,144 @@ +// MESSAGE MISSION_CURRENT PACKING + +#define MAVLINK_MSG_ID_MISSION_CURRENT 42 + +typedef struct __mavlink_mission_current_t +{ + uint16_t seq; ///< Sequence +} mavlink_mission_current_t; + +#define MAVLINK_MSG_ID_MISSION_CURRENT_LEN 2 +#define MAVLINK_MSG_ID_42_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_CURRENT { \ + "MISSION_CURRENT", \ + 1, \ + { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_current_t, seq) }, \ + } \ +} + + +/** + * @brief Pack a mission_current 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_mission_current_t packet; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT; + return mavlink_finalize_message(msg, system_id, component_id, 2, 28); +} + +/** + * @brief Pack a mission_current 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_mission_current_t packet; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 28); +} + +/** + * @brief Encode a mission_current 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 mission_current C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_current_t* mission_current) +{ + return mavlink_msg_mission_current_pack(system_id, component_id, msg, mission_current->seq); +} + +/** + * @brief Send a mission_current message + * @param chan MAVLink channel to send the message + * + * @param seq Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_current_send(mavlink_channel_t chan, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, 2, 28); +#else + mavlink_mission_current_t packet; + packet.seq = seq; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)&packet, 2, 28); +#endif +} + +#endif + +// MESSAGE MISSION_CURRENT UNPACKING + + +/** + * @brief Get field seq from mission_current message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_mission_current_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Decode a mission_current message into a struct + * + * @param msg The message to decode + * @param mission_current C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_current_decode(const mavlink_message_t* msg, mavlink_mission_current_t* mission_current) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_current->seq = mavlink_msg_mission_current_get_seq(msg); +#else + memcpy(mission_current, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_item.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_item.h new file mode 100644 index 0000000000000000000000000000000000000000..77f106cb01368228a2275f9054100b83bf100cc8 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_item.h @@ -0,0 +1,430 @@ +// MESSAGE MISSION_ITEM PACKING + +#define MAVLINK_MSG_ID_MISSION_ITEM 39 + +typedef struct __mavlink_mission_item_t +{ + float param1; ///< PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters + float param2; ///< PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + float param3; ///< PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + float param4; ///< PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + float x; ///< PARAM5 / local: x position, global: latitude + float y; ///< PARAM6 / y position: global: longitude + float z; ///< PARAM7 / z position: global: altitude + uint16_t seq; ///< Sequence + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t frame; ///< The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h + uint8_t command; ///< The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs + uint8_t current; ///< false:0, true:1 + uint8_t autocontinue; ///< autocontinue to next wp +} mavlink_mission_item_t; + +#define MAVLINK_MSG_ID_MISSION_ITEM_LEN 36 +#define MAVLINK_MSG_ID_39_LEN 36 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_ITEM { \ + "MISSION_ITEM", \ + 14, \ + { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mission_item_t, param1) }, \ + { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mission_item_t, param2) }, \ + { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mission_item_t, param3) }, \ + { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mission_item_t, param4) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mission_item_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mission_item_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mission_item_t, z) }, \ + { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_mission_item_t, seq) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_mission_item_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_mission_item_t, target_component) }, \ + { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_mission_item_t, frame) }, \ + { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_mission_item_t, command) }, \ + { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_mission_item_t, current) }, \ + { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_mission_item_t, autocontinue) }, \ + } \ +} + + +/** + * @brief Pack a mission_item 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 seq Sequence + * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h + * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs + * @param current false:0, true:1 + * @param autocontinue autocontinue to next wp + * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters + * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param x PARAM5 / local: x position, global: latitude + * @param y PARAM6 / y position: global: longitude + * @param z PARAM7 / z position: global: altitude + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _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_float(buf, 16, x); + _mav_put_float(buf, 20, y); + _mav_put_float(buf, 24, z); + _mav_put_uint16_t(buf, 28, seq); + _mav_put_uint8_t(buf, 30, target_system); + _mav_put_uint8_t(buf, 31, target_component); + _mav_put_uint8_t(buf, 32, frame); + _mav_put_uint8_t(buf, 33, command); + _mav_put_uint8_t(buf, 34, current); + _mav_put_uint8_t(buf, 35, autocontinue); + + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_mission_item_t packet; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.x = x; + packet.y = y; + packet.z = z; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; + packet.command = command; + packet.current = current; + packet.autocontinue = autocontinue; + + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM; + return mavlink_finalize_message(msg, system_id, component_id, 36, 158); +} + +/** + * @brief Pack a mission_item 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 seq Sequence + * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h + * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs + * @param current false:0, true:1 + * @param autocontinue autocontinue to next wp + * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters + * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param x PARAM5 / local: x position, global: latitude + * @param y PARAM6 / y position: global: longitude + * @param z PARAM7 / z position: global: altitude + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_item_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,uint16_t seq,uint8_t frame,uint8_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _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_float(buf, 16, x); + _mav_put_float(buf, 20, y); + _mav_put_float(buf, 24, z); + _mav_put_uint16_t(buf, 28, seq); + _mav_put_uint8_t(buf, 30, target_system); + _mav_put_uint8_t(buf, 31, target_component); + _mav_put_uint8_t(buf, 32, frame); + _mav_put_uint8_t(buf, 33, command); + _mav_put_uint8_t(buf, 34, current); + _mav_put_uint8_t(buf, 35, autocontinue); + + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_mission_item_t packet; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.x = x; + packet.y = y; + packet.z = z; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; + packet.command = command; + packet.current = current; + packet.autocontinue = autocontinue; + + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 158); +} + +/** + * @brief Encode a mission_item 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 mission_item C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_item_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_item_t* mission_item) +{ + return mavlink_msg_mission_item_pack(system_id, component_id, msg, mission_item->target_system, mission_item->target_component, mission_item->seq, mission_item->frame, mission_item->command, mission_item->current, mission_item->autocontinue, mission_item->param1, mission_item->param2, mission_item->param3, mission_item->param4, mission_item->x, mission_item->y, mission_item->z); +} + +/** + * @brief Send a mission_item message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param seq Sequence + * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h + * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs + * @param current false:0, true:1 + * @param autocontinue autocontinue to next wp + * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters + * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param x PARAM5 / local: x position, global: latitude + * @param y PARAM6 / y position: global: longitude + * @param z PARAM7 / z position: global: altitude + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_item_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _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_float(buf, 16, x); + _mav_put_float(buf, 20, y); + _mav_put_float(buf, 24, z); + _mav_put_uint16_t(buf, 28, seq); + _mav_put_uint8_t(buf, 30, target_system); + _mav_put_uint8_t(buf, 31, target_component); + _mav_put_uint8_t(buf, 32, frame); + _mav_put_uint8_t(buf, 33, command); + _mav_put_uint8_t(buf, 34, current); + _mav_put_uint8_t(buf, 35, autocontinue); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, buf, 36, 158); +#else + mavlink_mission_item_t packet; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.x = x; + packet.y = y; + packet.z = z; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; + packet.command = command; + packet.current = current; + packet.autocontinue = autocontinue; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)&packet, 36, 158); +#endif +} + +#endif + +// MESSAGE MISSION_ITEM UNPACKING + + +/** + * @brief Get field target_system from mission_item message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mission_item_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 30); +} + +/** + * @brief Get field target_component from mission_item message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mission_item_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 31); +} + +/** + * @brief Get field seq from mission_item message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_mission_item_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 28); +} + +/** + * @brief Get field frame from mission_item message + * + * @return The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h + */ +static inline uint8_t mavlink_msg_mission_item_get_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 32); +} + +/** + * @brief Get field command from mission_item message + * + * @return The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs + */ +static inline uint8_t mavlink_msg_mission_item_get_command(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 33); +} + +/** + * @brief Get field current from mission_item message + * + * @return false:0, true:1 + */ +static inline uint8_t mavlink_msg_mission_item_get_current(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 34); +} + +/** + * @brief Get field autocontinue from mission_item message + * + * @return autocontinue to next wp + */ +static inline uint8_t mavlink_msg_mission_item_get_autocontinue(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 35); +} + +/** + * @brief Get field param1 from mission_item message + * + * @return PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters + */ +static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field param2 from mission_item message + * + * @return PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + */ +static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field param3 from mission_item message + * + * @return PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + */ +static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field param4 from mission_item message + * + * @return PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + */ +static inline float mavlink_msg_mission_item_get_param4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field x from mission_item message + * + * @return PARAM5 / local: x position, global: latitude + */ +static inline float mavlink_msg_mission_item_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field y from mission_item message + * + * @return PARAM6 / y position: global: longitude + */ +static inline float mavlink_msg_mission_item_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field z from mission_item message + * + * @return PARAM7 / z position: global: altitude + */ +static inline float mavlink_msg_mission_item_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Decode a mission_item message into a struct + * + * @param msg The message to decode + * @param mission_item C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_item_decode(const mavlink_message_t* msg, mavlink_mission_item_t* mission_item) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_item->param1 = mavlink_msg_mission_item_get_param1(msg); + mission_item->param2 = mavlink_msg_mission_item_get_param2(msg); + mission_item->param3 = mavlink_msg_mission_item_get_param3(msg); + mission_item->param4 = mavlink_msg_mission_item_get_param4(msg); + mission_item->x = mavlink_msg_mission_item_get_x(msg); + mission_item->y = mavlink_msg_mission_item_get_y(msg); + mission_item->z = mavlink_msg_mission_item_get_z(msg); + mission_item->seq = mavlink_msg_mission_item_get_seq(msg); + mission_item->target_system = mavlink_msg_mission_item_get_target_system(msg); + mission_item->target_component = mavlink_msg_mission_item_get_target_component(msg); + mission_item->frame = mavlink_msg_mission_item_get_frame(msg); + mission_item->command = mavlink_msg_mission_item_get_command(msg); + mission_item->current = mavlink_msg_mission_item_get_current(msg); + mission_item->autocontinue = mavlink_msg_mission_item_get_autocontinue(msg); +#else + memcpy(mission_item, _MAV_PAYLOAD(msg), 36); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_item_reached.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_item_reached.h new file mode 100644 index 0000000000000000000000000000000000000000..7d935cade272a8d35b21f2c18b0546b2b187c8f3 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_item_reached.h @@ -0,0 +1,144 @@ +// MESSAGE MISSION_ITEM_REACHED PACKING + +#define MAVLINK_MSG_ID_MISSION_ITEM_REACHED 46 + +typedef struct __mavlink_mission_item_reached_t +{ + uint16_t seq; ///< Sequence +} mavlink_mission_item_reached_t; + +#define MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN 2 +#define MAVLINK_MSG_ID_46_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED { \ + "MISSION_ITEM_REACHED", \ + 1, \ + { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_item_reached_t, seq) }, \ + } \ +} + + +/** + * @brief Pack a mission_item_reached 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_item_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_mission_item_reached_t packet; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED; + return mavlink_finalize_message(msg, system_id, component_id, 2, 11); +} + +/** + * @brief Pack a mission_item_reached 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_item_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_mission_item_reached_t packet; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 11); +} + +/** + * @brief Encode a mission_item_reached 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 mission_item_reached C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_item_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_item_reached_t* mission_item_reached) +{ + return mavlink_msg_mission_item_reached_pack(system_id, component_id, msg, mission_item_reached->seq); +} + +/** + * @brief Send a mission_item_reached message + * @param chan MAVLink channel to send the message + * + * @param seq Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_item_reached_send(mavlink_channel_t chan, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, buf, 2, 11); +#else + mavlink_mission_item_reached_t packet; + packet.seq = seq; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, (const char *)&packet, 2, 11); +#endif +} + +#endif + +// MESSAGE MISSION_ITEM_REACHED UNPACKING + + +/** + * @brief Get field seq from mission_item_reached message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_mission_item_reached_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Decode a mission_item_reached message into a struct + * + * @param msg The message to decode + * @param mission_item_reached C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_item_reached_decode(const mavlink_message_t* msg, mavlink_mission_item_reached_t* mission_item_reached) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_item_reached->seq = mavlink_msg_mission_item_reached_get_seq(msg); +#else + memcpy(mission_item_reached, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_request.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_request.h new file mode 100644 index 0000000000000000000000000000000000000000..5fb55ddb67e8931cae87282ee181f22ce5939808 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_request.h @@ -0,0 +1,188 @@ +// MESSAGE MISSION_REQUEST PACKING + +#define MAVLINK_MSG_ID_MISSION_REQUEST 40 + +typedef struct __mavlink_mission_request_t +{ + uint16_t seq; ///< Sequence + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_mission_request_t; + +#define MAVLINK_MSG_ID_MISSION_REQUEST_LEN 4 +#define MAVLINK_MSG_ID_40_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_REQUEST { \ + "MISSION_REQUEST", \ + 3, \ + { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_request_t, seq) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_request_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_request_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a mission_request 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, seq); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_mission_request_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST; + return mavlink_finalize_message(msg, system_id, component_id, 4, 230); +} + +/** + * @brief Pack a mission_request 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_request_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,uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, seq); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_mission_request_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 230); +} + +/** + * @brief Encode a mission_request 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 mission_request C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_request_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_t* mission_request) +{ + return mavlink_msg_mission_request_pack(system_id, component_id, msg, mission_request->target_system, mission_request->target_component, mission_request->seq); +} + +/** + * @brief Send a mission_request message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param seq Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, seq); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, buf, 4, 230); +#else + mavlink_mission_request_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, (const char *)&packet, 4, 230); +#endif +} + +#endif + +// MESSAGE MISSION_REQUEST UNPACKING + + +/** + * @brief Get field target_system from mission_request message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mission_request_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field target_component from mission_request message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mission_request_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field seq from mission_request message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_mission_request_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Decode a mission_request message into a struct + * + * @param msg The message to decode + * @param mission_request C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_request_decode(const mavlink_message_t* msg, mavlink_mission_request_t* mission_request) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_request->seq = mavlink_msg_mission_request_get_seq(msg); + mission_request->target_system = mavlink_msg_mission_request_get_target_system(msg); + mission_request->target_component = mavlink_msg_mission_request_get_target_component(msg); +#else + memcpy(mission_request, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_request_list.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_request_list.h new file mode 100644 index 0000000000000000000000000000000000000000..c41d0fa0b0973ab15a103c098ececc49cf85d89c --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_request_list.h @@ -0,0 +1,166 @@ +// MESSAGE MISSION_REQUEST_LIST PACKING + +#define MAVLINK_MSG_ID_MISSION_REQUEST_LIST 43 + +typedef struct __mavlink_mission_request_list_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_mission_request_list_t; + +#define MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN 2 +#define MAVLINK_MSG_ID_43_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST { \ + "MISSION_REQUEST_LIST", \ + 2, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_request_list_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_request_list_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a mission_request_list 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 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_mission_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST; + return mavlink_finalize_message(msg, system_id, component_id, 2, 132); +} + +/** + * @brief Pack a mission_request_list 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 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_request_list_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) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_mission_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 132); +} + +/** + * @brief Encode a mission_request_list 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 mission_request_list C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_list_t* mission_request_list) +{ + return mavlink_msg_mission_request_list_pack(system_id, component_id, msg, mission_request_list->target_system, mission_request_list->target_component); +} + +/** + * @brief Send a mission_request_list message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, buf, 2, 132); +#else + mavlink_mission_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, (const char *)&packet, 2, 132); +#endif +} + +#endif + +// MESSAGE MISSION_REQUEST_LIST UNPACKING + + +/** + * @brief Get field target_system from mission_request_list message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mission_request_list_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from mission_request_list message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mission_request_list_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a mission_request_list message into a struct + * + * @param msg The message to decode + * @param mission_request_list C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_request_list_decode(const mavlink_message_t* msg, mavlink_mission_request_list_t* mission_request_list) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_request_list->target_system = mavlink_msg_mission_request_list_get_target_system(msg); + mission_request_list->target_component = mavlink_msg_mission_request_list_get_target_component(msg); +#else + memcpy(mission_request_list, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_set_current.h b/thirdParty/mavlink/include/common/mavlink_msg_mission_set_current.h new file mode 100644 index 0000000000000000000000000000000000000000..6fb6fd1cce8cb17e13aa3f9da9c22a4d1b41361f --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_mission_set_current.h @@ -0,0 +1,188 @@ +// MESSAGE MISSION_SET_CURRENT PACKING + +#define MAVLINK_MSG_ID_MISSION_SET_CURRENT 41 + +typedef struct __mavlink_mission_set_current_t +{ + uint16_t seq; ///< Sequence + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_mission_set_current_t; + +#define MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN 4 +#define MAVLINK_MSG_ID_41_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT { \ + "MISSION_SET_CURRENT", \ + 3, \ + { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_set_current_t, seq) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_set_current_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_set_current_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a mission_set_current 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_set_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, seq); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_mission_set_current_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_SET_CURRENT; + return mavlink_finalize_message(msg, system_id, component_id, 4, 28); +} + +/** + * @brief Pack a mission_set_current 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mission_set_current_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,uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, seq); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_mission_set_current_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MISSION_SET_CURRENT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 28); +} + +/** + * @brief Encode a mission_set_current 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 mission_set_current C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mission_set_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_set_current_t* mission_set_current) +{ + return mavlink_msg_mission_set_current_pack(system_id, component_id, msg, mission_set_current->target_system, mission_set_current->target_component, mission_set_current->seq); +} + +/** + * @brief Send a mission_set_current message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param seq Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mission_set_current_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, seq); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, buf, 4, 28); +#else + mavlink_mission_set_current_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, (const char *)&packet, 4, 28); +#endif +} + +#endif + +// MESSAGE MISSION_SET_CURRENT UNPACKING + + +/** + * @brief Get field target_system from mission_set_current message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mission_set_current_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field target_component from mission_set_current message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mission_set_current_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field seq from mission_set_current message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_mission_set_current_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Decode a mission_set_current message into a struct + * + * @param msg The message to decode + * @param mission_set_current C-struct to decode the message contents into + */ +static inline void mavlink_msg_mission_set_current_decode(const mavlink_message_t* msg, mavlink_mission_set_current_t* mission_set_current) +{ +#if MAVLINK_NEED_BYTE_SWAP + mission_set_current->seq = mavlink_msg_mission_set_current_get_seq(msg); + mission_set_current->target_system = mavlink_msg_mission_set_current_get_target_system(msg); + mission_set_current->target_component = mavlink_msg_mission_set_current_get_target_component(msg); +#else + memcpy(mission_set_current, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h b/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h index aaff215ce8cac16790d964a392624222902252c3..c78355864885dae1e565485fe089fb68640bd602 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h @@ -1,16 +1,28 @@ // MESSAGE NAMED_VALUE_FLOAT PACKING -#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT 252 +#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT 251 -typedef struct __mavlink_named_value_float_t +typedef struct __mavlink_named_value_float_t { - char name[10]; ///< Name of the debug variable - float value; ///< Floating point value - + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + float value; ///< Floating point value + char name[10]; ///< Name of the debug variable } mavlink_named_value_float_t; +#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN 18 +#define MAVLINK_MSG_ID_251_LEN 18 + #define MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN 10 +#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT { \ + "NAMED_VALUE_FLOAT", \ + 3, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_named_value_float_t, time_boot_ms) }, \ + { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_named_value_float_t, value) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 10, 8, offsetof(mavlink_named_value_float_t, name) }, \ + } \ +} + /** * @brief Pack a named_value_float message @@ -18,40 +30,63 @@ typedef struct __mavlink_named_value_float_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param name Name of the debug variable * @param value Floating point value * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, float value) +static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, const char *name, float value) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; - - i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable - i += put_float_by_index(value, i, msg->payload); // Floating point value +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, value); + _mav_put_char_array(buf, 8, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_named_value_float_t packet; + packet.time_boot_ms = time_boot_ms; + packet.value = value; + memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; + return mavlink_finalize_message(msg, system_id, component_id, 18, 170); } /** - * @brief Pack a named_value_float message + * @brief Pack a named_value_float 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 time_boot_ms Timestamp (milliseconds since system boot) * @param name Name of the debug variable * @param value Floating point value * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, float value) +static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,const char *name,float value) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; - - i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable - i += put_float_by_index(value, i, msg->payload); // Floating point value +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, value); + _mav_put_char_array(buf, 8, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_named_value_float_t packet; + packet.time_boot_ms = time_boot_ms; + packet.value = value; + memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 170); } /** @@ -64,38 +99,59 @@ static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id */ static inline uint16_t mavlink_msg_named_value_float_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_float_t* named_value_float) { - return mavlink_msg_named_value_float_pack(system_id, component_id, msg, named_value_float->name, named_value_float->value); + return mavlink_msg_named_value_float_pack(system_id, component_id, msg, named_value_float->time_boot_ms, named_value_float->name, named_value_float->value); } /** * @brief Send a named_value_float message * @param chan MAVLink channel to send the message * + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param name Name of the debug variable * @param value Floating point value */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, const char* name, float value) +static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, uint32_t time_boot_ms, const char *name, float value) { - mavlink_message_t msg; - mavlink_msg_named_value_float_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, value); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, value); + _mav_put_char_array(buf, 8, name, 10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, 18, 170); +#else + mavlink_named_value_float_t packet; + packet.time_boot_ms = time_boot_ms; + packet.value = value; + memcpy(packet.name, name, sizeof(char)*10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)&packet, 18, 170); +#endif } #endif + // MESSAGE NAMED_VALUE_FLOAT UNPACKING + +/** + * @brief Get field time_boot_ms from named_value_float message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_named_value_float_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + /** * @brief Get field name from named_value_float message * * @return Name of the debug variable */ -static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char* r_data) +static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char *name) { - - memcpy(r_data, msg->payload, sizeof(char)*10); - return sizeof(char)*10; + return _MAV_RETURN_char_array(msg, name, 10, 8); } /** @@ -105,12 +161,7 @@ static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_mess */ static inline float mavlink_msg_named_value_float_get_value(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(char)*10)[0]; - r.b[2] = (msg->payload+sizeof(char)*10)[1]; - r.b[1] = (msg->payload+sizeof(char)*10)[2]; - r.b[0] = (msg->payload+sizeof(char)*10)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -121,6 +172,11 @@ static inline float mavlink_msg_named_value_float_get_value(const mavlink_messag */ static inline void mavlink_msg_named_value_float_decode(const mavlink_message_t* msg, mavlink_named_value_float_t* named_value_float) { - mavlink_msg_named_value_float_get_name(msg, named_value_float->name); +#if MAVLINK_NEED_BYTE_SWAP + named_value_float->time_boot_ms = mavlink_msg_named_value_float_get_time_boot_ms(msg); named_value_float->value = mavlink_msg_named_value_float_get_value(msg); + mavlink_msg_named_value_float_get_name(msg, named_value_float->name); +#else + memcpy(named_value_float, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h b/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h index 92bf5fcb2a00dc154013dc64efe8f6dfc97a4ce4..917f1efa0cb3a80ed003088218c0af1d50026a34 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h @@ -1,16 +1,28 @@ // MESSAGE NAMED_VALUE_INT PACKING -#define MAVLINK_MSG_ID_NAMED_VALUE_INT 253 +#define MAVLINK_MSG_ID_NAMED_VALUE_INT 252 -typedef struct __mavlink_named_value_int_t +typedef struct __mavlink_named_value_int_t { - char name[10]; ///< Name of the debug variable - int32_t value; ///< Signed integer value - + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + int32_t value; ///< Signed integer value + char name[10]; ///< Name of the debug variable } mavlink_named_value_int_t; +#define MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN 18 +#define MAVLINK_MSG_ID_252_LEN 18 + #define MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN 10 +#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT { \ + "NAMED_VALUE_INT", \ + 3, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_named_value_int_t, time_boot_ms) }, \ + { "value", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_named_value_int_t, value) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 10, 8, offsetof(mavlink_named_value_int_t, name) }, \ + } \ +} + /** * @brief Pack a named_value_int message @@ -18,40 +30,63 @@ typedef struct __mavlink_named_value_int_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param name Name of the debug variable * @param value Signed integer value * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, int32_t value) +static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, const char *name, int32_t value) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; - - i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable - i += put_int32_t_by_index(value, i, msg->payload); // Signed integer value +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, value); + _mav_put_char_array(buf, 8, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_named_value_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.value = value; + memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; + return mavlink_finalize_message(msg, system_id, component_id, 18, 44); } /** - * @brief Pack a named_value_int message + * @brief Pack a named_value_int 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 time_boot_ms Timestamp (milliseconds since system boot) * @param name Name of the debug variable * @param value Signed integer value * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, int32_t value) +static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,const char *name,int32_t value) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; - - i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable - i += put_int32_t_by_index(value, i, msg->payload); // Signed integer value +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, value); + _mav_put_char_array(buf, 8, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_named_value_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.value = value; + memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 44); } /** @@ -64,38 +99,59 @@ static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, */ static inline uint16_t mavlink_msg_named_value_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_int_t* named_value_int) { - return mavlink_msg_named_value_int_pack(system_id, component_id, msg, named_value_int->name, named_value_int->value); + return mavlink_msg_named_value_int_pack(system_id, component_id, msg, named_value_int->time_boot_ms, named_value_int->name, named_value_int->value); } /** * @brief Send a named_value_int message * @param chan MAVLink channel to send the message * + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param name Name of the debug variable * @param value Signed integer value */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, const char* name, int32_t value) +static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, const char *name, int32_t value) { - mavlink_message_t msg; - mavlink_msg_named_value_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, value); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, value); + _mav_put_char_array(buf, 8, name, 10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, 18, 44); +#else + mavlink_named_value_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.value = value; + memcpy(packet.name, name, sizeof(char)*10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)&packet, 18, 44); +#endif } #endif + // MESSAGE NAMED_VALUE_INT UNPACKING + +/** + * @brief Get field time_boot_ms from named_value_int message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_named_value_int_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + /** * @brief Get field name from named_value_int message * * @return Name of the debug variable */ -static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char* r_data) +static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char *name) { - - memcpy(r_data, msg->payload, sizeof(char)*10); - return sizeof(char)*10; + return _MAV_RETURN_char_array(msg, name, 10, 8); } /** @@ -105,12 +161,7 @@ static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_messag */ static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(char)*10)[0]; - r.b[2] = (msg->payload+sizeof(char)*10)[1]; - r.b[1] = (msg->payload+sizeof(char)*10)[2]; - r.b[0] = (msg->payload+sizeof(char)*10)[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 4); } /** @@ -121,6 +172,11 @@ static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_messag */ static inline void mavlink_msg_named_value_int_decode(const mavlink_message_t* msg, mavlink_named_value_int_t* named_value_int) { - mavlink_msg_named_value_int_get_name(msg, named_value_int->name); +#if MAVLINK_NEED_BYTE_SWAP + named_value_int->time_boot_ms = mavlink_msg_named_value_int_get_time_boot_ms(msg); named_value_int->value = mavlink_msg_named_value_int_get_value(msg); + mavlink_msg_named_value_int_get_name(msg, named_value_int->name); +#else + memcpy(named_value_int, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h b/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h index 8d0b81eb877a57469875d785f85215e4e941f071..a8310c142bef331bfbd7181ea3c3d883bca4aabf 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h @@ -2,19 +2,36 @@ #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62 -typedef struct __mavlink_nav_controller_output_t +typedef struct __mavlink_nav_controller_output_t { - float nav_roll; ///< Current desired roll in degrees - float nav_pitch; ///< Current desired pitch in degrees - int16_t nav_bearing; ///< Current desired heading in degrees - int16_t target_bearing; ///< Bearing to current waypoint/target in degrees - uint16_t wp_dist; ///< Distance to active waypoint in meters - float alt_error; ///< Current altitude error in meters - float aspd_error; ///< Current airspeed error in meters/second - float xtrack_error; ///< Current crosstrack error on x-y plane in meters - + float nav_roll; ///< Current desired roll in degrees + float nav_pitch; ///< Current desired pitch in degrees + float alt_error; ///< Current altitude error in meters + float aspd_error; ///< Current airspeed error in meters/second + float xtrack_error; ///< Current crosstrack error on x-y plane in meters + int16_t nav_bearing; ///< Current desired heading in degrees + int16_t target_bearing; ///< Bearing to current MISSION/target in degrees + uint16_t wp_dist; ///< Distance to active MISSION in meters } mavlink_nav_controller_output_t; +#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26 +#define MAVLINK_MSG_ID_62_LEN 26 + + + +#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \ + "NAV_CONTROLLER_OUTPUT", \ + 8, \ + { { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \ + { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \ + { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \ + { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \ + { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \ + { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \ + { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \ + { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \ + } \ +} /** @@ -26,32 +43,48 @@ typedef struct __mavlink_nav_controller_output_t * @param nav_roll Current desired roll in degrees * @param nav_pitch Current desired pitch in degrees * @param nav_bearing Current desired heading in degrees - * @param target_bearing Bearing to current waypoint/target in degrees - * @param wp_dist Distance to active waypoint in meters + * @param target_bearing Bearing to current MISSION/target in degrees + * @param wp_dist Distance to active MISSION in meters * @param alt_error Current altitude error in meters * @param aspd_error Current airspeed error in meters/second * @param xtrack_error Current crosstrack error on x-y plane in meters * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) +static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, nav_roll); + _mav_put_float(buf, 4, nav_pitch); + _mav_put_float(buf, 8, alt_error); + _mav_put_float(buf, 12, aspd_error); + _mav_put_float(buf, 16, xtrack_error); + _mav_put_int16_t(buf, 20, nav_bearing); + _mav_put_int16_t(buf, 22, target_bearing); + _mav_put_uint16_t(buf, 24, wp_dist); - i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees - i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees - i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees - i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees - i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters - i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters - i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second - i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_nav_controller_output_t packet; + packet.nav_roll = nav_roll; + packet.nav_pitch = nav_pitch; + packet.alt_error = alt_error; + packet.aspd_error = aspd_error; + packet.xtrack_error = xtrack_error; + packet.nav_bearing = nav_bearing; + packet.target_bearing = target_bearing; + packet.wp_dist = wp_dist; - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; + return mavlink_finalize_message(msg, system_id, component_id, 26, 183); } /** - * @brief Pack a nav_controller_output message + * @brief Pack a nav_controller_output 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 @@ -59,28 +92,45 @@ static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, * @param nav_roll Current desired roll in degrees * @param nav_pitch Current desired pitch in degrees * @param nav_bearing Current desired heading in degrees - * @param target_bearing Bearing to current waypoint/target in degrees - * @param wp_dist Distance to active waypoint in meters + * @param target_bearing Bearing to current MISSION/target in degrees + * @param wp_dist Distance to active MISSION in meters * @param alt_error Current altitude error in meters * @param aspd_error Current airspeed error in meters/second * @param xtrack_error Current crosstrack error on x-y plane in meters * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) +static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, nav_roll); + _mav_put_float(buf, 4, nav_pitch); + _mav_put_float(buf, 8, alt_error); + _mav_put_float(buf, 12, aspd_error); + _mav_put_float(buf, 16, xtrack_error); + _mav_put_int16_t(buf, 20, nav_bearing); + _mav_put_int16_t(buf, 22, target_bearing); + _mav_put_uint16_t(buf, 24, wp_dist); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_nav_controller_output_t packet; + packet.nav_roll = nav_roll; + packet.nav_pitch = nav_pitch; + packet.alt_error = alt_error; + packet.aspd_error = aspd_error; + packet.xtrack_error = xtrack_error; + packet.nav_bearing = nav_bearing; + packet.target_bearing = target_bearing; + packet.wp_dist = wp_dist; - i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees - i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees - i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees - i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees - i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters - i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters - i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second - i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 183); } /** @@ -103,8 +153,8 @@ static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_i * @param nav_roll Current desired roll in degrees * @param nav_pitch Current desired pitch in degrees * @param nav_bearing Current desired heading in degrees - * @param target_bearing Bearing to current waypoint/target in degrees - * @param wp_dist Distance to active waypoint in meters + * @param target_bearing Bearing to current MISSION/target in degrees + * @param wp_dist Distance to active MISSION in meters * @param alt_error Current altitude error in meters * @param aspd_error Current airspeed error in meters/second * @param xtrack_error Current crosstrack error on x-y plane in meters @@ -113,14 +163,38 @@ static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_i static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) { - mavlink_message_t msg; - mavlink_msg_nav_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, nav_roll); + _mav_put_float(buf, 4, nav_pitch); + _mav_put_float(buf, 8, alt_error); + _mav_put_float(buf, 12, aspd_error); + _mav_put_float(buf, 16, xtrack_error); + _mav_put_int16_t(buf, 20, nav_bearing); + _mav_put_int16_t(buf, 22, target_bearing); + _mav_put_uint16_t(buf, 24, wp_dist); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, 26, 183); +#else + mavlink_nav_controller_output_t packet; + packet.nav_roll = nav_roll; + packet.nav_pitch = nav_pitch; + packet.alt_error = alt_error; + packet.aspd_error = aspd_error; + packet.xtrack_error = xtrack_error; + packet.nav_bearing = nav_bearing; + packet.target_bearing = target_bearing; + packet.wp_dist = wp_dist; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, 26, 183); +#endif } #endif + // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING + /** * @brief Get field nav_roll from nav_controller_output message * @@ -128,12 +202,7 @@ static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan */ static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -143,12 +212,7 @@ static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink */ static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -158,36 +222,27 @@ static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlin */ static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 20); } /** * @brief Get field target_bearing from nav_controller_output message * - * @return Bearing to current waypoint/target in degrees + * @return Bearing to current MISSION/target in degrees */ static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 22); } /** * @brief Get field wp_dist from nav_controller_output message * - * @return Distance to active waypoint in meters + * @return Distance to active MISSION in meters */ static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 24); } /** @@ -197,12 +252,7 @@ static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavli */ static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -212,12 +262,7 @@ static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlin */ static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -227,12 +272,7 @@ static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavli */ static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -243,12 +283,16 @@ static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mav */ static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output) { +#if MAVLINK_NEED_BYTE_SWAP nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg); nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg); - nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg); - nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg); - nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg); nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg); nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg); nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg); + nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg); + nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg); + nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg); +#else + memcpy(nav_controller_output, _MAV_PAYLOAD(msg), 26); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_object_detection_event.h b/thirdParty/mavlink/include/common/mavlink_msg_object_detection_event.h deleted file mode 100644 index bd45e811ef22de3f4a3e4dbd1de13bcf3d0bf142..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_object_detection_event.h +++ /dev/null @@ -1,224 +0,0 @@ -// MESSAGE OBJECT_DETECTION_EVENT PACKING - -#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT 140 - -typedef struct __mavlink_object_detection_event_t -{ - uint32_t time; ///< Timestamp in milliseconds since system boot - uint16_t object_id; ///< Object ID - uint8_t type; ///< Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal - char name[20]; ///< Name of the object as defined by the detector - uint8_t quality; ///< Detection quality / confidence. 0: bad, 255: maximum confidence - float bearing; ///< Angle of the object with respect to the body frame in NED coordinates in radians. 0: front - float distance; ///< Ground distance in meters - -} mavlink_object_detection_event_t; - -#define MAVLINK_MSG_OBJECT_DETECTION_EVENT_FIELD_NAME_LEN 20 - - -/** - * @brief Pack a object_detection_event 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 time Timestamp in milliseconds since system boot - * @param object_id Object ID - * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal - * @param name Name of the object as defined by the detector - * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence - * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front - * @param distance Ground distance in meters - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_object_detection_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT; - - i += put_uint32_t_by_index(time, i, msg->payload); // Timestamp in milliseconds since system boot - i += put_uint16_t_by_index(object_id, i, msg->payload); // Object ID - i += put_uint8_t_by_index(type, i, msg->payload); // Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal - i += put_array_by_index((const int8_t*)name, sizeof(char)*20, i, msg->payload); // Name of the object as defined by the detector - i += put_uint8_t_by_index(quality, i, msg->payload); // Detection quality / confidence. 0: bad, 255: maximum confidence - i += put_float_by_index(bearing, i, msg->payload); // Angle of the object with respect to the body frame in NED coordinates in radians. 0: front - i += put_float_by_index(distance, i, msg->payload); // Ground distance in meters - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a object_detection_event message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param time Timestamp in milliseconds since system boot - * @param object_id Object ID - * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal - * @param name Name of the object as defined by the detector - * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence - * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front - * @param distance Ground distance in meters - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_object_detection_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT; - - i += put_uint32_t_by_index(time, i, msg->payload); // Timestamp in milliseconds since system boot - i += put_uint16_t_by_index(object_id, i, msg->payload); // Object ID - i += put_uint8_t_by_index(type, i, msg->payload); // Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal - i += put_array_by_index((const int8_t*)name, sizeof(char)*20, i, msg->payload); // Name of the object as defined by the detector - i += put_uint8_t_by_index(quality, i, msg->payload); // Detection quality / confidence. 0: bad, 255: maximum confidence - i += put_float_by_index(bearing, i, msg->payload); // Angle of the object with respect to the body frame in NED coordinates in radians. 0: front - i += put_float_by_index(distance, i, msg->payload); // Ground distance in meters - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a object_detection_event 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 object_detection_event C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_object_detection_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_object_detection_event_t* object_detection_event) -{ - return mavlink_msg_object_detection_event_pack(system_id, component_id, msg, object_detection_event->time, object_detection_event->object_id, object_detection_event->type, object_detection_event->name, object_detection_event->quality, object_detection_event->bearing, object_detection_event->distance); -} - -/** - * @brief Send a object_detection_event message - * @param chan MAVLink channel to send the message - * - * @param time Timestamp in milliseconds since system boot - * @param object_id Object ID - * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal - * @param name Name of the object as defined by the detector - * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence - * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front - * @param distance Ground distance in meters - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_object_detection_event_send(mavlink_channel_t chan, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance) -{ - mavlink_message_t msg; - mavlink_msg_object_detection_event_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time, object_id, type, name, quality, bearing, distance); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE OBJECT_DETECTION_EVENT UNPACKING - -/** - * @brief Get field time from object_detection_event message - * - * @return Timestamp in milliseconds since system boot - */ -static inline uint32_t mavlink_msg_object_detection_event_get_time(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (uint32_t)r.i; -} - -/** - * @brief Get field object_id from object_detection_event message - * - * @return Object ID - */ -static inline uint16_t mavlink_msg_object_detection_event_get_object_id(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint32_t))[0]; - r.b[0] = (msg->payload+sizeof(uint32_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Get field type from object_detection_event message - * - * @return Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal - */ -static inline uint8_t mavlink_msg_object_detection_event_get_type(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint16_t))[0]; -} - -/** - * @brief Get field name from object_detection_event message - * - * @return Name of the object as defined by the detector - */ -static inline uint16_t mavlink_msg_object_detection_event_get_name(const mavlink_message_t* msg, char* r_data) -{ - - memcpy(r_data, msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t), sizeof(char)*20); - return sizeof(char)*20; -} - -/** - * @brief Get field quality from object_detection_event message - * - * @return Detection quality / confidence. 0: bad, 255: maximum confidence - */ -static inline uint8_t mavlink_msg_object_detection_event_get_quality(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20)[0]; -} - -/** - * @brief Get field bearing from object_detection_event message - * - * @return Angle of the object with respect to the body frame in NED coordinates in radians. 0: front - */ -static inline float mavlink_msg_object_detection_event_get_bearing(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field distance from object_detection_event message - * - * @return Ground distance in meters - */ -static inline float mavlink_msg_object_detection_event_get_distance(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a object_detection_event message into a struct - * - * @param msg The message to decode - * @param object_detection_event C-struct to decode the message contents into - */ -static inline void mavlink_msg_object_detection_event_decode(const mavlink_message_t* msg, mavlink_object_detection_event_t* object_detection_event) -{ - object_detection_event->time = mavlink_msg_object_detection_event_get_time(msg); - object_detection_event->object_id = mavlink_msg_object_detection_event_get_object_id(msg); - object_detection_event->type = mavlink_msg_object_detection_event_get_type(msg); - mavlink_msg_object_detection_event_get_name(msg, object_detection_event->name); - object_detection_event->quality = mavlink_msg_object_detection_event_get_quality(msg); - object_detection_event->bearing = mavlink_msg_object_detection_event_get_bearing(msg); - object_detection_event->distance = mavlink_msg_object_detection_event_get_distance(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h b/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h index d0acc22ddc39b29155dcbb9ed59aa8586d794311..cebc1d9023d1b967c247387e0322431a1d526e48 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h @@ -2,17 +2,32 @@ #define MAVLINK_MSG_ID_OPTICAL_FLOW 100 -typedef struct __mavlink_optical_flow_t +typedef struct __mavlink_optical_flow_t { - uint64_t time; ///< Timestamp (UNIX) - uint8_t sensor_id; ///< Sensor ID - int16_t flow_x; ///< Flow in pixels in x-sensor direction - int16_t flow_y; ///< Flow in pixels in y-sensor direction - uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality - float ground_distance; ///< Ground distance in meters - + uint64_t time_usec; ///< Timestamp (UNIX) + float ground_distance; ///< Ground distance in meters + int16_t flow_x; ///< Flow in pixels in x-sensor direction + int16_t flow_y; ///< Flow in pixels in y-sensor direction + uint8_t sensor_id; ///< Sensor ID + uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality } mavlink_optical_flow_t; +#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18 +#define MAVLINK_MSG_ID_100_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \ + "OPTICAL_FLOW", \ + 6, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \ + { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, ground_distance) }, \ + { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_optical_flow_t, flow_x) }, \ + { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_optical_flow_t, flow_y) }, \ + { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_optical_flow_t, sensor_id) }, \ + { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_optical_flow_t, quality) }, \ + } \ +} /** @@ -21,7 +36,7 @@ typedef struct __mavlink_optical_flow_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param time Timestamp (UNIX) + * @param time_usec Timestamp (UNIX) * @param sensor_id Sensor ID * @param flow_x Flow in pixels in x-sensor direction * @param flow_y Flow in pixels in y-sensor direction @@ -29,28 +44,42 @@ typedef struct __mavlink_optical_flow_t * @param ground_distance Ground distance in meters * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) +static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; - - i += put_uint64_t_by_index(time, i, msg->payload); // Timestamp (UNIX) - i += put_uint8_t_by_index(sensor_id, i, msg->payload); // Sensor ID - i += put_int16_t_by_index(flow_x, i, msg->payload); // Flow in pixels in x-sensor direction - i += put_int16_t_by_index(flow_y, i, msg->payload); // Flow in pixels in y-sensor direction - i += put_uint8_t_by_index(quality, i, msg->payload); // Optical flow quality / confidence. 0: bad, 255: maximum quality - i += put_float_by_index(ground_distance, i, msg->payload); // Ground distance in meters +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, ground_distance); + _mav_put_int16_t(buf, 12, flow_x); + _mav_put_int16_t(buf, 14, flow_y); + _mav_put_uint8_t(buf, 16, sensor_id); + _mav_put_uint8_t(buf, 17, quality); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_optical_flow_t packet; + packet.time_usec = time_usec; + packet.ground_distance = ground_distance; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.sensor_id = sensor_id; + packet.quality = quality; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; + return mavlink_finalize_message(msg, system_id, component_id, 18, 19); } /** - * @brief Pack a optical_flow message + * @brief Pack a optical_flow 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 time Timestamp (UNIX) + * @param time_usec Timestamp (UNIX) * @param sensor_id Sensor ID * @param flow_x Flow in pixels in x-sensor direction * @param flow_y Flow in pixels in y-sensor direction @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t * @param ground_distance Ground distance in meters * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) +static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; - - i += put_uint64_t_by_index(time, i, msg->payload); // Timestamp (UNIX) - i += put_uint8_t_by_index(sensor_id, i, msg->payload); // Sensor ID - i += put_int16_t_by_index(flow_x, i, msg->payload); // Flow in pixels in x-sensor direction - i += put_int16_t_by_index(flow_y, i, msg->payload); // Flow in pixels in y-sensor direction - i += put_uint8_t_by_index(quality, i, msg->payload); // Optical flow quality / confidence. 0: bad, 255: maximum quality - i += put_float_by_index(ground_distance, i, msg->payload); // Ground distance in meters +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, ground_distance); + _mav_put_int16_t(buf, 12, flow_x); + _mav_put_int16_t(buf, 14, flow_y); + _mav_put_uint8_t(buf, 16, sensor_id); + _mav_put_uint8_t(buf, 17, quality); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_optical_flow_t packet; + packet.time_usec = time_usec; + packet.ground_distance = ground_distance; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.sensor_id = sensor_id; + packet.quality = quality; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 19); } /** @@ -83,14 +127,14 @@ static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uin */ static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow) { - return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance); + return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance); } /** * @brief Send a optical_flow message * @param chan MAVLink channel to send the message * - * @param time Timestamp (UNIX) + * @param time_usec Timestamp (UNIX) * @param sensor_id Sensor ID * @param flow_x Flow in pixels in x-sensor direction * @param flow_y Flow in pixels in y-sensor direction @@ -99,33 +143,44 @@ static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_ */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) +static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) { - mavlink_message_t msg; - mavlink_msg_optical_flow_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time, sensor_id, flow_x, flow_y, quality, ground_distance); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, ground_distance); + _mav_put_int16_t(buf, 12, flow_x); + _mav_put_int16_t(buf, 14, flow_y); + _mav_put_uint8_t(buf, 16, sensor_id); + _mav_put_uint8_t(buf, 17, quality); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18, 19); +#else + mavlink_optical_flow_t packet; + packet.time_usec = time_usec; + packet.ground_distance = ground_distance; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.sensor_id = sensor_id; + packet.quality = quality; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18, 19); +#endif } #endif + // MESSAGE OPTICAL_FLOW UNPACKING + /** - * @brief Get field time from optical_flow message + * @brief Get field time_usec from optical_flow message * * @return Timestamp (UNIX) */ -static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -135,7 +190,7 @@ static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t */ static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint64_t))[0]; + return _MAV_RETURN_uint8_t(msg, 16); } /** @@ -145,10 +200,7 @@ static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_messa */ static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 12); } /** @@ -158,10 +210,7 @@ static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_ */ static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 14); } /** @@ -171,7 +220,7 @@ static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_ */ static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + return _MAV_RETURN_uint8_t(msg, 17); } /** @@ -181,12 +230,7 @@ static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message */ static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -197,10 +241,14 @@ static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_m */ static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow) { - optical_flow->time = mavlink_msg_optical_flow_get_time(msg); - optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); +#if MAVLINK_NEED_BYTE_SWAP + optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg); + optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg); optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg); + optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg); - optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); +#else + memcpy(optical_flow, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h b/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h index e4912fb591a68b8bd59e7c9c7c0915a5fbc56c20..7ebd92284f79964ffb8686eafef9f626b12a6bd2 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h @@ -2,13 +2,24 @@ #define MAVLINK_MSG_ID_PARAM_REQUEST_LIST 21 -typedef struct __mavlink_param_request_list_t +typedef struct __mavlink_param_request_list_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID } mavlink_param_request_list_t; +#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN 2 +#define MAVLINK_MSG_ID_21_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST { \ + "PARAM_REQUEST_LIST", \ + 2, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_list_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_list_t, target_component) }, \ + } \ +} /** @@ -21,19 +32,29 @@ typedef struct __mavlink_param_request_list_t * @param target_component Component ID * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component) +static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_param_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; + return mavlink_finalize_message(msg, system_id, component_id, 2, 159); } /** - * @brief Pack a param_request_list message + * @brief Pack a param_request_list 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 @@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, ui * @param target_component Component ID * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_param_request_list_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) +static inline uint16_t mavlink_msg_param_request_list_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) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_param_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 159); } /** @@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id, static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) { - mavlink_message_t msg; - mavlink_msg_param_request_list_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, 2, 159); +#else + mavlink_param_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)&packet, 2, 159); +#endif } #endif + // MESSAGE PARAM_REQUEST_LIST UNPACKING + /** * @brief Get field target_system from param_request_list message * @@ -92,7 +136,7 @@ static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, u */ static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 0); } /** @@ -102,7 +146,7 @@ static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mav */ static inline uint8_t mavlink_msg_param_request_list_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 1); } /** @@ -113,6 +157,10 @@ static inline uint8_t mavlink_msg_param_request_list_get_target_component(const */ static inline void mavlink_msg_param_request_list_decode(const mavlink_message_t* msg, mavlink_param_request_list_t* param_request_list) { +#if MAVLINK_NEED_BYTE_SWAP param_request_list->target_system = mavlink_msg_param_request_list_get_target_system(msg); param_request_list->target_component = mavlink_msg_param_request_list_get_target_component(msg); +#else + memcpy(param_request_list, _MAV_PAYLOAD(msg), 2); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h b/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h index 2cd9d2932ee35c6f2f48f72bcf1140d6cef1541f..26965431ae0622d5b2488da060510c2490db0cba 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h @@ -2,16 +2,28 @@ #define MAVLINK_MSG_ID_PARAM_REQUEST_READ 20 -typedef struct __mavlink_param_request_read_t +typedef struct __mavlink_param_request_read_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - int8_t param_id[15]; ///< Onboard parameter id - int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier - + int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + char param_id[16]; ///< Onboard parameter id } mavlink_param_request_read_t; -#define MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN 15 +#define MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN 20 +#define MAVLINK_MSG_ID_20_LEN 20 + +#define MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN 16 + +#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ { \ + "PARAM_REQUEST_READ", \ + 4, \ + { { "param_index", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_param_request_read_t, param_index) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_param_request_read_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_param_request_read_t, target_component) }, \ + { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 4, offsetof(mavlink_param_request_read_t, param_id) }, \ + } \ +} /** @@ -26,21 +38,31 @@ typedef struct __mavlink_param_request_read_t * @param param_index Parameter index. Send -1 to use the param ID field as identifier * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, int16_t param_index) +static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id - i += put_int16_t_by_index(param_index, i, msg->payload); // Parameter index. Send -1 to use the param ID field as identifier +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_int16_t(buf, 0, param_index); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_char_array(buf, 4, param_id, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_param_request_read_t packet; + packet.param_index = param_index; + packet.target_system = target_system; + packet.target_component = target_component; + memcpy(packet.param_id, param_id, sizeof(char)*16); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ; + return mavlink_finalize_message(msg, system_id, component_id, 20, 214); } /** - * @brief Pack a param_request_read message + * @brief Pack a param_request_read 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 @@ -51,17 +73,28 @@ static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, ui * @param param_index Parameter index. Send -1 to use the param ID field as identifier * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_param_request_read_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, const int8_t* param_id, int16_t param_index) +static inline uint16_t mavlink_msg_param_request_read_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,const char *param_id,int16_t param_index) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id - i += put_int16_t_by_index(param_index, i, msg->payload); // Parameter index. Send -1 to use the param ID field as identifier +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_int16_t(buf, 0, param_index); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_char_array(buf, 4, param_id, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_param_request_read_t packet; + packet.param_index = param_index; + packet.target_system = target_system; + packet.target_component = target_component; + memcpy(packet.param_id, param_id, sizeof(char)*16); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 214); } /** @@ -88,16 +121,30 @@ static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id, */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, int16_t param_index) +static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index) { - mavlink_message_t msg; - mavlink_msg_param_request_read_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_index); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_int16_t(buf, 0, param_index); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_char_array(buf, 4, param_id, 16); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, 20, 214); +#else + mavlink_param_request_read_t packet; + packet.param_index = param_index; + packet.target_system = target_system; + packet.target_component = target_component; + memcpy(packet.param_id, param_id, sizeof(char)*16); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)&packet, 20, 214); +#endif } #endif + // MESSAGE PARAM_REQUEST_READ UNPACKING + /** * @brief Get field target_system from param_request_read message * @@ -105,7 +152,7 @@ static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, u */ static inline uint8_t mavlink_msg_param_request_read_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -115,7 +162,7 @@ static inline uint8_t mavlink_msg_param_request_read_get_target_system(const mav */ static inline uint8_t mavlink_msg_param_request_read_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 3); } /** @@ -123,11 +170,9 @@ static inline uint8_t mavlink_msg_param_request_read_get_target_component(const * * @return Onboard parameter id */ -static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, char *param_id) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15); - return 15; + return _MAV_RETURN_char_array(msg, param_id, 16, 4); } /** @@ -137,10 +182,7 @@ static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink */ static inline int16_t mavlink_msg_param_request_read_get_param_index(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 0); } /** @@ -151,8 +193,12 @@ static inline int16_t mavlink_msg_param_request_read_get_param_index(const mavli */ static inline void mavlink_msg_param_request_read_decode(const mavlink_message_t* msg, mavlink_param_request_read_t* param_request_read) { +#if MAVLINK_NEED_BYTE_SWAP + param_request_read->param_index = mavlink_msg_param_request_read_get_param_index(msg); param_request_read->target_system = mavlink_msg_param_request_read_get_target_system(msg); param_request_read->target_component = mavlink_msg_param_request_read_get_target_component(msg); mavlink_msg_param_request_read_get_param_id(msg, param_request_read->param_id); - param_request_read->param_index = mavlink_msg_param_request_read_get_param_index(msg); +#else + memcpy(param_request_read, _MAV_PAYLOAD(msg), 20); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_set.h b/thirdParty/mavlink/include/common/mavlink_msg_param_set.h index de1c3140221526b23f87edd935f306dd4cdcf9f6..87eab13d968899a30a34c8ef02a96cb6a5c1baf3 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_set.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_param_set.h @@ -2,16 +2,30 @@ #define MAVLINK_MSG_ID_PARAM_SET 23 -typedef struct __mavlink_param_set_t +typedef struct __mavlink_param_set_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - int8_t param_id[15]; ///< Onboard parameter id - float param_value; ///< Onboard parameter value - + float param_value; ///< Onboard parameter value + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + char param_id[16]; ///< Onboard parameter id + uint8_t param_type; ///< Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t } mavlink_param_set_t; -#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15 +#define MAVLINK_MSG_ID_PARAM_SET_LEN 23 +#define MAVLINK_MSG_ID_23_LEN 23 + +#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 16 + +#define MAVLINK_MESSAGE_INFO_PARAM_SET { \ + "PARAM_SET", \ + 5, \ + { { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_set_t, param_value) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_param_set_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_param_set_t, target_component) }, \ + { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 6, offsetof(mavlink_param_set_t, param_id) }, \ + { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_param_set_t, param_type) }, \ + } \ +} /** @@ -24,23 +38,36 @@ typedef struct __mavlink_param_set_t * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) +static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, const char *param_id, float param_value, uint8_t param_type) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PARAM_SET; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id - i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[23]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + _mav_put_uint8_t(buf, 22, param_type); + _mav_put_char_array(buf, 6, param_id, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 23); +#else + mavlink_param_set_t packet; + packet.param_value = param_value; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_type = param_type; + memcpy(packet.param_id, param_id, sizeof(char)*16); + memcpy(_MAV_PAYLOAD(msg), &packet, 23); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_PARAM_SET; + return mavlink_finalize_message(msg, system_id, component_id, 23, 168); } /** - * @brief Pack a param_set message + * @brief Pack a param_set 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 @@ -49,19 +76,33 @@ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t com * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_param_set_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, const int8_t* param_id, float param_value) +static inline uint16_t mavlink_msg_param_set_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,const char *param_id,float param_value,uint8_t param_type) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PARAM_SET; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id - i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[23]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + _mav_put_uint8_t(buf, 22, param_type); + _mav_put_char_array(buf, 6, param_id, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 23); +#else + mavlink_param_set_t packet; + packet.param_value = param_value; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_type = param_type; + memcpy(packet.param_id, param_id, sizeof(char)*16); + memcpy(_MAV_PAYLOAD(msg), &packet, 23); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_PARAM_SET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 23, 168); } /** @@ -74,7 +115,7 @@ static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_ */ static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set) { - return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value); + return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value, param_set->param_type); } /** @@ -85,19 +126,36 @@ static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t c * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) +static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, float param_value, uint8_t param_type) { - mavlink_message_t msg; - mavlink_msg_param_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_value); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[23]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + _mav_put_uint8_t(buf, 22, param_type); + _mav_put_char_array(buf, 6, param_id, 16); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, 23, 168); +#else + mavlink_param_set_t packet; + packet.param_value = param_value; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_type = param_type; + memcpy(packet.param_id, param_id, sizeof(char)*16); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)&packet, 23, 168); +#endif } #endif + // MESSAGE PARAM_SET UNPACKING + /** * @brief Get field target_system from param_set message * @@ -105,7 +163,7 @@ static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t ta */ static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 4); } /** @@ -115,7 +173,7 @@ static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_mess */ static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 5); } /** @@ -123,11 +181,9 @@ static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_m * * @return Onboard parameter id */ -static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, char *param_id) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15); - return 15; + return _MAV_RETURN_char_array(msg, param_id, 16, 6); } /** @@ -137,12 +193,17 @@ static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_ */ static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field param_type from param_set message + * + * @return Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t + */ +static inline uint8_t mavlink_msg_param_set_get_param_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 22); } /** @@ -153,8 +214,13 @@ static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_ */ static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set) { +#if MAVLINK_NEED_BYTE_SWAP + param_set->param_value = mavlink_msg_param_set_get_param_value(msg); param_set->target_system = mavlink_msg_param_set_get_target_system(msg); param_set->target_component = mavlink_msg_param_set_get_target_component(msg); mavlink_msg_param_set_get_param_id(msg, param_set->param_id); - param_set->param_value = mavlink_msg_param_set_get_param_value(msg); + param_set->param_type = mavlink_msg_param_set_get_param_type(msg); +#else + memcpy(param_set, _MAV_PAYLOAD(msg), 23); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_value.h b/thirdParty/mavlink/include/common/mavlink_msg_param_value.h index 239c96c42f6f4303d16496f74ddf181e22cf4ee2..fd9b57bfc5d221a15157c34aaadfc7730ec45666 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_value.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_param_value.h @@ -2,16 +2,30 @@ #define MAVLINK_MSG_ID_PARAM_VALUE 22 -typedef struct __mavlink_param_value_t +typedef struct __mavlink_param_value_t { - int8_t param_id[15]; ///< Onboard parameter id - float param_value; ///< Onboard parameter value - uint16_t param_count; ///< Total number of onboard parameters - uint16_t param_index; ///< Index of this onboard parameter - + float param_value; ///< Onboard parameter value + uint16_t param_count; ///< Total number of onboard parameters + uint16_t param_index; ///< Index of this onboard parameter + char param_id[16]; ///< Onboard parameter id + uint8_t param_type; ///< Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t } mavlink_param_value_t; -#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 15 +#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25 +#define MAVLINK_MSG_ID_22_LEN 25 + +#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16 + +#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \ + "PARAM_VALUE", \ + 5, \ + { { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \ + { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \ + { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \ + { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \ + { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \ + } \ +} /** @@ -22,46 +36,73 @@ typedef struct __mavlink_param_value_t * * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @param param_count Total number of onboard parameters * @param param_index Index of this onboard parameter * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) +static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; - - i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id - i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value - i += put_uint16_t_by_index(param_count, i, msg->payload); // Total number of onboard parameters - i += put_uint16_t_by_index(param_index, i, msg->payload); // Index of this onboard parameter +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint16_t(buf, 4, param_count); + _mav_put_uint16_t(buf, 6, param_index); + _mav_put_uint8_t(buf, 24, param_type); + _mav_put_char_array(buf, 8, param_id, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 25); +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + packet.param_type = param_type; + memcpy(packet.param_id, param_id, sizeof(char)*16); + memcpy(_MAV_PAYLOAD(msg), &packet, 25); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; + return mavlink_finalize_message(msg, system_id, component_id, 25, 220); } /** - * @brief Pack a param_value message + * @brief Pack a param_value 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 param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @param param_count Total number of onboard parameters * @param param_index Index of this onboard parameter * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) +static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; - - i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id - i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value - i += put_uint16_t_by_index(param_count, i, msg->payload); // Total number of onboard parameters - i += put_uint16_t_by_index(param_index, i, msg->payload); // Index of this onboard parameter +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint16_t(buf, 4, param_count); + _mav_put_uint16_t(buf, 6, param_index); + _mav_put_uint8_t(buf, 24, param_type); + _mav_put_char_array(buf, 8, param_id, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 25); +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + packet.param_type = param_type; + memcpy(packet.param_id, param_id, sizeof(char)*16); + memcpy(_MAV_PAYLOAD(msg), &packet, 25); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 220); } /** @@ -74,7 +115,7 @@ static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint */ static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value) { - return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_count, param_value->param_index); + return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index); } /** @@ -83,31 +124,46 @@ static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t * * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @param param_count Total number of onboard parameters * @param param_index Index of this onboard parameter */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) +static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) { - mavlink_message_t msg; - mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, param_id, param_value, param_count, param_index); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint16_t(buf, 4, param_count); + _mav_put_uint16_t(buf, 6, param_index); + _mav_put_uint8_t(buf, 24, param_type); + _mav_put_char_array(buf, 8, param_id, 16); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, 25, 220); +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + packet.param_type = param_type; + memcpy(packet.param_id, param_id, sizeof(char)*16); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, 25, 220); +#endif } #endif + // MESSAGE PARAM_VALUE UNPACKING + /** * @brief Get field param_id from param_value message * * @return Onboard parameter id */ -static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id) { - - memcpy(r_data, msg->payload, 15); - return 15; + return _MAV_RETURN_char_array(msg, param_id, 16, 8); } /** @@ -117,12 +173,17 @@ static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_messag */ static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+15)[0]; - r.b[2] = (msg->payload+15)[1]; - r.b[1] = (msg->payload+15)[2]; - r.b[0] = (msg->payload+15)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field param_type from param_value message + * + * @return Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t + */ +static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 24); } /** @@ -132,10 +193,7 @@ static inline float mavlink_msg_param_value_get_param_value(const mavlink_messag */ static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+15+sizeof(float))[0]; - r.b[0] = (msg->payload+15+sizeof(float))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 4); } /** @@ -145,10 +203,7 @@ static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_mes */ static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 6); } /** @@ -159,8 +214,13 @@ static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_mes */ static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value) { - mavlink_msg_param_value_get_param_id(msg, param_value->param_id); +#if MAVLINK_NEED_BYTE_SWAP param_value->param_value = mavlink_msg_param_value_get_param_value(msg); param_value->param_count = mavlink_msg_param_value_get_param_count(msg); param_value->param_index = mavlink_msg_param_value_get_param_index(msg); + mavlink_msg_param_value_get_param_id(msg, param_value->param_id); + param_value->param_type = mavlink_msg_param_value_get_param_type(msg); +#else + memcpy(param_value, _MAV_PAYLOAD(msg), 25); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_ping.h b/thirdParty/mavlink/include/common/mavlink_msg_ping.h index 2a27b1e5cb4fbb6be7ab00ae89d9f310dd248346..8c4bf0cc8c945ded42efeddff43f345eb2f26f69 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_ping.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_ping.h @@ -1,16 +1,29 @@ // MESSAGE PING PACKING -#define MAVLINK_MSG_ID_PING 3 +#define MAVLINK_MSG_ID_PING 4 -typedef struct __mavlink_ping_t +typedef struct __mavlink_ping_t { - uint32_t seq; ///< PING sequence - uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system - uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system - uint64_t time; ///< Unix timestamp in microseconds - + uint64_t time_usec; ///< Unix timestamp in microseconds + uint32_t seq; ///< PING sequence + uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system + uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system } mavlink_ping_t; +#define MAVLINK_MSG_ID_PING_LEN 14 +#define MAVLINK_MSG_ID_4_LEN 14 + + + +#define MAVLINK_MESSAGE_INFO_PING { \ + "PING", \ + 4, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \ + { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \ + } \ +} /** @@ -19,48 +32,73 @@ typedef struct __mavlink_ping_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param time_usec Unix timestamp in microseconds * @param seq PING sequence * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system - * @param time Unix timestamp in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time) +static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PING; - - i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence - i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system - i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system - i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_uint8_t(buf, 12, target_system); + _mav_put_uint8_t(buf, 13, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_ping_t packet; + packet.time_usec = time_usec; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_PING; + return mavlink_finalize_message(msg, system_id, component_id, 14, 237); } /** - * @brief Pack a ping message + * @brief Pack a ping 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 time_usec Unix timestamp in microseconds * @param seq PING sequence * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system - * @param time Unix timestamp in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time) +static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PING; - - i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence - i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system - i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system - i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_uint8_t(buf, 12, target_system); + _mav_put_uint8_t(buf, 13, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_ping_t packet; + packet.time_usec = time_usec; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_PING; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 237); } /** @@ -73,30 +111,56 @@ static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t com */ static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping) { - return mavlink_msg_ping_pack(system_id, component_id, msg, ping->seq, ping->target_system, ping->target_component, ping->time); + return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component); } /** * @brief Send a ping message * @param chan MAVLink channel to send the message * + * @param time_usec Unix timestamp in microseconds * @param seq PING sequence * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system - * @param time Unix timestamp in microseconds */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time) +static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component) { - mavlink_message_t msg; - mavlink_msg_ping_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq, target_system, target_component, time); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_uint32_t(buf, 8, seq); + _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_PING, buf, 14, 237); +#else + mavlink_ping_t packet; + packet.time_usec = time_usec; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, 14, 237); +#endif } #endif + // MESSAGE PING UNPACKING + +/** + * @brief Get field time_usec from ping message + * + * @return Unix timestamp in microseconds + */ +static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + /** * @brief Get field seq from ping message * @@ -104,12 +168,7 @@ static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, u */ static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (uint32_t)r.i; + return _MAV_RETURN_uint32_t(msg, 8); } /** @@ -119,7 +178,7 @@ static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg) */ static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint32_t))[0]; + return _MAV_RETURN_uint8_t(msg, 12); } /** @@ -129,26 +188,7 @@ static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t */ static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field time from ping message - * - * @return Unix timestamp in microseconds - */ -static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg) -{ - generic_64bit r; - r.b[7] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[6] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[5] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[4] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; - r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[4]; - r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[5]; - r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[6]; - r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint8_t(msg, 13); } /** @@ -159,8 +199,12 @@ static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg) */ static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping) { +#if MAVLINK_NEED_BYTE_SWAP + ping->time_usec = mavlink_msg_ping_get_time_usec(msg); ping->seq = mavlink_msg_ping_get_seq(msg); ping->target_system = mavlink_msg_ping_get_target_system(msg); ping->target_component = mavlink_msg_ping_get_target_component(msg); - ping->time = mavlink_msg_ping_get_time(msg); +#else + memcpy(ping, _MAV_PAYLOAD(msg), 14); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_position_target.h b/thirdParty/mavlink/include/common/mavlink_msg_position_target.h deleted file mode 100644 index d6e4da3dd4e2db91448c4d1d88ffe7a021ff39d4..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_position_target.h +++ /dev/null @@ -1,172 +0,0 @@ -// MESSAGE POSITION_TARGET PACKING - -#define MAVLINK_MSG_ID_POSITION_TARGET 63 - -typedef struct __mavlink_position_target_t -{ - float x; ///< x position - float y; ///< y position - float z; ///< z position - float yaw; ///< yaw orientation in radians, 0 = NORTH - -} mavlink_position_target_t; - - - -/** - * @brief Pack a position_target 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 x x position - * @param y y position - * @param z z position - * @param yaw yaw orientation in radians, 0 = NORTH - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, float yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET; - - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a position_target message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param x x position - * @param y y position - * @param z z position - * @param yaw yaw orientation in radians, 0 = NORTH - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, float yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET; - - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a position_target 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 position_target C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target) -{ - return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw); -} - -/** - * @brief Send a position_target message - * @param chan MAVLink channel to send the message - * - * @param x x position - * @param y y position - * @param z z position - * @param yaw yaw orientation in radians, 0 = NORTH - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw) -{ - mavlink_message_t msg; - mavlink_msg_position_target_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE POSITION_TARGET UNPACKING - -/** - * @brief Get field x from position_target message - * - * @return x position - */ -static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; -} - -/** - * @brief Get field y from position_target message - * - * @return y position - */ -static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field z from position_target message - * - * @return z position - */ -static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field yaw from position_target message - * - * @return yaw orientation in radians, 0 = NORTH - */ -static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a position_target message into a struct - * - * @param msg The message to decode - * @param position_target C-struct to decode the message contents into - */ -static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target) -{ - position_target->x = mavlink_msg_position_target_get_x(msg); - position_target->y = mavlink_msg_position_target_get_y(msg); - position_target->z = mavlink_msg_position_target_get_z(msg); - position_target->yaw = mavlink_msg_position_target_get_yaw(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h b/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h index 4ded0b71198d53b814d3fa6fa9fbdd106a2e94fd..a8c3988893d3d36b20655082f0ab2688f78c7663 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h @@ -1,22 +1,41 @@ // MESSAGE RAW_IMU PACKING -#define MAVLINK_MSG_ID_RAW_IMU 28 +#define MAVLINK_MSG_ID_RAW_IMU 27 -typedef struct __mavlink_raw_imu_t +typedef struct __mavlink_raw_imu_t { - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - int16_t xacc; ///< X acceleration (raw) - int16_t yacc; ///< Y acceleration (raw) - int16_t zacc; ///< Z acceleration (raw) - int16_t xgyro; ///< Angular speed around X axis (raw) - int16_t ygyro; ///< Angular speed around Y axis (raw) - int16_t zgyro; ///< Angular speed around Z axis (raw) - int16_t xmag; ///< X Magnetic field (raw) - int16_t ymag; ///< Y Magnetic field (raw) - int16_t zmag; ///< Z Magnetic field (raw) - + uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + int16_t xacc; ///< X acceleration (raw) + int16_t yacc; ///< Y acceleration (raw) + int16_t zacc; ///< Z acceleration (raw) + int16_t xgyro; ///< Angular speed around X axis (raw) + int16_t ygyro; ///< Angular speed around Y axis (raw) + int16_t zgyro; ///< Angular speed around Z axis (raw) + int16_t xmag; ///< X Magnetic field (raw) + int16_t ymag; ///< Y Magnetic field (raw) + int16_t zmag; ///< Z Magnetic field (raw) } mavlink_raw_imu_t; +#define MAVLINK_MSG_ID_RAW_IMU_LEN 26 +#define MAVLINK_MSG_ID_27_LEN 26 + + + +#define MAVLINK_MESSAGE_INFO_RAW_IMU { \ + "RAW_IMU", \ + 10, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \ + { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \ + { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \ + { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \ + { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \ + { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \ + { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \ + } \ +} /** @@ -25,7 +44,7 @@ typedef struct __mavlink_raw_imu_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param xacc X acceleration (raw) * @param yacc Y acceleration (raw) * @param zacc Z acceleration (raw) @@ -37,32 +56,50 @@ typedef struct __mavlink_raw_imu_t * @param zmag Z Magnetic field (raw) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RAW_IMU; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (raw) - i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (raw) - i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (raw) - i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (raw) - i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (raw) - i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (raw) - i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (raw) - i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (raw) - i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (raw) - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_raw_imu_t packet; + packet.time_usec = time_usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_IMU; + return mavlink_finalize_message(msg, system_id, component_id, 26, 144); } /** - * @brief Pack a raw_imu message + * @brief Pack a raw_imu 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 or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param xacc X acceleration (raw) * @param yacc Y acceleration (raw) * @param zacc Z acceleration (raw) @@ -74,23 +111,42 @@ static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t compo * @param zmag Z Magnetic field (raw) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RAW_IMU; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_raw_imu_t packet; + packet.time_usec = time_usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (raw) - i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (raw) - i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (raw) - i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (raw) - i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (raw) - i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (raw) - i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (raw) - i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (raw) - i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (raw) - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_RAW_IMU; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 144); } /** @@ -103,14 +159,14 @@ static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t */ static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu) { - return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag); + return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag); } /** * @brief Send a raw_imu message * @param chan MAVLink channel to send the message * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param xacc X acceleration (raw) * @param yacc Y acceleration (raw) * @param zacc Z acceleration (raw) @@ -123,33 +179,52 @@ static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t com */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { - mavlink_message_t msg; - mavlink_msg_raw_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, 26, 144); +#else + mavlink_raw_imu_t packet; + packet.time_usec = time_usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, 26, 144); +#endif } #endif + // MESSAGE RAW_IMU UNPACKING + /** - * @brief Get field usec from raw_imu message + * @brief Get field time_usec from raw_imu message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ -static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -159,10 +234,7 @@ static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg */ static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 8); } /** @@ -172,10 +244,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 10); } /** @@ -185,10 +254,7 @@ static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 12); } /** @@ -198,10 +264,7 @@ static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 14); } /** @@ -211,10 +274,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg */ static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 16); } /** @@ -224,10 +284,7 @@ static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg */ static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 18); } /** @@ -237,10 +294,7 @@ static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg */ static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 20); } /** @@ -250,10 +304,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 22); } /** @@ -263,10 +314,7 @@ static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 24); } /** @@ -277,7 +325,8 @@ static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg) */ static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu) { - raw_imu->usec = mavlink_msg_raw_imu_get_usec(msg); +#if MAVLINK_NEED_BYTE_SWAP + raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg); raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg); raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg); raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg); @@ -287,4 +336,7 @@ static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavl raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg); raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg); raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg); +#else + memcpy(raw_imu, _MAV_PAYLOAD(msg), 26); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h b/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h index 8346ac6286be8e1d7e7c04d704956a480c2ffd83..29e631f39cf46e06d1f2b408cc28355495e7bdc0 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h @@ -1,17 +1,31 @@ // MESSAGE RAW_PRESSURE PACKING -#define MAVLINK_MSG_ID_RAW_PRESSURE 29 +#define MAVLINK_MSG_ID_RAW_PRESSURE 28 -typedef struct __mavlink_raw_pressure_t +typedef struct __mavlink_raw_pressure_t { - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - int16_t press_abs; ///< Absolute pressure (raw) - int16_t press_diff1; ///< Differential pressure 1 (raw) - int16_t press_diff2; ///< Differential pressure 2 (raw) - int16_t temperature; ///< Raw Temperature measurement (raw) - + uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + int16_t press_abs; ///< Absolute pressure (raw) + int16_t press_diff1; ///< Differential pressure 1 (raw) + int16_t press_diff2; ///< Differential pressure 2 (raw) + int16_t temperature; ///< Raw Temperature measurement (raw) } mavlink_raw_pressure_t; +#define MAVLINK_MSG_ID_RAW_PRESSURE_LEN 16 +#define MAVLINK_MSG_ID_28_LEN 16 + + + +#define MAVLINK_MESSAGE_INFO_RAW_PRESSURE { \ + "RAW_PRESSURE", \ + 5, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_pressure_t, time_usec) }, \ + { "press_abs", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_pressure_t, press_abs) }, \ + { "press_diff1", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_pressure_t, press_diff1) }, \ + { "press_diff2", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_pressure_t, press_diff2) }, \ + { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_pressure_t, temperature) }, \ + } \ +} /** @@ -20,52 +34,79 @@ typedef struct __mavlink_raw_pressure_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param press_abs Absolute pressure (raw) * @param press_diff1 Differential pressure 1 (raw) * @param press_diff2 Differential pressure 2 (raw) * @param temperature Raw Temperature measurement (raw) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_int16_t_by_index(press_abs, i, msg->payload); // Absolute pressure (raw) - i += put_int16_t_by_index(press_diff1, i, msg->payload); // Differential pressure 1 (raw) - i += put_int16_t_by_index(press_diff2, i, msg->payload); // Differential pressure 2 (raw) - i += put_int16_t_by_index(temperature, i, msg->payload); // Raw Temperature measurement (raw) +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int16_t(buf, 8, press_abs); + _mav_put_int16_t(buf, 10, press_diff1); + _mav_put_int16_t(buf, 12, press_diff2); + _mav_put_int16_t(buf, 14, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_raw_pressure_t packet; + packet.time_usec = time_usec; + packet.press_abs = press_abs; + packet.press_diff1 = press_diff1; + packet.press_diff2 = press_diff2; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; + return mavlink_finalize_message(msg, system_id, component_id, 16, 67); } /** - * @brief Pack a raw_pressure message + * @brief Pack a raw_pressure 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 or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param press_abs Absolute pressure (raw) * @param press_diff1 Differential pressure 1 (raw) * @param press_diff2 Differential pressure 2 (raw) * @param temperature Raw Temperature measurement (raw) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,int16_t press_abs,int16_t press_diff1,int16_t press_diff2,int16_t temperature) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_int16_t_by_index(press_abs, i, msg->payload); // Absolute pressure (raw) - i += put_int16_t_by_index(press_diff1, i, msg->payload); // Differential pressure 1 (raw) - i += put_int16_t_by_index(press_diff2, i, msg->payload); // Differential pressure 2 (raw) - i += put_int16_t_by_index(temperature, i, msg->payload); // Raw Temperature measurement (raw) +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int16_t(buf, 8, press_abs); + _mav_put_int16_t(buf, 10, press_diff1); + _mav_put_int16_t(buf, 12, press_diff2); + _mav_put_int16_t(buf, 14, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_raw_pressure_t packet; + packet.time_usec = time_usec; + packet.press_abs = press_abs; + packet.press_diff1 = press_diff1; + packet.press_diff2 = press_diff2; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 67); } /** @@ -78,14 +119,14 @@ static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uin */ static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_pressure_t* raw_pressure) { - return mavlink_msg_raw_pressure_pack(system_id, component_id, msg, raw_pressure->usec, raw_pressure->press_abs, raw_pressure->press_diff1, raw_pressure->press_diff2, raw_pressure->temperature); + return mavlink_msg_raw_pressure_pack(system_id, component_id, msg, raw_pressure->time_usec, raw_pressure->press_abs, raw_pressure->press_diff1, raw_pressure->press_diff2, raw_pressure->temperature); } /** * @brief Send a raw_pressure message * @param chan MAVLink channel to send the message * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param press_abs Absolute pressure (raw) * @param press_diff1 Differential pressure 1 (raw) * @param press_diff2 Differential pressure 2 (raw) @@ -93,33 +134,42 @@ static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_ */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t time_usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) { - mavlink_message_t msg; - mavlink_msg_raw_pressure_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, press_abs, press_diff1, press_diff2, temperature); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int16_t(buf, 8, press_abs); + _mav_put_int16_t(buf, 10, press_diff1); + _mav_put_int16_t(buf, 12, press_diff2); + _mav_put_int16_t(buf, 14, temperature); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, 16, 67); +#else + mavlink_raw_pressure_t packet; + packet.time_usec = time_usec; + packet.press_abs = press_abs; + packet.press_diff1 = press_diff1; + packet.press_diff2 = press_diff2; + packet.temperature = temperature; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)&packet, 16, 67); +#endif } #endif + // MESSAGE RAW_PRESSURE UNPACKING + /** - * @brief Get field usec from raw_pressure message + * @brief Get field time_usec from raw_pressure message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ -static inline uint64_t mavlink_msg_raw_pressure_get_usec(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_raw_pressure_get_time_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -129,10 +179,7 @@ static inline uint64_t mavlink_msg_raw_pressure_get_usec(const mavlink_message_t */ static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 8); } /** @@ -142,10 +189,7 @@ static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_messa */ static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 10); } /** @@ -155,10 +199,7 @@ static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_mes */ static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 12); } /** @@ -168,10 +209,7 @@ static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_mes */ static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 14); } /** @@ -182,9 +220,13 @@ static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_mes */ static inline void mavlink_msg_raw_pressure_decode(const mavlink_message_t* msg, mavlink_raw_pressure_t* raw_pressure) { - raw_pressure->usec = mavlink_msg_raw_pressure_get_usec(msg); +#if MAVLINK_NEED_BYTE_SWAP + raw_pressure->time_usec = mavlink_msg_raw_pressure_get_time_usec(msg); raw_pressure->press_abs = mavlink_msg_raw_pressure_get_press_abs(msg); raw_pressure->press_diff1 = mavlink_msg_raw_pressure_get_press_diff1(msg); raw_pressure->press_diff2 = mavlink_msg_raw_pressure_get_press_diff2(msg); raw_pressure->temperature = mavlink_msg_raw_pressure_get_temperature(msg); +#else + memcpy(raw_pressure, _MAV_PAYLOAD(msg), 16); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h index 7595857a5e0cfb6f14c61817b24aedbec08e185d..6eccf7ae8d1737e91ee5317adb5d4face8160c17 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h @@ -2,21 +2,40 @@ #define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE 70 -typedef struct __mavlink_rc_channels_override_t +typedef struct __mavlink_rc_channels_override_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - uint16_t chan1_raw; ///< RC channel 1 value, in microseconds - uint16_t chan2_raw; ///< RC channel 2 value, in microseconds - uint16_t chan3_raw; ///< RC channel 3 value, in microseconds - uint16_t chan4_raw; ///< RC channel 4 value, in microseconds - uint16_t chan5_raw; ///< RC channel 5 value, in microseconds - uint16_t chan6_raw; ///< RC channel 6 value, in microseconds - uint16_t chan7_raw; ///< RC channel 7 value, in microseconds - uint16_t chan8_raw; ///< RC channel 8 value, in microseconds - + uint16_t chan1_raw; ///< RC channel 1 value, in microseconds + uint16_t chan2_raw; ///< RC channel 2 value, in microseconds + uint16_t chan3_raw; ///< RC channel 3 value, in microseconds + uint16_t chan4_raw; ///< RC channel 4 value, in microseconds + uint16_t chan5_raw; ///< RC channel 5 value, in microseconds + uint16_t chan6_raw; ///< RC channel 6 value, in microseconds + uint16_t chan7_raw; ///< RC channel 7 value, in microseconds + uint16_t chan8_raw; ///< RC channel 8 value, in microseconds + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID } mavlink_rc_channels_override_t; +#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN 18 +#define MAVLINK_MSG_ID_70_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE { \ + "RC_CHANNELS_OVERRIDE", \ + 10, \ + { { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_rc_channels_override_t, chan1_raw) }, \ + { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_override_t, chan2_raw) }, \ + { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_override_t, chan3_raw) }, \ + { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_override_t, chan4_raw) }, \ + { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_override_t, chan5_raw) }, \ + { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_override_t, chan6_raw) }, \ + { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_override_t, chan7_raw) }, \ + { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_override_t, chan8_raw) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_override_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rc_channels_override_t, target_component) }, \ + } \ +} /** @@ -37,27 +56,45 @@ typedef struct __mavlink_rc_channels_override_t * @param chan8_raw RC channel 8 value, in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw) +static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint16_t(buf, 0, chan1_raw); + _mav_put_uint16_t(buf, 2, chan2_raw); + _mav_put_uint16_t(buf, 4, chan3_raw); + _mav_put_uint16_t(buf, 6, chan4_raw); + _mav_put_uint16_t(buf, 8, chan5_raw); + _mav_put_uint16_t(buf, 10, chan6_raw); + _mav_put_uint16_t(buf, 12, chan7_raw); + _mav_put_uint16_t(buf, 14, chan8_raw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_rc_channels_override_t packet; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.target_system = target_system; + packet.target_component = target_component; - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds - i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds - i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds - i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds - i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds - i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds - i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds - i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE; + return mavlink_finalize_message(msg, system_id, component_id, 18, 124); } /** - * @brief Pack a rc_channels_override message + * @brief Pack a rc_channels_override 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 @@ -74,23 +111,42 @@ static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, * @param chan8_raw RC channel 8 value, in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_rc_channels_override_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, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw) +static inline uint16_t mavlink_msg_rc_channels_override_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,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint16_t(buf, 0, chan1_raw); + _mav_put_uint16_t(buf, 2, chan2_raw); + _mav_put_uint16_t(buf, 4, chan3_raw); + _mav_put_uint16_t(buf, 6, chan4_raw); + _mav_put_uint16_t(buf, 8, chan5_raw); + _mav_put_uint16_t(buf, 10, chan6_raw); + _mav_put_uint16_t(buf, 12, chan7_raw); + _mav_put_uint16_t(buf, 14, chan8_raw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_rc_channels_override_t packet; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.target_system = target_system; + packet.target_component = target_component; - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds - i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds - i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds - i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds - i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds - i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds - i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds - i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 124); } /** @@ -125,14 +181,42 @@ static inline uint16_t mavlink_msg_rc_channels_override_encode(uint8_t system_id static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw) { - mavlink_message_t msg; - mavlink_msg_rc_channels_override_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint16_t(buf, 0, chan1_raw); + _mav_put_uint16_t(buf, 2, chan2_raw); + _mav_put_uint16_t(buf, 4, chan3_raw); + _mav_put_uint16_t(buf, 6, chan4_raw); + _mav_put_uint16_t(buf, 8, chan5_raw); + _mav_put_uint16_t(buf, 10, chan6_raw); + _mav_put_uint16_t(buf, 12, chan7_raw); + _mav_put_uint16_t(buf, 14, chan8_raw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, 18, 124); +#else + mavlink_rc_channels_override_t packet; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)&packet, 18, 124); +#endif } #endif + // MESSAGE RC_CHANNELS_OVERRIDE UNPACKING + /** * @brief Get field target_system from rc_channels_override message * @@ -140,7 +224,7 @@ static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, */ static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 16); } /** @@ -150,7 +234,7 @@ static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const m */ static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 17); } /** @@ -160,10 +244,7 @@ static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(cons */ static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -173,10 +254,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavl */ static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 2); } /** @@ -186,10 +264,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavl */ static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 4); } /** @@ -199,10 +274,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavl */ static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 6); } /** @@ -212,10 +284,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavl */ static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -225,10 +294,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavl */ static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 10); } /** @@ -238,10 +304,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavl */ static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 12); } /** @@ -251,10 +314,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavl */ static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 14); } /** @@ -265,8 +325,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavl */ static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message_t* msg, mavlink_rc_channels_override_t* rc_channels_override) { - rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg); - rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg); +#if MAVLINK_NEED_BYTE_SWAP rc_channels_override->chan1_raw = mavlink_msg_rc_channels_override_get_chan1_raw(msg); rc_channels_override->chan2_raw = mavlink_msg_rc_channels_override_get_chan2_raw(msg); rc_channels_override->chan3_raw = mavlink_msg_rc_channels_override_get_chan3_raw(msg); @@ -275,4 +334,9 @@ static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message rc_channels_override->chan6_raw = mavlink_msg_rc_channels_override_get_chan6_raw(msg); rc_channels_override->chan7_raw = mavlink_msg_rc_channels_override_get_chan7_raw(msg); rc_channels_override->chan8_raw = mavlink_msg_rc_channels_override_get_chan8_raw(msg); + rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg); + rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg); +#else + memcpy(rc_channels_override, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h index 0443838bdcda0b7f5f41ffeb0080c0e0f5051608..1c25d1a3b38d1c136ec2a41da102ec72bbbf3c18 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h @@ -2,20 +2,42 @@ #define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35 -typedef struct __mavlink_rc_channels_raw_t +typedef struct __mavlink_rc_channels_raw_t { - uint16_t chan1_raw; ///< RC channel 1 value, in microseconds - uint16_t chan2_raw; ///< RC channel 2 value, in microseconds - uint16_t chan3_raw; ///< RC channel 3 value, in microseconds - uint16_t chan4_raw; ///< RC channel 4 value, in microseconds - uint16_t chan5_raw; ///< RC channel 5 value, in microseconds - uint16_t chan6_raw; ///< RC channel 6 value, in microseconds - uint16_t chan7_raw; ///< RC channel 7 value, in microseconds - uint16_t chan8_raw; ///< RC channel 8 value, in microseconds - uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% - + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + uint16_t chan1_raw; ///< RC channel 1 value, in microseconds + uint16_t chan2_raw; ///< RC channel 2 value, in microseconds + uint16_t chan3_raw; ///< RC channel 3 value, in microseconds + uint16_t chan4_raw; ///< RC channel 4 value, in microseconds + uint16_t chan5_raw; ///< RC channel 5 value, in microseconds + uint16_t chan6_raw; ///< RC channel 6 value, in microseconds + uint16_t chan7_raw; ///< RC channel 7 value, in microseconds + uint16_t chan8_raw; ///< RC channel 8 value, in microseconds + uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% } mavlink_rc_channels_raw_t; +#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 22 +#define MAVLINK_MSG_ID_35_LEN 22 + + + +#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \ + "RC_CHANNELS_RAW", \ + 11, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, time_boot_ms) }, \ + { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \ + { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \ + { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \ + { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \ + { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \ + { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \ + { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \ + { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \ + { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_raw_t, port) }, \ + { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_raw_t, rssi) }, \ + } \ +} /** @@ -24,6 +46,8 @@ typedef struct __mavlink_rc_channels_raw_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param chan1_raw RC channel 1 value, in microseconds * @param chan2_raw RC channel 2 value, in microseconds * @param chan3_raw RC channel 3 value, in microseconds @@ -35,30 +59,53 @@ typedef struct __mavlink_rc_channels_raw_t * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) +static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, chan1_raw); + _mav_put_uint16_t(buf, 6, chan2_raw); + _mav_put_uint16_t(buf, 8, chan3_raw); + _mav_put_uint16_t(buf, 10, chan4_raw); + _mav_put_uint16_t(buf, 12, chan5_raw); + _mav_put_uint16_t(buf, 14, chan6_raw); + _mav_put_uint16_t(buf, 16, chan7_raw); + _mav_put_uint16_t(buf, 18, chan8_raw); + _mav_put_uint8_t(buf, 20, port); + _mav_put_uint8_t(buf, 21, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 22); +#else + mavlink_rc_channels_raw_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.port = port; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD(msg), &packet, 22); +#endif - i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds - i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds - i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds - i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds - i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds - i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds - i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds - i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds - i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100% - - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; + return mavlink_finalize_message(msg, system_id, component_id, 22, 244); } /** - * @brief Pack a rc_channels_raw message + * @brief Pack a rc_channels_raw 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 time_boot_ms Timestamp (milliseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param chan1_raw RC channel 1 value, in microseconds * @param chan2_raw RC channel 2 value, in microseconds * @param chan3_raw RC channel 3 value, in microseconds @@ -70,22 +117,44 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8 * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) +static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t port,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint8_t rssi) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, chan1_raw); + _mav_put_uint16_t(buf, 6, chan2_raw); + _mav_put_uint16_t(buf, 8, chan3_raw); + _mav_put_uint16_t(buf, 10, chan4_raw); + _mav_put_uint16_t(buf, 12, chan5_raw); + _mav_put_uint16_t(buf, 14, chan6_raw); + _mav_put_uint16_t(buf, 16, chan7_raw); + _mav_put_uint16_t(buf, 18, chan8_raw); + _mav_put_uint8_t(buf, 20, port); + _mav_put_uint8_t(buf, 21, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 22); +#else + mavlink_rc_channels_raw_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.port = port; + packet.rssi = rssi; - i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds - i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds - i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds - i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds - i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds - i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds - i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds - i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds - i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100% - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 22); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 244); } /** @@ -98,13 +167,15 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, */ static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw) { - return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi); + return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->time_boot_ms, rc_channels_raw->port, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi); } /** * @brief Send a rc_channels_raw message * @param chan MAVLink channel to send the message * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param chan1_raw RC channel 1 value, in microseconds * @param chan2_raw RC channel 2 value, in microseconds * @param chan3_raw RC channel 3 value, in microseconds @@ -117,16 +188,66 @@ static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uin */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) +static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) { - mavlink_message_t msg; - mavlink_msg_rc_channels_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, chan1_raw); + _mav_put_uint16_t(buf, 6, chan2_raw); + _mav_put_uint16_t(buf, 8, chan3_raw); + _mav_put_uint16_t(buf, 10, chan4_raw); + _mav_put_uint16_t(buf, 12, chan5_raw); + _mav_put_uint16_t(buf, 14, chan6_raw); + _mav_put_uint16_t(buf, 16, chan7_raw); + _mav_put_uint16_t(buf, 18, chan8_raw); + _mav_put_uint8_t(buf, 20, port); + _mav_put_uint8_t(buf, 21, rssi); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, 22, 244); +#else + mavlink_rc_channels_raw_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.port = port; + packet.rssi = rssi; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, 22, 244); +#endif } #endif + // MESSAGE RC_CHANNELS_RAW UNPACKING + +/** + * @brief Get field time_boot_ms from rc_channels_raw message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_rc_channels_raw_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field port from rc_channels_raw message + * + * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. + */ +static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 20); +} + /** * @brief Get field chan1_raw from rc_channels_raw message * @@ -134,10 +255,7 @@ static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 4); } /** @@ -147,10 +265,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_m */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 6); } /** @@ -160,10 +275,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_m */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -173,10 +285,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_m */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 10); } /** @@ -186,10 +295,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_m */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 12); } /** @@ -199,10 +305,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_m */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 14); } /** @@ -212,10 +315,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_m */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 16); } /** @@ -225,10 +325,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_m */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 18); } /** @@ -238,7 +335,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_m */ static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; + return _MAV_RETURN_uint8_t(msg, 21); } /** @@ -249,6 +346,8 @@ static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message */ static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw) { +#if MAVLINK_NEED_BYTE_SWAP + rc_channels_raw->time_boot_ms = mavlink_msg_rc_channels_raw_get_time_boot_ms(msg); rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg); rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg); rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg); @@ -257,5 +356,9 @@ static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* m rc_channels_raw->chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(msg); rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg); rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg); + rc_channels_raw->port = mavlink_msg_rc_channels_raw_get_port(msg); rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg); +#else + memcpy(rc_channels_raw, _MAV_PAYLOAD(msg), 22); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h index 526482b4e0395acbd2bd2141fa923a5244249b4e..9a4a7912e29722979292038cc03ee80cc99d5ee8 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h @@ -2,20 +2,42 @@ #define MAVLINK_MSG_ID_RC_CHANNELS_SCALED 36 -typedef struct __mavlink_rc_channels_scaled_t +typedef struct __mavlink_rc_channels_scaled_t { - int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% - + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% } mavlink_rc_channels_scaled_t; +#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN 22 +#define MAVLINK_MSG_ID_36_LEN 22 + + + +#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED { \ + "RC_CHANNELS_SCALED", \ + 11, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_scaled_t, time_boot_ms) }, \ + { "chan1_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_rc_channels_scaled_t, chan1_scaled) }, \ + { "chan2_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_rc_channels_scaled_t, chan2_scaled) }, \ + { "chan3_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rc_channels_scaled_t, chan3_scaled) }, \ + { "chan4_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rc_channels_scaled_t, chan4_scaled) }, \ + { "chan5_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_rc_channels_scaled_t, chan5_scaled) }, \ + { "chan6_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_rc_channels_scaled_t, chan6_scaled) }, \ + { "chan7_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_rc_channels_scaled_t, chan7_scaled) }, \ + { "chan8_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_rc_channels_scaled_t, chan8_scaled) }, \ + { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_scaled_t, port) }, \ + { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_scaled_t, rssi) }, \ + } \ +} /** @@ -24,6 +46,8 @@ typedef struct __mavlink_rc_channels_scaled_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 @@ -35,30 +59,53 @@ typedef struct __mavlink_rc_channels_scaled_t * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) +static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint8_t port, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, chan1_scaled); + _mav_put_int16_t(buf, 6, chan2_scaled); + _mav_put_int16_t(buf, 8, chan3_scaled); + _mav_put_int16_t(buf, 10, chan4_scaled); + _mav_put_int16_t(buf, 12, chan5_scaled); + _mav_put_int16_t(buf, 14, chan6_scaled); + _mav_put_int16_t(buf, 16, chan7_scaled); + _mav_put_int16_t(buf, 18, chan8_scaled); + _mav_put_uint8_t(buf, 20, port); + _mav_put_uint8_t(buf, 21, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 22); +#else + mavlink_rc_channels_scaled_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_scaled = chan1_scaled; + packet.chan2_scaled = chan2_scaled; + packet.chan3_scaled = chan3_scaled; + packet.chan4_scaled = chan4_scaled; + packet.chan5_scaled = chan5_scaled; + packet.chan6_scaled = chan6_scaled; + packet.chan7_scaled = chan7_scaled; + packet.chan8_scaled = chan8_scaled; + packet.port = port; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD(msg), &packet, 22); +#endif - i += put_int16_t_by_index(chan1_scaled, i, msg->payload); // RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan2_scaled, i, msg->payload); // RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan3_scaled, i, msg->payload); // RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan4_scaled, i, msg->payload); // RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan5_scaled, i, msg->payload); // RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan6_scaled, i, msg->payload); // RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan7_scaled, i, msg->payload); // RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan8_scaled, i, msg->payload); // RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100% - - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED; + return mavlink_finalize_message(msg, system_id, component_id, 22, 237); } /** - * @brief Pack a rc_channels_scaled message + * @brief Pack a rc_channels_scaled 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 time_boot_ms Timestamp (milliseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 @@ -70,22 +117,44 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, ui * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) +static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t port,int16_t chan1_scaled,int16_t chan2_scaled,int16_t chan3_scaled,int16_t chan4_scaled,int16_t chan5_scaled,int16_t chan6_scaled,int16_t chan7_scaled,int16_t chan8_scaled,uint8_t rssi) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, chan1_scaled); + _mav_put_int16_t(buf, 6, chan2_scaled); + _mav_put_int16_t(buf, 8, chan3_scaled); + _mav_put_int16_t(buf, 10, chan4_scaled); + _mav_put_int16_t(buf, 12, chan5_scaled); + _mav_put_int16_t(buf, 14, chan6_scaled); + _mav_put_int16_t(buf, 16, chan7_scaled); + _mav_put_int16_t(buf, 18, chan8_scaled); + _mav_put_uint8_t(buf, 20, port); + _mav_put_uint8_t(buf, 21, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 22); +#else + mavlink_rc_channels_scaled_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_scaled = chan1_scaled; + packet.chan2_scaled = chan2_scaled; + packet.chan3_scaled = chan3_scaled; + packet.chan4_scaled = chan4_scaled; + packet.chan5_scaled = chan5_scaled; + packet.chan6_scaled = chan6_scaled; + packet.chan7_scaled = chan7_scaled; + packet.chan8_scaled = chan8_scaled; + packet.port = port; + packet.rssi = rssi; - i += put_int16_t_by_index(chan1_scaled, i, msg->payload); // RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan2_scaled, i, msg->payload); // RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan3_scaled, i, msg->payload); // RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan4_scaled, i, msg->payload); // RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan5_scaled, i, msg->payload); // RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan6_scaled, i, msg->payload); // RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan7_scaled, i, msg->payload); // RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_int16_t_by_index(chan8_scaled, i, msg->payload); // RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100% - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 22); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 237); } /** @@ -98,13 +167,15 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_i */ static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_scaled_t* rc_channels_scaled) { - return mavlink_msg_rc_channels_scaled_pack(system_id, component_id, msg, rc_channels_scaled->chan1_scaled, rc_channels_scaled->chan2_scaled, rc_channels_scaled->chan3_scaled, rc_channels_scaled->chan4_scaled, rc_channels_scaled->chan5_scaled, rc_channels_scaled->chan6_scaled, rc_channels_scaled->chan7_scaled, rc_channels_scaled->chan8_scaled, rc_channels_scaled->rssi); + return mavlink_msg_rc_channels_scaled_pack(system_id, component_id, msg, rc_channels_scaled->time_boot_ms, rc_channels_scaled->port, rc_channels_scaled->chan1_scaled, rc_channels_scaled->chan2_scaled, rc_channels_scaled->chan3_scaled, rc_channels_scaled->chan4_scaled, rc_channels_scaled->chan5_scaled, rc_channels_scaled->chan6_scaled, rc_channels_scaled->chan7_scaled, rc_channels_scaled->chan8_scaled, rc_channels_scaled->rssi); } /** * @brief Send a rc_channels_scaled message * @param chan MAVLink channel to send the message * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 @@ -117,16 +188,66 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id, */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) +static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) { - mavlink_message_t msg; - mavlink_msg_rc_channels_scaled_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, chan1_scaled); + _mav_put_int16_t(buf, 6, chan2_scaled); + _mav_put_int16_t(buf, 8, chan3_scaled); + _mav_put_int16_t(buf, 10, chan4_scaled); + _mav_put_int16_t(buf, 12, chan5_scaled); + _mav_put_int16_t(buf, 14, chan6_scaled); + _mav_put_int16_t(buf, 16, chan7_scaled); + _mav_put_int16_t(buf, 18, chan8_scaled); + _mav_put_uint8_t(buf, 20, port); + _mav_put_uint8_t(buf, 21, rssi); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, 22, 237); +#else + mavlink_rc_channels_scaled_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_scaled = chan1_scaled; + packet.chan2_scaled = chan2_scaled; + packet.chan3_scaled = chan3_scaled; + packet.chan4_scaled = chan4_scaled; + packet.chan5_scaled = chan5_scaled; + packet.chan6_scaled = chan6_scaled; + packet.chan7_scaled = chan7_scaled; + packet.chan8_scaled = chan8_scaled; + packet.port = port; + packet.rssi = rssi; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)&packet, 22, 237); +#endif } #endif + // MESSAGE RC_CHANNELS_SCALED UNPACKING + +/** + * @brief Get field time_boot_ms from rc_channels_scaled message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_rc_channels_scaled_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field port from rc_channels_scaled message + * + * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. + */ +static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 20); +} + /** * @brief Get field chan1_scaled from rc_channels_scaled message * @@ -134,10 +255,7 @@ static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, i */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 4); } /** @@ -147,10 +265,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavl */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 6); } /** @@ -160,10 +275,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavl */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 8); } /** @@ -173,10 +285,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavl */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 10); } /** @@ -186,10 +295,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavl */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 12); } /** @@ -199,10 +305,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavl */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 14); } /** @@ -212,10 +315,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavl */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 16); } /** @@ -225,10 +325,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavl */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 18); } /** @@ -238,7 +335,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavl */ static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + return _MAV_RETURN_uint8_t(msg, 21); } /** @@ -249,6 +346,8 @@ static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_mess */ static inline void mavlink_msg_rc_channels_scaled_decode(const mavlink_message_t* msg, mavlink_rc_channels_scaled_t* rc_channels_scaled) { +#if MAVLINK_NEED_BYTE_SWAP + rc_channels_scaled->time_boot_ms = mavlink_msg_rc_channels_scaled_get_time_boot_ms(msg); rc_channels_scaled->chan1_scaled = mavlink_msg_rc_channels_scaled_get_chan1_scaled(msg); rc_channels_scaled->chan2_scaled = mavlink_msg_rc_channels_scaled_get_chan2_scaled(msg); rc_channels_scaled->chan3_scaled = mavlink_msg_rc_channels_scaled_get_chan3_scaled(msg); @@ -257,5 +356,9 @@ static inline void mavlink_msg_rc_channels_scaled_decode(const mavlink_message_t rc_channels_scaled->chan6_scaled = mavlink_msg_rc_channels_scaled_get_chan6_scaled(msg); rc_channels_scaled->chan7_scaled = mavlink_msg_rc_channels_scaled_get_chan7_scaled(msg); rc_channels_scaled->chan8_scaled = mavlink_msg_rc_channels_scaled_get_chan8_scaled(msg); + rc_channels_scaled->port = mavlink_msg_rc_channels_scaled_get_port(msg); rc_channels_scaled->rssi = mavlink_msg_rc_channels_scaled_get_rssi(msg); +#else + memcpy(rc_channels_scaled, _MAV_PAYLOAD(msg), 22); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h b/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h index 15ee1a6a5fa39867628fe87ea9b3dd09b28f0d84..9889bfc08512a1ddd3d9a6714d83164b6fcdf58a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h @@ -2,16 +2,30 @@ #define MAVLINK_MSG_ID_REQUEST_DATA_STREAM 66 -typedef struct __mavlink_request_data_stream_t +typedef struct __mavlink_request_data_stream_t { - uint8_t target_system; ///< The target requested to send the message stream. - uint8_t target_component; ///< The target requested to send the message stream. - uint8_t req_stream_id; ///< The ID of the requested message type - uint16_t req_message_rate; ///< Update rate in Hertz - uint8_t start_stop; ///< 1 to start sending, 0 to stop sending. - + uint16_t req_message_rate; ///< The requested interval between two messages of this type + uint8_t target_system; ///< The target requested to send the message stream. + uint8_t target_component; ///< The target requested to send the message stream. + uint8_t req_stream_id; ///< The ID of the requested data stream + uint8_t start_stop; ///< 1 to start sending, 0 to stop sending. } mavlink_request_data_stream_t; +#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN 6 +#define MAVLINK_MSG_ID_66_LEN 6 + + + +#define MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM { \ + "REQUEST_DATA_STREAM", \ + 5, \ + { { "req_message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_request_data_stream_t, req_message_rate) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_request_data_stream_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_request_data_stream_t, target_component) }, \ + { "req_stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_request_data_stream_t, req_stream_id) }, \ + { "start_stop", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_request_data_stream_t, start_stop) }, \ + } \ +} /** @@ -22,50 +36,77 @@ typedef struct __mavlink_request_data_stream_t * * @param target_system The target requested to send the message stream. * @param target_component The target requested to send the message stream. - * @param req_stream_id The ID of the requested message type - * @param req_message_rate Update rate in Hertz + * @param req_stream_id The ID of the requested data stream + * @param req_message_rate The requested interval between two messages of this type * @param start_stop 1 to start sending, 0 to stop sending. * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop) +static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream. - i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream. - i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type - i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz - i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending. +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint16_t(buf, 0, req_message_rate); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_uint8_t(buf, 4, req_stream_id); + _mav_put_uint8_t(buf, 5, start_stop); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_request_data_stream_t packet; + packet.req_message_rate = req_message_rate; + packet.target_system = target_system; + packet.target_component = target_component; + packet.req_stream_id = req_stream_id; + packet.start_stop = start_stop; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM; + return mavlink_finalize_message(msg, system_id, component_id, 6, 148); } /** - * @brief Pack a request_data_stream message + * @brief Pack a request_data_stream 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 The target requested to send the message stream. * @param target_component The target requested to send the message stream. - * @param req_stream_id The ID of the requested message type - * @param req_message_rate Update rate in Hertz + * @param req_stream_id The ID of the requested data stream + * @param req_message_rate The requested interval between two messages of this type * @param start_stop 1 to start sending, 0 to stop sending. * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_request_data_stream_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, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop) +static inline uint16_t mavlink_msg_request_data_stream_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,uint8_t req_stream_id,uint16_t req_message_rate,uint8_t start_stop) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream. - i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream. - i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type - i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz - i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending. +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint16_t(buf, 0, req_message_rate); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_uint8_t(buf, 4, req_stream_id); + _mav_put_uint8_t(buf, 5, start_stop); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_request_data_stream_t packet; + packet.req_message_rate = req_message_rate; + packet.target_system = target_system; + packet.target_component = target_component; + packet.req_stream_id = req_stream_id; + packet.start_stop = start_stop; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 148); } /** @@ -87,22 +128,40 @@ static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id, * * @param target_system The target requested to send the message stream. * @param target_component The target requested to send the message stream. - * @param req_stream_id The ID of the requested message type - * @param req_message_rate Update rate in Hertz + * @param req_stream_id The ID of the requested data stream + * @param req_message_rate The requested interval between two messages of this type * @param start_stop 1 to start sending, 0 to stop sending. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop) { - mavlink_message_t msg; - mavlink_msg_request_data_stream_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, req_stream_id, req_message_rate, start_stop); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint16_t(buf, 0, req_message_rate); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_uint8_t(buf, 4, req_stream_id); + _mav_put_uint8_t(buf, 5, start_stop); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, 6, 148); +#else + mavlink_request_data_stream_t packet; + packet.req_message_rate = req_message_rate; + packet.target_system = target_system; + packet.target_component = target_component; + packet.req_stream_id = req_stream_id; + packet.start_stop = start_stop; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)&packet, 6, 148); +#endif } #endif + // MESSAGE REQUEST_DATA_STREAM UNPACKING + /** * @brief Get field target_system from request_data_stream message * @@ -110,7 +169,7 @@ static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, */ static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -120,30 +179,27 @@ static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const ma */ static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 3); } /** * @brief Get field req_stream_id from request_data_stream message * - * @return The ID of the requested message type + * @return The ID of the requested data stream */ static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 4); } /** * @brief Get field req_message_rate from request_data_stream message * - * @return Update rate in Hertz + * @return The requested interval between two messages of this type */ static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -153,7 +209,7 @@ static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(cons */ static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; + return _MAV_RETURN_uint8_t(msg, 5); } /** @@ -164,9 +220,13 @@ static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavli */ static inline void mavlink_msg_request_data_stream_decode(const mavlink_message_t* msg, mavlink_request_data_stream_t* request_data_stream) { +#if MAVLINK_NEED_BYTE_SWAP + request_data_stream->req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(msg); request_data_stream->target_system = mavlink_msg_request_data_stream_get_target_system(msg); request_data_stream->target_component = mavlink_msg_request_data_stream_get_target_component(msg); request_data_stream->req_stream_id = mavlink_msg_request_data_stream_get_req_stream_id(msg); - request_data_stream->req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(msg); request_data_stream->start_stop = mavlink_msg_request_data_stream_get_start_stop(msg); +#else + memcpy(request_data_stream, _MAV_PAYLOAD(msg), 6); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h b/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h index ac7a85de3bfe3691f6894af34b8cd23e2da1f8e8..80a88cca2f66ce48cca012b34110551cb308613e 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h @@ -1,17 +1,31 @@ // MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING -#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 58 +#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 59 -typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t +typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t { - uint64_t time_us; ///< Timestamp in micro seconds since unix epoch - float roll_speed; ///< Desired roll angular speed in rad/s - float pitch_speed; ///< Desired pitch angular speed in rad/s - float yaw_speed; ///< Desired yaw angular speed in rad/s - float thrust; ///< Collective thrust, normalized to 0 .. 1 - + uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot + float roll_speed; ///< Desired roll angular speed in rad/s + float pitch_speed; ///< Desired pitch angular speed in rad/s + float yaw_speed; ///< Desired yaw angular speed in rad/s + float thrust; ///< Collective thrust, normalized to 0 .. 1 } mavlink_roll_pitch_yaw_speed_thrust_setpoint_t; +#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN 20 +#define MAVLINK_MSG_ID_59_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT { \ + "ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT", \ + 5, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, time_boot_ms) }, \ + { "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, roll_speed) }, \ + { "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, pitch_speed) }, \ + { "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, yaw_speed) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, thrust) }, \ + } \ +} /** @@ -20,52 +34,79 @@ typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param time_us Timestamp in micro seconds since unix epoch + * @param time_boot_ms Timestamp in milliseconds since system boot * @param roll_speed Desired roll angular speed in rad/s * @param pitch_speed Desired pitch angular speed in rad/s * @param yaw_speed Desired yaw angular speed in rad/s * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; - - i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch - i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s - i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s - i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s - i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll_speed); + _mav_put_float(buf, 8, pitch_speed); + _mav_put_float(buf, 12, yaw_speed); + _mav_put_float(buf, 16, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 20, 238); } /** - * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message + * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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 time_us Timestamp in micro seconds since unix epoch + * @param time_boot_ms Timestamp in milliseconds since system boot * @param roll_speed Desired roll angular speed in rad/s * @param pitch_speed Desired pitch angular speed in rad/s * @param yaw_speed Desired yaw angular speed in rad/s * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float roll_speed,float pitch_speed,float yaw_speed,float thrust) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; - - i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch - i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s - i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s - i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s - i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll_speed); + _mav_put_float(buf, 8, pitch_speed); + _mav_put_float(buf, 12, yaw_speed); + _mav_put_float(buf, 16, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 238); } /** @@ -78,14 +119,14 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_cha */ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint) { - return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_us, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust); + return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust); } /** * @brief Send a roll_pitch_yaw_speed_thrust_setpoint message * @param chan MAVLink channel to send the message * - * @param time_us Timestamp in micro seconds since unix epoch + * @param time_boot_ms Timestamp in milliseconds since system boot * @param roll_speed Desired roll angular speed in rad/s * @param pitch_speed Desired pitch angular speed in rad/s * @param yaw_speed Desired yaw angular speed in rad/s @@ -93,33 +134,42 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(u */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust) { - mavlink_message_t msg; - mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_speed, pitch_speed, yaw_speed, thrust); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll_speed); + _mav_put_float(buf, 8, pitch_speed); + _mav_put_float(buf, 12, yaw_speed); + _mav_put_float(buf, 16, thrust); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, 20, 238); +#else + mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, 20, 238); +#endif } #endif + // MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING + /** - * @brief Get field time_us from roll_pitch_yaw_speed_thrust_setpoint message + * @brief Get field time_boot_ms from roll_pitch_yaw_speed_thrust_setpoint message * - * @return Timestamp in micro seconds since unix epoch + * @return Timestamp in milliseconds since system boot */ -static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint32_t(msg, 0); } /** @@ -129,12 +179,7 @@ static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time */ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -144,12 +189,7 @@ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_sp */ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -159,12 +199,7 @@ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_s */ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -174,12 +209,7 @@ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_spe */ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -190,9 +220,13 @@ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust( */ static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint) { - roll_pitch_yaw_speed_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(msg); +#if MAVLINK_NEED_BYTE_SWAP + roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(msg); roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg); roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg); roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg); roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg); +#else + memcpy(roll_pitch_yaw_speed_thrust_setpoint, _MAV_PAYLOAD(msg), 20); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h b/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h index cc944642748d251f3f9c976a2d1d1550cc816019..b8b87028d58905c6ffa8a859f8601b03ee220370 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h @@ -1,17 +1,31 @@ // MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING -#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 57 +#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 58 -typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t +typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t { - uint64_t time_us; ///< Timestamp in micro seconds since unix epoch - float roll; ///< Desired roll angle in radians - float pitch; ///< Desired pitch angle in radians - float yaw; ///< Desired yaw angle in radians - float thrust; ///< Collective thrust, normalized to 0 .. 1 - + uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot + float roll; ///< Desired roll angle in radians + float pitch; ///< Desired pitch angle in radians + float yaw; ///< Desired yaw angle in radians + float thrust; ///< Collective thrust, normalized to 0 .. 1 } mavlink_roll_pitch_yaw_thrust_setpoint_t; +#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN 20 +#define MAVLINK_MSG_ID_58_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \ + "ROLL_PITCH_YAW_THRUST_SETPOINT", \ + 5, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_boot_ms) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, thrust) }, \ + } \ +} /** @@ -20,52 +34,79 @@ typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param time_us Timestamp in micro seconds since unix epoch + * @param time_boot_ms Timestamp in milliseconds since system boot * @param roll Desired roll angle in radians * @param pitch Desired pitch angle in radians * @param yaw Desired yaw angle in radians * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll, float pitch, float yaw, float thrust) +static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_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 thrust) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; - - i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch - i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians - i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians - i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _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, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_roll_pitch_yaw_thrust_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 20, 239); } /** - * @brief Pack a roll_pitch_yaw_thrust_setpoint message + * @brief Pack a roll_pitch_yaw_thrust_setpoint 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 time_us Timestamp in micro seconds since unix epoch + * @param time_boot_ms Timestamp in milliseconds since system boot * @param roll Desired roll angle in radians * @param pitch Desired pitch angle in radians * @param yaw Desired yaw angle in radians * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll, float pitch, float yaw, float thrust) +static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; - - i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch - i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians - i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians - i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _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, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_roll_pitch_yaw_thrust_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 239); } /** @@ -78,14 +119,14 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint */ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) { - return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_us, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust); + return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_boot_ms, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust); } /** * @brief Send a roll_pitch_yaw_thrust_setpoint message * @param chan MAVLink channel to send the message * - * @param time_us Timestamp in micro seconds since unix epoch + * @param time_boot_ms Timestamp in milliseconds since system boot * @param roll Desired roll angle in radians * @param pitch Desired pitch angle in radians * @param yaw Desired yaw angle in radians @@ -93,33 +134,42 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll, float pitch, float yaw, float thrust) +static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust) { - mavlink_message_t msg; - mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll, pitch, yaw, thrust); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _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, thrust); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, 20, 239); +#else + mavlink_roll_pitch_yaw_thrust_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, 20, 239); +#endif } #endif + // MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING + /** - * @brief Get field time_us from roll_pitch_yaw_thrust_setpoint message + * @brief Get field time_boot_ms from roll_pitch_yaw_thrust_setpoint message * - * @return Timestamp in micro seconds since unix epoch + * @return Timestamp in milliseconds since system boot */ -static inline uint64_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint32_t(msg, 0); } /** @@ -129,12 +179,7 @@ static inline uint64_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(co */ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -144,12 +189,7 @@ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const ma */ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -159,12 +199,7 @@ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const m */ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -174,12 +209,7 @@ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mav */ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -190,9 +220,13 @@ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const */ static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) { - roll_pitch_yaw_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(msg); +#if MAVLINK_NEED_BYTE_SWAP + roll_pitch_yaw_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(msg); roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg); roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg); roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg); roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg); +#else + memcpy(roll_pitch_yaw_thrust_setpoint, _MAV_PAYLOAD(msg), 20); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h b/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h index e1f9cc6b12d25925ca4cd15334d9e6174e702dde..fee7734d0175e4971e53feaf246596d7cc999baa 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h @@ -1,19 +1,35 @@ // MESSAGE SAFETY_ALLOWED_AREA PACKING -#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 54 +#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 55 -typedef struct __mavlink_safety_allowed_area_t +typedef struct __mavlink_safety_allowed_area_t { - uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. - float p1x; ///< x position 1 / Latitude 1 - float p1y; ///< y position 1 / Longitude 1 - float p1z; ///< z position 1 / Altitude 1 - float p2x; ///< x position 2 / Latitude 2 - float p2y; ///< y position 2 / Longitude 2 - float p2z; ///< z position 2 / Altitude 2 - + float p1x; ///< x position 1 / Latitude 1 + float p1y; ///< y position 1 / Longitude 1 + float p1z; ///< z position 1 / Altitude 1 + float p2x; ///< x position 2 / Latitude 2 + float p2y; ///< y position 2 / Longitude 2 + float p2z; ///< z position 2 / Altitude 2 + uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. } mavlink_safety_allowed_area_t; +#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN 25 +#define MAVLINK_MSG_ID_55_LEN 25 + + + +#define MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA { \ + "SAFETY_ALLOWED_AREA", \ + 7, \ + { { "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_safety_allowed_area_t, p1x) }, \ + { "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_safety_allowed_area_t, p1y) }, \ + { "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_safety_allowed_area_t, p1z) }, \ + { "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_safety_allowed_area_t, p2x) }, \ + { "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_safety_allowed_area_t, p2y) }, \ + { "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_safety_allowed_area_t, p2z) }, \ + { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_safety_allowed_area_t, frame) }, \ + } \ +} /** @@ -31,24 +47,39 @@ typedef struct __mavlink_safety_allowed_area_t * @param p2z z position 2 / Altitude 2 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, p1x); + _mav_put_float(buf, 4, p1y); + _mav_put_float(buf, 8, p1z); + _mav_put_float(buf, 12, p2x); + _mav_put_float(buf, 16, p2y); + _mav_put_float(buf, 20, p2z); + _mav_put_uint8_t(buf, 24, frame); - i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. - i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1 - i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1 - i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1 - i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2 - i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2 - i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2 + memcpy(_MAV_PAYLOAD(msg), buf, 25); +#else + mavlink_safety_allowed_area_t packet; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + packet.frame = frame; - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 25); +#endif + + msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; + return mavlink_finalize_message(msg, system_id, component_id, 25, 3); } /** - * @brief Pack a safety_allowed_area message + * @brief Pack a safety_allowed_area 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 @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, u * @param p2z z position 2 / Altitude 2 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, p1x); + _mav_put_float(buf, 4, p1y); + _mav_put_float(buf, 8, p1z); + _mav_put_float(buf, 12, p2x); + _mav_put_float(buf, 16, p2y); + _mav_put_float(buf, 20, p2z); + _mav_put_uint8_t(buf, 24, frame); - i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. - i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1 - i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1 - i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1 - i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2 - i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2 - i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2 + memcpy(_MAV_PAYLOAD(msg), buf, 25); +#else + mavlink_safety_allowed_area_t packet; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + packet.frame = frame; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 25); +#endif + + msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 3); } /** @@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_safety_allowed_area_encode(uint8_t system_id, static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) { - mavlink_message_t msg; - mavlink_msg_safety_allowed_area_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, frame, p1x, p1y, p1z, p2x, p2y, p2z); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, p1x); + _mav_put_float(buf, 4, p1y); + _mav_put_float(buf, 8, p1z); + _mav_put_float(buf, 12, p2x); + _mav_put_float(buf, 16, p2y); + _mav_put_float(buf, 20, p2z); + _mav_put_uint8_t(buf, 24, frame); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, 25, 3); +#else + mavlink_safety_allowed_area_t packet; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + packet.frame = frame; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)&packet, 25, 3); +#endif } #endif + // MESSAGE SAFETY_ALLOWED_AREA UNPACKING + /** * @brief Get field frame from safety_allowed_area message * @@ -122,7 +191,7 @@ static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, */ static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 24); } /** @@ -132,12 +201,7 @@ static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_me */ static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -147,12 +211,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_messag */ static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -162,12 +221,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_messag */ static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -177,12 +231,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_messag */ static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -192,12 +241,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_messag */ static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -207,12 +251,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_messag */ static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -223,11 +262,15 @@ static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_messag */ static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_allowed_area_t* safety_allowed_area) { - safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg); +#if MAVLINK_NEED_BYTE_SWAP safety_allowed_area->p1x = mavlink_msg_safety_allowed_area_get_p1x(msg); safety_allowed_area->p1y = mavlink_msg_safety_allowed_area_get_p1y(msg); safety_allowed_area->p1z = mavlink_msg_safety_allowed_area_get_p1z(msg); safety_allowed_area->p2x = mavlink_msg_safety_allowed_area_get_p2x(msg); safety_allowed_area->p2y = mavlink_msg_safety_allowed_area_get_p2y(msg); safety_allowed_area->p2z = mavlink_msg_safety_allowed_area_get_p2z(msg); + safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg); +#else + memcpy(safety_allowed_area, _MAV_PAYLOAD(msg), 25); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h b/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h index da571e8e7210dc711558278d0bce952f0cafc729..35d9b3b25425ca660a839264327e5d0dbe9bef17 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h @@ -1,21 +1,39 @@ // MESSAGE SAFETY_SET_ALLOWED_AREA PACKING -#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA 53 +#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA 54 -typedef struct __mavlink_safety_set_allowed_area_t +typedef struct __mavlink_safety_set_allowed_area_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. - float p1x; ///< x position 1 / Latitude 1 - float p1y; ///< y position 1 / Longitude 1 - float p1z; ///< z position 1 / Altitude 1 - float p2x; ///< x position 2 / Latitude 2 - float p2y; ///< y position 2 / Longitude 2 - float p2z; ///< z position 2 / Altitude 2 - + float p1x; ///< x position 1 / Latitude 1 + float p1y; ///< y position 1 / Longitude 1 + float p1z; ///< z position 1 / Altitude 1 + float p2x; ///< x position 2 / Latitude 2 + float p2y; ///< y position 2 / Longitude 2 + float p2z; ///< z position 2 / Altitude 2 + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. } mavlink_safety_set_allowed_area_t; +#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN 27 +#define MAVLINK_MSG_ID_54_LEN 27 + + + +#define MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA { \ + "SAFETY_SET_ALLOWED_AREA", \ + 9, \ + { { "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_safety_set_allowed_area_t, p1x) }, \ + { "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_safety_set_allowed_area_t, p1y) }, \ + { "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_safety_set_allowed_area_t, p1z) }, \ + { "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_safety_set_allowed_area_t, p2x) }, \ + { "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_safety_set_allowed_area_t, p2y) }, \ + { "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_safety_set_allowed_area_t, p2z) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_safety_set_allowed_area_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_safety_set_allowed_area_t, target_component) }, \ + { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_safety_set_allowed_area_t, frame) }, \ + } \ +} /** @@ -35,26 +53,43 @@ typedef struct __mavlink_safety_set_allowed_area_t * @param p2z z position 2 / Altitude 2 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[27]; + _mav_put_float(buf, 0, p1x); + _mav_put_float(buf, 4, p1y); + _mav_put_float(buf, 8, p1z); + _mav_put_float(buf, 12, p2x); + _mav_put_float(buf, 16, p2y); + _mav_put_float(buf, 20, p2z); + _mav_put_uint8_t(buf, 24, target_system); + _mav_put_uint8_t(buf, 25, target_component); + _mav_put_uint8_t(buf, 26, frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 27); +#else + mavlink_safety_set_allowed_area_t packet; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. - i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1 - i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1 - i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1 - i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2 - i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2 - i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2 - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 27); +#endif + + msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA; + return mavlink_finalize_message(msg, system_id, component_id, 27, 15); } /** - * @brief Pack a safety_set_allowed_area message + * @brief Pack a safety_set_allowed_area 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 @@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_i * @param p2z z position 2 / Altitude 2 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_safety_set_allowed_area_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, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +static inline uint16_t mavlink_msg_safety_set_allowed_area_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,uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[27]; + _mav_put_float(buf, 0, p1x); + _mav_put_float(buf, 4, p1y); + _mav_put_float(buf, 8, p1z); + _mav_put_float(buf, 12, p2x); + _mav_put_float(buf, 16, p2y); + _mav_put_float(buf, 20, p2z); + _mav_put_uint8_t(buf, 24, target_system); + _mav_put_uint8_t(buf, 25, target_component); + _mav_put_uint8_t(buf, 26, frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 27); +#else + mavlink_safety_set_allowed_area_t packet; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 27); +#endif - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. - i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1 - i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1 - i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1 - i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2 - i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2 - i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2 - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 27, 15); } /** @@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_safety_set_allowed_area_encode(uint8_t system static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) { - mavlink_message_t msg; - mavlink_msg_safety_set_allowed_area_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[27]; + _mav_put_float(buf, 0, p1x); + _mav_put_float(buf, 4, p1y); + _mav_put_float(buf, 8, p1z); + _mav_put_float(buf, 12, p2x); + _mav_put_float(buf, 16, p2y); + _mav_put_float(buf, 20, p2z); + _mav_put_uint8_t(buf, 24, target_system); + _mav_put_uint8_t(buf, 25, target_component); + _mav_put_uint8_t(buf, 26, frame); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, 27, 15); +#else + mavlink_safety_set_allowed_area_t packet; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)&packet, 27, 15); +#endif } #endif + // MESSAGE SAFETY_SET_ALLOWED_AREA UNPACKING + /** * @brief Get field target_system from safety_set_allowed_area message * @@ -134,7 +213,7 @@ static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t ch */ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 24); } /** @@ -144,7 +223,7 @@ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_system(cons */ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 25); } /** @@ -154,7 +233,7 @@ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_component(c */ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_frame(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 26); } /** @@ -164,12 +243,7 @@ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_frame(const mavlin */ static inline float mavlink_msg_safety_set_allowed_area_get_p1x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -179,12 +253,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p1x(const mavlink_me */ static inline float mavlink_msg_safety_set_allowed_area_get_p1y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -194,12 +263,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p1y(const mavlink_me */ static inline float mavlink_msg_safety_set_allowed_area_get_p1z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -209,12 +273,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p1z(const mavlink_me */ static inline float mavlink_msg_safety_set_allowed_area_get_p2x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -224,12 +283,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p2x(const mavlink_me */ static inline float mavlink_msg_safety_set_allowed_area_get_p2y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -239,12 +293,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p2y(const mavlink_me */ static inline float mavlink_msg_safety_set_allowed_area_get_p2z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -255,13 +304,17 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p2z(const mavlink_me */ static inline void mavlink_msg_safety_set_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_set_allowed_area_t* safety_set_allowed_area) { - safety_set_allowed_area->target_system = mavlink_msg_safety_set_allowed_area_get_target_system(msg); - safety_set_allowed_area->target_component = mavlink_msg_safety_set_allowed_area_get_target_component(msg); - safety_set_allowed_area->frame = mavlink_msg_safety_set_allowed_area_get_frame(msg); +#if MAVLINK_NEED_BYTE_SWAP safety_set_allowed_area->p1x = mavlink_msg_safety_set_allowed_area_get_p1x(msg); safety_set_allowed_area->p1y = mavlink_msg_safety_set_allowed_area_get_p1y(msg); safety_set_allowed_area->p1z = mavlink_msg_safety_set_allowed_area_get_p1z(msg); safety_set_allowed_area->p2x = mavlink_msg_safety_set_allowed_area_get_p2x(msg); safety_set_allowed_area->p2y = mavlink_msg_safety_set_allowed_area_get_p2y(msg); safety_set_allowed_area->p2z = mavlink_msg_safety_set_allowed_area_get_p2z(msg); + safety_set_allowed_area->target_system = mavlink_msg_safety_set_allowed_area_get_target_system(msg); + safety_set_allowed_area->target_component = mavlink_msg_safety_set_allowed_area_get_target_component(msg); + safety_set_allowed_area->frame = mavlink_msg_safety_set_allowed_area_get_frame(msg); +#else + memcpy(safety_set_allowed_area, _MAV_PAYLOAD(msg), 27); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h b/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h index 77637286ff7a45adb6920079d79c2312a5c2758c..145d959ade88ea1a8d5aba16195d51a31d8a9946 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h @@ -2,21 +2,40 @@ #define MAVLINK_MSG_ID_SCALED_IMU 26 -typedef struct __mavlink_scaled_imu_t +typedef struct __mavlink_scaled_imu_t { - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - int16_t xacc; ///< X acceleration (mg) - int16_t yacc; ///< Y acceleration (mg) - int16_t zacc; ///< Z acceleration (mg) - int16_t xgyro; ///< Angular speed around X axis (millirad /sec) - int16_t ygyro; ///< Angular speed around Y axis (millirad /sec) - int16_t zgyro; ///< Angular speed around Z axis (millirad /sec) - int16_t xmag; ///< X Magnetic field (milli tesla) - int16_t ymag; ///< Y Magnetic field (milli tesla) - int16_t zmag; ///< Z Magnetic field (milli tesla) - + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + int16_t xacc; ///< X acceleration (mg) + int16_t yacc; ///< Y acceleration (mg) + int16_t zacc; ///< Z acceleration (mg) + int16_t xgyro; ///< Angular speed around X axis (millirad /sec) + int16_t ygyro; ///< Angular speed around Y axis (millirad /sec) + int16_t zgyro; ///< Angular speed around Z axis (millirad /sec) + int16_t xmag; ///< X Magnetic field (milli tesla) + int16_t ymag; ///< Y Magnetic field (milli tesla) + int16_t zmag; ///< Z Magnetic field (milli tesla) } mavlink_scaled_imu_t; +#define MAVLINK_MSG_ID_SCALED_IMU_LEN 22 +#define MAVLINK_MSG_ID_26_LEN 22 + + + +#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \ + "SCALED_IMU", \ + 10, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \ + { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \ + { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \ + { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \ + { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \ + { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \ + { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \ + } \ +} /** @@ -25,7 +44,7 @@ typedef struct __mavlink_scaled_imu_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) @@ -37,32 +56,50 @@ typedef struct __mavlink_scaled_imu_t * @param zmag Z Magnetic field (milli tesla) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, xacc); + _mav_put_int16_t(buf, 6, yacc); + _mav_put_int16_t(buf, 8, zacc); + _mav_put_int16_t(buf, 10, xgyro); + _mav_put_int16_t(buf, 12, ygyro); + _mav_put_int16_t(buf, 14, zgyro); + _mav_put_int16_t(buf, 16, xmag); + _mav_put_int16_t(buf, 18, ymag); + _mav_put_int16_t(buf, 20, zmag); - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) - i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) - i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) - i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (millirad /sec) - i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (millirad /sec) - i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (millirad /sec) - i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (milli tesla) - i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (milli tesla) - i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (milli tesla) - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), buf, 22); +#else + mavlink_scaled_imu_t packet; + packet.time_boot_ms = time_boot_ms; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD(msg), &packet, 22); +#endif + + msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; + return mavlink_finalize_message(msg, system_id, component_id, 22, 170); } /** - * @brief Pack a scaled_imu message + * @brief Pack a scaled_imu 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 or microseconds since system boot) + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) @@ -74,23 +111,42 @@ static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t co * @param zmag Z Magnetic field (milli tesla) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, xacc); + _mav_put_int16_t(buf, 6, yacc); + _mav_put_int16_t(buf, 8, zacc); + _mav_put_int16_t(buf, 10, xgyro); + _mav_put_int16_t(buf, 12, ygyro); + _mav_put_int16_t(buf, 14, zgyro); + _mav_put_int16_t(buf, 16, xmag); + _mav_put_int16_t(buf, 18, ymag); + _mav_put_int16_t(buf, 20, zmag); + + memcpy(_MAV_PAYLOAD(msg), buf, 22); +#else + mavlink_scaled_imu_t packet; + packet.time_boot_ms = time_boot_ms; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD(msg), &packet, 22); +#endif - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) - i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) - i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) - i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (millirad /sec) - i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (millirad /sec) - i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (millirad /sec) - i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (milli tesla) - i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (milli tesla) - i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (milli tesla) - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 170); } /** @@ -103,14 +159,14 @@ static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8 */ static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu) { - return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->usec, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag); + return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag); } /** * @brief Send a scaled_imu message * @param chan MAVLink channel to send the message * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_boot_ms Timestamp (milliseconds since system boot) * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) @@ -123,33 +179,52 @@ static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { - mavlink_message_t msg; - mavlink_msg_scaled_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[22]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, xacc); + _mav_put_int16_t(buf, 6, yacc); + _mav_put_int16_t(buf, 8, zacc); + _mav_put_int16_t(buf, 10, xgyro); + _mav_put_int16_t(buf, 12, ygyro); + _mav_put_int16_t(buf, 14, zgyro); + _mav_put_int16_t(buf, 16, xmag); + _mav_put_int16_t(buf, 18, ymag); + _mav_put_int16_t(buf, 20, zmag); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, 22, 170); +#else + mavlink_scaled_imu_t packet; + packet.time_boot_ms = time_boot_ms; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, 22, 170); +#endif } #endif + // MESSAGE SCALED_IMU UNPACKING + /** - * @brief Get field usec from scaled_imu message + * @brief Get field time_boot_ms from scaled_imu message * - * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @return Timestamp (milliseconds since system boot) */ -static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_scaled_imu_get_time_boot_ms(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint32_t(msg, 0); } /** @@ -159,10 +234,7 @@ static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t* */ static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 4); } /** @@ -172,10 +244,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* m */ static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 6); } /** @@ -185,10 +254,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* m */ static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 8); } /** @@ -198,10 +264,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* m */ static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 10); } /** @@ -211,10 +274,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* */ static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 12); } /** @@ -224,10 +284,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* */ static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 14); } /** @@ -237,10 +294,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* */ static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 16); } /** @@ -250,10 +304,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* m */ static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 18); } /** @@ -263,10 +314,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* m */ static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 20); } /** @@ -277,7 +325,8 @@ static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* m */ static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu) { - scaled_imu->usec = mavlink_msg_scaled_imu_get_usec(msg); +#if MAVLINK_NEED_BYTE_SWAP + scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg); scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg); scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg); scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg); @@ -287,4 +336,7 @@ static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, m scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg); scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg); scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg); +#else + memcpy(scaled_imu, _MAV_PAYLOAD(msg), 22); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h b/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h index 08a9bedd37110bd1fb1717d2a8a2a510bf2306d3..428a7af22373237205a021ced7d58c616e313179 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h @@ -1,16 +1,29 @@ // MESSAGE SCALED_PRESSURE PACKING -#define MAVLINK_MSG_ID_SCALED_PRESSURE 38 +#define MAVLINK_MSG_ID_SCALED_PRESSURE 29 -typedef struct __mavlink_scaled_pressure_t +typedef struct __mavlink_scaled_pressure_t { - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - float press_abs; ///< Absolute pressure (hectopascal) - float press_diff; ///< Differential pressure 1 (hectopascal) - int16_t temperature; ///< Temperature measurement (0.01 degrees celsius) - + uint32_t time_boot_ms; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float press_abs; ///< Absolute pressure (hectopascal) + float press_diff; ///< Differential pressure 1 (hectopascal) + int16_t temperature; ///< Temperature measurement (0.01 degrees celsius) } mavlink_scaled_pressure_t; +#define MAVLINK_MSG_ID_SCALED_PRESSURE_LEN 14 +#define MAVLINK_MSG_ID_29_LEN 14 + + + +#define MAVLINK_MESSAGE_INFO_SCALED_PRESSURE { \ + "SCALED_PRESSURE", \ + 4, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_pressure_t, time_boot_ms) }, \ + { "press_abs", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_scaled_pressure_t, press_abs) }, \ + { "press_diff", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_scaled_pressure_t, press_diff) }, \ + { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_pressure_t, temperature) }, \ + } \ +} /** @@ -19,48 +32,73 @@ typedef struct __mavlink_scaled_pressure_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_boot_ms Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param press_abs Absolute pressure (hectopascal) * @param press_diff Differential pressure 1 (hectopascal) * @param temperature Temperature measurement (0.01 degrees celsius) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float press_abs, float press_diff, int16_t temperature) +static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, float press_abs, float press_diff, int16_t temperature) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(press_abs, i, msg->payload); // Absolute pressure (hectopascal) - i += put_float_by_index(press_diff, i, msg->payload); // Differential pressure 1 (hectopascal) - i += put_int16_t_by_index(temperature, i, msg->payload); // Temperature measurement (0.01 degrees celsius) +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, press_abs); + _mav_put_float(buf, 8, press_diff); + _mav_put_int16_t(buf, 12, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_scaled_pressure_t packet; + packet.time_boot_ms = time_boot_ms; + packet.press_abs = press_abs; + packet.press_diff = press_diff; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE; + return mavlink_finalize_message(msg, system_id, component_id, 14, 115); } /** - * @brief Pack a scaled_pressure message + * @brief Pack a scaled_pressure 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 or microseconds since system boot) + * @param time_boot_ms Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param press_abs Absolute pressure (hectopascal) * @param press_diff Differential pressure 1 (hectopascal) * @param temperature Temperature measurement (0.01 degrees celsius) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float press_abs, float press_diff, int16_t temperature) +static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float press_abs,float press_diff,int16_t temperature) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) - i += put_float_by_index(press_abs, i, msg->payload); // Absolute pressure (hectopascal) - i += put_float_by_index(press_diff, i, msg->payload); // Differential pressure 1 (hectopascal) - i += put_int16_t_by_index(temperature, i, msg->payload); // Temperature measurement (0.01 degrees celsius) +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, press_abs); + _mav_put_float(buf, 8, press_diff); + _mav_put_int16_t(buf, 12, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_scaled_pressure_t packet; + packet.time_boot_ms = time_boot_ms; + packet.press_abs = press_abs; + packet.press_diff = press_diff; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 115); } /** @@ -73,47 +111,54 @@ static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, */ static inline uint16_t mavlink_msg_scaled_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_pressure_t* scaled_pressure) { - return mavlink_msg_scaled_pressure_pack(system_id, component_id, msg, scaled_pressure->usec, scaled_pressure->press_abs, scaled_pressure->press_diff, scaled_pressure->temperature); + return mavlink_msg_scaled_pressure_pack(system_id, component_id, msg, scaled_pressure->time_boot_ms, scaled_pressure->press_abs, scaled_pressure->press_diff, scaled_pressure->temperature); } /** * @brief Send a scaled_pressure message * @param chan MAVLink channel to send the message * - * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param time_boot_ms Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param press_abs Absolute pressure (hectopascal) * @param press_diff Differential pressure 1 (hectopascal) * @param temperature Temperature measurement (0.01 degrees celsius) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint64_t usec, float press_abs, float press_diff, int16_t temperature) +static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint32_t time_boot_ms, float press_abs, float press_diff, int16_t temperature) { - mavlink_message_t msg; - mavlink_msg_scaled_pressure_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, press_abs, press_diff, temperature); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, press_abs); + _mav_put_float(buf, 8, press_diff); + _mav_put_int16_t(buf, 12, temperature); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, 14, 115); +#else + mavlink_scaled_pressure_t packet; + packet.time_boot_ms = time_boot_ms; + packet.press_abs = press_abs; + packet.press_diff = press_diff; + packet.temperature = temperature; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)&packet, 14, 115); +#endif } #endif + // MESSAGE SCALED_PRESSURE UNPACKING + /** - * @brief Get field usec from scaled_pressure message + * @brief Get field time_boot_ms from scaled_pressure message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ -static inline uint64_t mavlink_msg_scaled_pressure_get_usec(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_scaled_pressure_get_time_boot_ms(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint32_t(msg, 0); } /** @@ -123,12 +168,7 @@ static inline uint64_t mavlink_msg_scaled_pressure_get_usec(const mavlink_messag */ static inline float mavlink_msg_scaled_pressure_get_press_abs(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -138,12 +178,7 @@ static inline float mavlink_msg_scaled_pressure_get_press_abs(const mavlink_mess */ static inline float mavlink_msg_scaled_pressure_get_press_diff(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -153,10 +188,7 @@ static inline float mavlink_msg_scaled_pressure_get_press_diff(const mavlink_mes */ static inline int16_t mavlink_msg_scaled_pressure_get_temperature(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 12); } /** @@ -167,8 +199,12 @@ static inline int16_t mavlink_msg_scaled_pressure_get_temperature(const mavlink_ */ static inline void mavlink_msg_scaled_pressure_decode(const mavlink_message_t* msg, mavlink_scaled_pressure_t* scaled_pressure) { - scaled_pressure->usec = mavlink_msg_scaled_pressure_get_usec(msg); +#if MAVLINK_NEED_BYTE_SWAP + scaled_pressure->time_boot_ms = mavlink_msg_scaled_pressure_get_time_boot_ms(msg); scaled_pressure->press_abs = mavlink_msg_scaled_pressure_get_press_abs(msg); scaled_pressure->press_diff = mavlink_msg_scaled_pressure_get_press_diff(msg); scaled_pressure->temperature = mavlink_msg_scaled_pressure_get_temperature(msg); +#else + memcpy(scaled_pressure, _MAV_PAYLOAD(msg), 14); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h b/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h index 751afcb80a3c3c7f8db4a559549efd4c389d91ae..2608edfa56b0235da4fdab6a416ef0c5eb233e87 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h @@ -2,19 +2,40 @@ #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 37 -typedef struct __mavlink_servo_output_raw_t +typedef struct __mavlink_servo_output_raw_t { - uint16_t servo1_raw; ///< Servo output 1 value, in microseconds - uint16_t servo2_raw; ///< Servo output 2 value, in microseconds - uint16_t servo3_raw; ///< Servo output 3 value, in microseconds - uint16_t servo4_raw; ///< Servo output 4 value, in microseconds - uint16_t servo5_raw; ///< Servo output 5 value, in microseconds - uint16_t servo6_raw; ///< Servo output 6 value, in microseconds - uint16_t servo7_raw; ///< Servo output 7 value, in microseconds - uint16_t servo8_raw; ///< Servo output 8 value, in microseconds - + uint32_t time_usec; ///< Timestamp (since UNIX epoch or microseconds since system boot) + uint16_t servo1_raw; ///< Servo output 1 value, in microseconds + uint16_t servo2_raw; ///< Servo output 2 value, in microseconds + uint16_t servo3_raw; ///< Servo output 3 value, in microseconds + uint16_t servo4_raw; ///< Servo output 4 value, in microseconds + uint16_t servo5_raw; ///< Servo output 5 value, in microseconds + uint16_t servo6_raw; ///< Servo output 6 value, in microseconds + uint16_t servo7_raw; ///< Servo output 7 value, in microseconds + uint16_t servo8_raw; ///< Servo output 8 value, in microseconds + uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. } mavlink_servo_output_raw_t; +#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 21 +#define MAVLINK_MSG_ID_37_LEN 21 + + + +#define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \ + "SERVO_OUTPUT_RAW", \ + 10, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \ + { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \ + { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \ + { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \ + { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \ + { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \ + { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \ + { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \ + { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \ + { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \ + } \ +} /** @@ -23,6 +44,8 @@ typedef struct __mavlink_servo_output_raw_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * + * @param time_usec Timestamp (since UNIX epoch or microseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds @@ -33,29 +56,51 @@ typedef struct __mavlink_servo_output_raw_t * @param servo8_raw Servo output 8 value, in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) +static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint32_t(buf, 0, time_usec); + _mav_put_uint16_t(buf, 4, servo1_raw); + _mav_put_uint16_t(buf, 6, servo2_raw); + _mav_put_uint16_t(buf, 8, servo3_raw); + _mav_put_uint16_t(buf, 10, servo4_raw); + _mav_put_uint16_t(buf, 12, servo5_raw); + _mav_put_uint16_t(buf, 14, servo6_raw); + _mav_put_uint16_t(buf, 16, servo7_raw); + _mav_put_uint16_t(buf, 18, servo8_raw); + _mav_put_uint8_t(buf, 20, port); - i += put_uint16_t_by_index(servo1_raw, i, msg->payload); // Servo output 1 value, in microseconds - i += put_uint16_t_by_index(servo2_raw, i, msg->payload); // Servo output 2 value, in microseconds - i += put_uint16_t_by_index(servo3_raw, i, msg->payload); // Servo output 3 value, in microseconds - i += put_uint16_t_by_index(servo4_raw, i, msg->payload); // Servo output 4 value, in microseconds - i += put_uint16_t_by_index(servo5_raw, i, msg->payload); // Servo output 5 value, in microseconds - i += put_uint16_t_by_index(servo6_raw, i, msg->payload); // Servo output 6 value, in microseconds - i += put_uint16_t_by_index(servo7_raw, i, msg->payload); // Servo output 7 value, in microseconds - i += put_uint16_t_by_index(servo8_raw, i, msg->payload); // Servo output 8 value, in microseconds + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_servo_output_raw_t packet; + packet.time_usec = time_usec; + packet.servo1_raw = servo1_raw; + packet.servo2_raw = servo2_raw; + packet.servo3_raw = servo3_raw; + packet.servo4_raw = servo4_raw; + packet.servo5_raw = servo5_raw; + packet.servo6_raw = servo6_raw; + packet.servo7_raw = servo7_raw; + packet.servo8_raw = servo8_raw; + packet.port = port; + + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; + return mavlink_finalize_message(msg, system_id, component_id, 21, 222); } /** - * @brief Pack a servo_output_raw message + * @brief Pack a servo_output_raw 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 time_usec Timestamp (since UNIX epoch or microseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds @@ -66,21 +111,42 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint * @param servo8_raw Servo output 8 value, in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) +static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint32_t(buf, 0, time_usec); + _mav_put_uint16_t(buf, 4, servo1_raw); + _mav_put_uint16_t(buf, 6, servo2_raw); + _mav_put_uint16_t(buf, 8, servo3_raw); + _mav_put_uint16_t(buf, 10, servo4_raw); + _mav_put_uint16_t(buf, 12, servo5_raw); + _mav_put_uint16_t(buf, 14, servo6_raw); + _mav_put_uint16_t(buf, 16, servo7_raw); + _mav_put_uint16_t(buf, 18, servo8_raw); + _mav_put_uint8_t(buf, 20, port); + + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_servo_output_raw_t packet; + packet.time_usec = time_usec; + packet.servo1_raw = servo1_raw; + packet.servo2_raw = servo2_raw; + packet.servo3_raw = servo3_raw; + packet.servo4_raw = servo4_raw; + packet.servo5_raw = servo5_raw; + packet.servo6_raw = servo6_raw; + packet.servo7_raw = servo7_raw; + packet.servo8_raw = servo8_raw; + packet.port = port; - i += put_uint16_t_by_index(servo1_raw, i, msg->payload); // Servo output 1 value, in microseconds - i += put_uint16_t_by_index(servo2_raw, i, msg->payload); // Servo output 2 value, in microseconds - i += put_uint16_t_by_index(servo3_raw, i, msg->payload); // Servo output 3 value, in microseconds - i += put_uint16_t_by_index(servo4_raw, i, msg->payload); // Servo output 4 value, in microseconds - i += put_uint16_t_by_index(servo5_raw, i, msg->payload); // Servo output 5 value, in microseconds - i += put_uint16_t_by_index(servo6_raw, i, msg->payload); // Servo output 6 value, in microseconds - i += put_uint16_t_by_index(servo7_raw, i, msg->payload); // Servo output 7 value, in microseconds - i += put_uint16_t_by_index(servo8_raw, i, msg->payload); // Servo output 8 value, in microseconds + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 222); } /** @@ -93,13 +159,15 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, */ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw) { - return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw); + return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw); } /** * @brief Send a servo_output_raw message * @param chan MAVLink channel to send the message * + * @param time_usec Timestamp (since UNIX epoch or microseconds since system boot) + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds @@ -111,16 +179,64 @@ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, ui */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) +static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) { - mavlink_message_t msg; - mavlink_msg_servo_output_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint32_t(buf, 0, time_usec); + _mav_put_uint16_t(buf, 4, servo1_raw); + _mav_put_uint16_t(buf, 6, servo2_raw); + _mav_put_uint16_t(buf, 8, servo3_raw); + _mav_put_uint16_t(buf, 10, servo4_raw); + _mav_put_uint16_t(buf, 12, servo5_raw); + _mav_put_uint16_t(buf, 14, servo6_raw); + _mav_put_uint16_t(buf, 16, servo7_raw); + _mav_put_uint16_t(buf, 18, servo8_raw); + _mav_put_uint8_t(buf, 20, port); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 222); +#else + mavlink_servo_output_raw_t packet; + packet.time_usec = time_usec; + packet.servo1_raw = servo1_raw; + packet.servo2_raw = servo2_raw; + packet.servo3_raw = servo3_raw; + packet.servo4_raw = servo4_raw; + packet.servo5_raw = servo5_raw; + packet.servo6_raw = servo6_raw; + packet.servo7_raw = servo7_raw; + packet.servo8_raw = servo8_raw; + packet.port = port; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 222); +#endif } #endif + // MESSAGE SERVO_OUTPUT_RAW UNPACKING + +/** + * @brief Get field time_usec from servo_output_raw message + * + * @return Timestamp (since UNIX epoch or microseconds since system boot) + */ +static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field port from servo_output_raw message + * + * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. + */ +static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 20); +} + /** * @brief Get field servo1_raw from servo_output_raw message * @@ -128,10 +244,7 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 4); } /** @@ -141,10 +254,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 6); } /** @@ -154,10 +264,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -167,10 +274,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 10); } /** @@ -180,10 +284,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 12); } /** @@ -193,10 +294,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 14); } /** @@ -206,10 +304,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 16); } /** @@ -219,10 +314,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 18); } /** @@ -233,6 +325,8 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink */ static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw) { +#if MAVLINK_NEED_BYTE_SWAP + servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg); servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg); servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg); servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg); @@ -241,4 +335,8 @@ static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg); servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg); servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg); + servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg); +#else + memcpy(servo_output_raw, _MAV_PAYLOAD(msg), 21); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_altitude.h b/thirdParty/mavlink/include/common/mavlink_msg_set_altitude.h deleted file mode 100644 index 775db90e343bb67430894f9281f5ad063761f7dd..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_altitude.h +++ /dev/null @@ -1,123 +0,0 @@ -// MESSAGE SET_ALTITUDE PACKING - -#define MAVLINK_MSG_ID_SET_ALTITUDE 65 - -typedef struct __mavlink_set_altitude_t -{ - uint8_t target; ///< The system setting the altitude - uint32_t mode; ///< The new altitude in meters - -} mavlink_set_altitude_t; - - - -/** - * @brief Pack a set_altitude message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param target The system setting the altitude - * @param mode The new altitude in meters - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint32_t mode) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the altitude - i += put_uint32_t_by_index(mode, i, msg->payload); // The new altitude in meters - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a set_altitude message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target The system setting the altitude - * @param mode The new altitude in meters - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint32_t mode) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the altitude - i += put_uint32_t_by_index(mode, i, msg->payload); // The new altitude in meters - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a set_altitude 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 set_altitude C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_set_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_altitude_t* set_altitude) -{ - return mavlink_msg_set_altitude_pack(system_id, component_id, msg, set_altitude->target, set_altitude->mode); -} - -/** - * @brief Send a set_altitude message - * @param chan MAVLink channel to send the message - * - * @param target The system setting the altitude - * @param mode The new altitude in meters - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t target, uint32_t mode) -{ - mavlink_message_t msg; - mavlink_msg_set_altitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE SET_ALTITUDE UNPACKING - -/** - * @brief Get field target from set_altitude message - * - * @return The system setting the altitude - */ -static inline uint8_t mavlink_msg_set_altitude_get_target(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field mode from set_altitude message - * - * @return The new altitude in meters - */ -static inline uint32_t mavlink_msg_set_altitude_get_mode(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t))[3]; - return (uint32_t)r.i; -} - -/** - * @brief Decode a set_altitude message into a struct - * - * @param msg The message to decode - * @param set_altitude C-struct to decode the message contents into - */ -static inline void mavlink_msg_set_altitude_decode(const mavlink_message_t* msg, mavlink_set_altitude_t* set_altitude) -{ - set_altitude->target = mavlink_msg_set_altitude_get_target(msg); - set_altitude->mode = mavlink_msg_set_altitude_get_mode(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_global_position_setpoint_int.h b/thirdParty/mavlink/include/common/mavlink_msg_set_global_position_setpoint_int.h new file mode 100644 index 0000000000000000000000000000000000000000..ea34731c9eeafc0126b2caeb7ef0d77bb9992b34 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_global_position_setpoint_int.h @@ -0,0 +1,232 @@ +// MESSAGE SET_GLOBAL_POSITION_SETPOINT_INT PACKING + +#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT 53 + +typedef struct __mavlink_set_global_position_setpoint_int_t +{ + int32_t latitude; ///< WGS84 Latitude position in degrees * 1E7 + int32_t longitude; ///< WGS84 Longitude position in degrees * 1E7 + int32_t altitude; ///< WGS84 Altitude in meters * 1000 (positive for up) + int16_t yaw; ///< Desired yaw angle in degrees * 100 + uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT +} mavlink_set_global_position_setpoint_int_t; + +#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN 15 +#define MAVLINK_MSG_ID_53_LEN 15 + + + +#define MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT { \ + "SET_GLOBAL_POSITION_SETPOINT_INT", \ + 5, \ + { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_global_position_setpoint_int_t, latitude) }, \ + { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_global_position_setpoint_int_t, longitude) }, \ + { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_global_position_setpoint_int_t, altitude) }, \ + { "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_set_global_position_setpoint_int_t, yaw) }, \ + { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_set_global_position_setpoint_int_t, coordinate_frame) }, \ + } \ +} + + +/** + * @brief Pack a set_global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + * @param latitude WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _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_put_uint8_t(buf, 14, coordinate_frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 15); +#else + mavlink_set_global_position_setpoint_int_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 15); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT; + return mavlink_finalize_message(msg, system_id, component_id, 15, 33); +} + +/** + * @brief Pack a set_global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + * @param latitude WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _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_put_uint8_t(buf, 14, coordinate_frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 15); +#else + mavlink_set_global_position_setpoint_int_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 15); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15, 33); +} + +/** + * @brief Encode a set_global_position_setpoint_int 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 set_global_position_setpoint_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int) +{ + return mavlink_msg_set_global_position_setpoint_int_pack(system_id, component_id, msg, set_global_position_setpoint_int->coordinate_frame, set_global_position_setpoint_int->latitude, set_global_position_setpoint_int->longitude, set_global_position_setpoint_int->altitude, set_global_position_setpoint_int->yaw); +} + +/** + * @brief Send a set_global_position_setpoint_int message + * @param chan MAVLink channel to send the message + * + * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + * @param latitude WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _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_put_uint8_t(buf, 14, coordinate_frame); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, buf, 15, 33); +#else + mavlink_set_global_position_setpoint_int_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, 15, 33); +#endif +} + +#endif + +// MESSAGE SET_GLOBAL_POSITION_SETPOINT_INT UNPACKING + + +/** + * @brief Get field coordinate_frame from set_global_position_setpoint_int message + * + * @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + */ +static inline uint8_t mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 14); +} + +/** + * @brief Get field latitude from set_global_position_setpoint_int message + * + * @return WGS84 Latitude position in degrees * 1E7 + */ +static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field longitude from set_global_position_setpoint_int message + * + * @return WGS84 Longitude position in degrees * 1E7 + */ +static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field altitude from set_global_position_setpoint_int message + * + * @return WGS84 Altitude in meters * 1000 (positive for up) + */ +static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Get field yaw from set_global_position_setpoint_int message + * + * @return Desired yaw angle in degrees * 100 + */ +static inline int16_t mavlink_msg_set_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Decode a set_global_position_setpoint_int message into a struct + * + * @param msg The message to decode + * @param set_global_position_setpoint_int C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_global_position_setpoint_int->latitude = mavlink_msg_set_global_position_setpoint_int_get_latitude(msg); + set_global_position_setpoint_int->longitude = mavlink_msg_set_global_position_setpoint_int_get_longitude(msg); + set_global_position_setpoint_int->altitude = mavlink_msg_set_global_position_setpoint_int_get_altitude(msg); + set_global_position_setpoint_int->yaw = mavlink_msg_set_global_position_setpoint_int_get_yaw(msg); + set_global_position_setpoint_int->coordinate_frame = mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(msg); +#else + memcpy(set_global_position_setpoint_int, _MAV_PAYLOAD(msg), 15); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_gps_global_origin.h b/thirdParty/mavlink/include/common/mavlink_msg_set_gps_global_origin.h new file mode 100644 index 0000000000000000000000000000000000000000..ee6f18af567849d9b89e8597c1ae286e2a88dda9 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_gps_global_origin.h @@ -0,0 +1,210 @@ +// MESSAGE SET_GPS_GLOBAL_ORIGIN PACKING + +#define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN 48 + +typedef struct __mavlink_set_gps_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 +} mavlink_set_gps_global_origin_t; + +#define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN 13 +#define MAVLINK_MSG_ID_48_LEN 13 + + + +#define MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN { \ + "SET_GPS_GLOBAL_ORIGIN", \ + 4, \ + { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_gps_global_origin_t, latitude) }, \ + { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_gps_global_origin_t, longitude) }, \ + { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_gps_global_origin_t, altitude) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_set_gps_global_origin_t, target_system) }, \ + } \ +} + + +/** + * @brief Pack a set_gps_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 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_set_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _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); + + memcpy(_MAV_PAYLOAD(msg), buf, 13); +#else + mavlink_set_gps_global_origin_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.target_system = target_system; + + memcpy(_MAV_PAYLOAD(msg), &packet, 13); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN; + return mavlink_finalize_message(msg, system_id, component_id, 13, 41); +} + +/** + * @brief Pack a set_gps_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 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_set_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _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); + + memcpy(_MAV_PAYLOAD(msg), buf, 13); +#else + mavlink_set_gps_global_origin_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.target_system = target_system; + + memcpy(_MAV_PAYLOAD(msg), &packet, 13); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 13, 41); +} + +/** + * @brief Encode a set_gps_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 set_gps_global_origin C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_gps_global_origin_t* set_gps_global_origin) +{ + return mavlink_msg_set_gps_global_origin_pack(system_id, component_id, msg, set_gps_global_origin->target_system, set_gps_global_origin->latitude, set_gps_global_origin->longitude, set_gps_global_origin->altitude); +} + +/** + * @brief Send a set_gps_global_origin message + * @param chan MAVLink channel to send the message + * + * @param target_system System 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_set_gps_global_origin_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _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_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, buf, 13, 41); +#else + mavlink_set_gps_global_origin_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + packet.target_system = target_system; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)&packet, 13, 41); +#endif +} + +#endif + +// MESSAGE SET_GPS_GLOBAL_ORIGIN UNPACKING + + +/** + * @brief Get field target_system from set_gps_global_origin message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_set_gps_global_origin_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 12); +} + +/** + * @brief Get field latitude from set_gps_global_origin message + * + * @return global position * 1E7 + */ +static inline int32_t mavlink_msg_set_gps_global_origin_get_latitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field longitude from set_gps_global_origin message + * + * @return global position * 1E7 + */ +static inline int32_t mavlink_msg_set_gps_global_origin_get_longitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field altitude from set_gps_global_origin message + * + * @return global position * 1000 + */ +static inline int32_t mavlink_msg_set_gps_global_origin_get_altitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Decode a set_gps_global_origin message into a struct + * + * @param msg The message to decode + * @param set_gps_global_origin C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_set_gps_global_origin_t* set_gps_global_origin) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_gps_global_origin->latitude = mavlink_msg_set_gps_global_origin_get_latitude(msg); + set_gps_global_origin->longitude = mavlink_msg_set_gps_global_origin_get_longitude(msg); + set_gps_global_origin->altitude = mavlink_msg_set_gps_global_origin_get_altitude(msg); + set_gps_global_origin->target_system = mavlink_msg_set_gps_global_origin_get_target_system(msg); +#else + memcpy(set_gps_global_origin, _MAV_PAYLOAD(msg), 13); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_local_position_setpoint.h b/thirdParty/mavlink/include/common/mavlink_msg_set_local_position_setpoint.h new file mode 100644 index 0000000000000000000000000000000000000000..4024c9ef13c909f40c97c9ecfebe0aedabab16b1 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_local_position_setpoint.h @@ -0,0 +1,276 @@ +// MESSAGE SET_LOCAL_POSITION_SETPOINT PACKING + +#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT 50 + +typedef struct __mavlink_set_local_position_setpoint_t +{ + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< Desired yaw angle + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU +} mavlink_set_local_position_setpoint_t; + +#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN 19 +#define MAVLINK_MSG_ID_50_LEN 19 + + + +#define MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT { \ + "SET_LOCAL_POSITION_SETPOINT", \ + 7, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_local_position_setpoint_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_local_position_setpoint_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_local_position_setpoint_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_local_position_setpoint_t, yaw) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_local_position_setpoint_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_local_position_setpoint_t, target_component) }, \ + { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_set_local_position_setpoint_t, coordinate_frame) }, \ + } \ +} + + +/** + * @brief Pack a set_local_position_setpoint 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _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_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + _mav_put_uint8_t(buf, 18, coordinate_frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 19); +#else + mavlink_set_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 19); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 19, 214); +} + +/** + * @brief Pack a set_local_position_setpoint 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_local_position_setpoint_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,uint8_t coordinate_frame,float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _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_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + _mav_put_uint8_t(buf, 18, coordinate_frame); + + memcpy(_MAV_PAYLOAD(msg), buf, 19); +#else + mavlink_set_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD(msg), &packet, 19); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 19, 214); +} + +/** + * @brief Encode a set_local_position_setpoint 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 set_local_position_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_local_position_setpoint_t* set_local_position_setpoint) +{ + return mavlink_msg_set_local_position_setpoint_pack(system_id, component_id, msg, set_local_position_setpoint->target_system, set_local_position_setpoint->target_component, set_local_position_setpoint->coordinate_frame, set_local_position_setpoint->x, set_local_position_setpoint->y, set_local_position_setpoint->z, set_local_position_setpoint->yaw); +} + +/** + * @brief Send a set_local_position_setpoint message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_local_position_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _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_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + _mav_put_uint8_t(buf, 18, coordinate_frame); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, buf, 19, 214); +#else + mavlink_set_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, (const char *)&packet, 19, 214); +#endif +} + +#endif + +// MESSAGE SET_LOCAL_POSITION_SETPOINT UNPACKING + + +/** + * @brief Get field target_system from set_local_position_setpoint message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + +/** + * @brief Get field target_component from set_local_position_setpoint message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 17); +} + +/** + * @brief Get field coordinate_frame from set_local_position_setpoint message + * + * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + */ +static inline uint8_t mavlink_msg_set_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 18); +} + +/** + * @brief Get field x from set_local_position_setpoint message + * + * @return x position + */ +static inline float mavlink_msg_set_local_position_setpoint_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field y from set_local_position_setpoint message + * + * @return y position + */ +static inline float mavlink_msg_set_local_position_setpoint_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field z from set_local_position_setpoint message + * + * @return z position + */ +static inline float mavlink_msg_set_local_position_setpoint_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field yaw from set_local_position_setpoint message + * + * @return Desired yaw angle + */ +static inline float mavlink_msg_set_local_position_setpoint_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Decode a set_local_position_setpoint message into a struct + * + * @param msg The message to decode + * @param set_local_position_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_set_local_position_setpoint_t* set_local_position_setpoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_local_position_setpoint->x = mavlink_msg_set_local_position_setpoint_get_x(msg); + set_local_position_setpoint->y = mavlink_msg_set_local_position_setpoint_get_y(msg); + set_local_position_setpoint->z = mavlink_msg_set_local_position_setpoint_get_z(msg); + set_local_position_setpoint->yaw = mavlink_msg_set_local_position_setpoint_get_yaw(msg); + set_local_position_setpoint->target_system = mavlink_msg_set_local_position_setpoint_get_target_system(msg); + set_local_position_setpoint->target_component = mavlink_msg_set_local_position_setpoint_get_target_component(msg); + set_local_position_setpoint->coordinate_frame = mavlink_msg_set_local_position_setpoint_get_coordinate_frame(msg); +#else + memcpy(set_local_position_setpoint, _MAV_PAYLOAD(msg), 19); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h b/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h index efeea6509f070903e55a2728f123cce48810ae73..933ad67741aad828169d1e7289882472c6d5fa2b 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h @@ -2,13 +2,26 @@ #define MAVLINK_MSG_ID_SET_MODE 11 -typedef struct __mavlink_set_mode_t +typedef struct __mavlink_set_mode_t { - uint8_t target; ///< The system setting the mode - uint8_t mode; ///< The new mode - + uint16_t custom_mode; ///< The new autopilot-specific mode. This field can be ignored by an autopilot. + uint8_t target_system; ///< The system setting the mode + uint8_t base_mode; ///< The new base mode } mavlink_set_mode_t; +#define MAVLINK_MSG_ID_SET_MODE_LEN 4 +#define MAVLINK_MSG_ID_11_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_SET_MODE { \ + "SET_MODE", \ + 3, \ + { { "custom_mode", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_set_mode_t, custom_mode) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_set_mode_t, target_system) }, \ + { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_set_mode_t, base_mode) }, \ + } \ +} /** @@ -17,40 +30,67 @@ typedef struct __mavlink_set_mode_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param target The system setting the mode - * @param mode The new mode + * @param target_system The system setting the mode + * @param base_mode The new base mode + * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot. * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t mode) +static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t base_mode, uint16_t custom_mode) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_MODE; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode - i += put_uint8_t_by_index(mode, i, msg->payload); // The new mode +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, base_mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_set_mode_t packet; + packet.custom_mode = custom_mode; + packet.target_system = target_system; + packet.base_mode = base_mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SET_MODE; + return mavlink_finalize_message(msg, system_id, component_id, 4, 197); } /** - * @brief Pack a set_mode message + * @brief Pack a set_mode 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 The system setting the mode - * @param mode The new mode + * @param target_system The system setting the mode + * @param base_mode The new base mode + * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot. * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t mode) +static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t base_mode,uint16_t custom_mode) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_MODE; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode - i += put_uint8_t_by_index(mode, i, msg->payload); // The new mode +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, base_mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_set_mode_t packet; + packet.custom_mode = custom_mode; + packet.target_system = target_system; + packet.base_mode = base_mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SET_MODE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 197); } /** @@ -63,46 +103,71 @@ static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t */ static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode) { - return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target, set_mode->mode); + return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode); } /** * @brief Send a set_mode message * @param chan MAVLink channel to send the message * - * @param target The system setting the mode - * @param mode The new mode + * @param target_system The system setting the mode + * @param base_mode The new base mode + * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t mode) +static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target_system, uint8_t base_mode, uint16_t custom_mode) { - mavlink_message_t msg; - mavlink_msg_set_mode_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, base_mode); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, 4, 197); +#else + mavlink_set_mode_t packet; + packet.custom_mode = custom_mode; + packet.target_system = target_system; + packet.base_mode = base_mode; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, 4, 197); +#endif } #endif + // MESSAGE SET_MODE UNPACKING + /** - * @brief Get field target from set_mode message + * @brief Get field target_system from set_mode message * * @return The system setting the mode */ -static inline uint8_t mavlink_msg_set_mode_get_target(const mavlink_message_t* msg) +static inline uint8_t mavlink_msg_set_mode_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field base_mode from set_mode message + * + * @return The new base mode + */ +static inline uint8_t mavlink_msg_set_mode_get_base_mode(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 3); } /** - * @brief Get field mode from set_mode message + * @brief Get field custom_mode from set_mode message * - * @return The new mode + * @return The new autopilot-specific mode. This field can be ignored by an autopilot. */ -static inline uint8_t mavlink_msg_set_mode_get_mode(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_set_mode_get_custom_mode(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -113,6 +178,11 @@ static inline uint8_t mavlink_msg_set_mode_get_mode(const mavlink_message_t* msg */ static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode) { - set_mode->target = mavlink_msg_set_mode_get_target(msg); - set_mode->mode = mavlink_msg_set_mode_get_mode(msg); +#if MAVLINK_NEED_BYTE_SWAP + set_mode->custom_mode = mavlink_msg_set_mode_get_custom_mode(msg); + set_mode->target_system = mavlink_msg_set_mode_get_target_system(msg); + set_mode->base_mode = mavlink_msg_set_mode_get_base_mode(msg); +#else + memcpy(set_mode, _MAV_PAYLOAD(msg), 4); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_nav_mode.h b/thirdParty/mavlink/include/common/mavlink_msg_set_nav_mode.h deleted file mode 100644 index fe514b2ea53cebb352fc8747e8477d4797e23713..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_nav_mode.h +++ /dev/null @@ -1,118 +0,0 @@ -// MESSAGE SET_NAV_MODE PACKING - -#define MAVLINK_MSG_ID_SET_NAV_MODE 12 - -typedef struct __mavlink_set_nav_mode_t -{ - uint8_t target; ///< The system setting the mode - uint8_t nav_mode; ///< The new navigation mode - -} mavlink_set_nav_mode_t; - - - -/** - * @brief Pack a set_nav_mode message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param target The system setting the mode - * @param nav_mode The new navigation mode - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_nav_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t nav_mode) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode - i += put_uint8_t_by_index(nav_mode, i, msg->payload); // The new navigation mode - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a set_nav_mode message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target The system setting the mode - * @param nav_mode The new navigation mode - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_nav_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t nav_mode) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode - i += put_uint8_t_by_index(nav_mode, i, msg->payload); // The new navigation mode - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a set_nav_mode 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 set_nav_mode C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_set_nav_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_nav_mode_t* set_nav_mode) -{ - return mavlink_msg_set_nav_mode_pack(system_id, component_id, msg, set_nav_mode->target, set_nav_mode->nav_mode); -} - -/** - * @brief Send a set_nav_mode message - * @param chan MAVLink channel to send the message - * - * @param target The system setting the mode - * @param nav_mode The new navigation mode - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_set_nav_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t nav_mode) -{ - mavlink_message_t msg; - mavlink_msg_set_nav_mode_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, nav_mode); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE SET_NAV_MODE UNPACKING - -/** - * @brief Get field target from set_nav_mode message - * - * @return The system setting the mode - */ -static inline uint8_t mavlink_msg_set_nav_mode_get_target(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field nav_mode from set_nav_mode message - * - * @return The new navigation mode - */ -static inline uint8_t mavlink_msg_set_nav_mode_get_nav_mode(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Decode a set_nav_mode message into a struct - * - * @param msg The message to decode - * @param set_nav_mode C-struct to decode the message contents into - */ -static inline void mavlink_msg_set_nav_mode_decode(const mavlink_message_t* msg, mavlink_set_nav_mode_t* set_nav_mode) -{ - set_nav_mode->target = mavlink_msg_set_nav_mode_get_target(msg); - set_nav_mode->nav_mode = mavlink_msg_set_nav_mode_get_nav_mode(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw.h b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw.h deleted file mode 100644 index 1cc68dff921cd42edf3eb0a7a383a9821637087a..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw.h +++ /dev/null @@ -1,184 +0,0 @@ -// MESSAGE SET_ROLL_PITCH_YAW PACKING - -#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW 55 - -typedef struct __mavlink_set_roll_pitch_yaw_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - float roll; ///< Desired roll angle in radians - float pitch; ///< Desired pitch angle in radians - float yaw; ///< Desired yaw angle in radians - -} mavlink_set_roll_pitch_yaw_t; - - - -/** - * @brief Pack a set_roll_pitch_yaw 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 roll Desired roll angle in radians - * @param pitch Desired pitch angle in radians - * @param yaw Desired yaw angle in radians - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians - i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a set_roll_pitch_yaw message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @param roll Desired roll angle in radians - * @param pitch Desired pitch angle in radians - * @param yaw Desired yaw angle in radians - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_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, float roll, float pitch, float yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians - i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a set_roll_pitch_yaw 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 set_roll_pitch_yaw C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_t* set_roll_pitch_yaw) -{ - return mavlink_msg_set_roll_pitch_yaw_pack(system_id, component_id, msg, set_roll_pitch_yaw->target_system, set_roll_pitch_yaw->target_component, set_roll_pitch_yaw->roll, set_roll_pitch_yaw->pitch, set_roll_pitch_yaw->yaw); -} - -/** - * @brief Send a set_roll_pitch_yaw message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - * @param roll Desired roll angle in radians - * @param pitch Desired pitch angle in radians - * @param yaw Desired yaw angle in radians - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_set_roll_pitch_yaw_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw) -{ - mavlink_message_t msg; - mavlink_msg_set_roll_pitch_yaw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll, pitch, yaw); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE SET_ROLL_PITCH_YAW UNPACKING - -/** - * @brief Get field target_system from set_roll_pitch_yaw message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_set_roll_pitch_yaw_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from set_roll_pitch_yaw message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_set_roll_pitch_yaw_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field roll from set_roll_pitch_yaw message - * - * @return Desired roll angle in radians - */ -static inline float mavlink_msg_set_roll_pitch_yaw_get_roll(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field pitch from set_roll_pitch_yaw message - * - * @return Desired pitch angle in radians - */ -static inline float mavlink_msg_set_roll_pitch_yaw_get_pitch(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field yaw from set_roll_pitch_yaw message - * - * @return Desired yaw angle in radians - */ -static inline float mavlink_msg_set_roll_pitch_yaw_get_yaw(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a set_roll_pitch_yaw message into a struct - * - * @param msg The message to decode - * @param set_roll_pitch_yaw C-struct to decode the message contents into - */ -static inline void mavlink_msg_set_roll_pitch_yaw_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_t* set_roll_pitch_yaw) -{ - set_roll_pitch_yaw->target_system = mavlink_msg_set_roll_pitch_yaw_get_target_system(msg); - set_roll_pitch_yaw->target_component = mavlink_msg_set_roll_pitch_yaw_get_target_component(msg); - set_roll_pitch_yaw->roll = mavlink_msg_set_roll_pitch_yaw_get_roll(msg); - set_roll_pitch_yaw->pitch = mavlink_msg_set_roll_pitch_yaw_get_pitch(msg); - set_roll_pitch_yaw->yaw = mavlink_msg_set_roll_pitch_yaw_get_yaw(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed.h b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed.h deleted file mode 100644 index 7855daf765a2e176d7020e1d23295e9351c22083..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed.h +++ /dev/null @@ -1,184 +0,0 @@ -// MESSAGE SET_ROLL_PITCH_YAW_SPEED PACKING - -#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED 56 - -typedef struct __mavlink_set_roll_pitch_yaw_speed_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - float roll_speed; ///< Desired roll angular speed in rad/s - float pitch_speed; ///< Desired pitch angular speed in rad/s - float yaw_speed; ///< Desired yaw angular speed in rad/s - -} mavlink_set_roll_pitch_yaw_speed_t; - - - -/** - * @brief Pack a set_roll_pitch_yaw_speed 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 roll_speed Desired roll angular speed in rad/s - * @param pitch_speed Desired pitch angular speed in rad/s - * @param yaw_speed Desired yaw angular speed in rad/s - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s - i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s - i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a set_roll_pitch_yaw_speed message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @param roll_speed Desired roll angular speed in rad/s - * @param pitch_speed Desired pitch angular speed in rad/s - * @param yaw_speed Desired yaw angular speed in rad/s - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_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, float roll_speed, float pitch_speed, float yaw_speed) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s - i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s - i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a set_roll_pitch_yaw_speed 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 set_roll_pitch_yaw_speed C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_speed_t* set_roll_pitch_yaw_speed) -{ - return mavlink_msg_set_roll_pitch_yaw_speed_pack(system_id, component_id, msg, set_roll_pitch_yaw_speed->target_system, set_roll_pitch_yaw_speed->target_component, set_roll_pitch_yaw_speed->roll_speed, set_roll_pitch_yaw_speed->pitch_speed, set_roll_pitch_yaw_speed->yaw_speed); -} - -/** - * @brief Send a set_roll_pitch_yaw_speed message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - * @param roll_speed Desired roll angular speed in rad/s - * @param pitch_speed Desired pitch angular speed in rad/s - * @param yaw_speed Desired yaw angular speed in rad/s - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_set_roll_pitch_yaw_speed_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed) -{ - mavlink_message_t msg; - mavlink_msg_set_roll_pitch_yaw_speed_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll_speed, pitch_speed, yaw_speed); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE SET_ROLL_PITCH_YAW_SPEED UNPACKING - -/** - * @brief Get field target_system from set_roll_pitch_yaw_speed message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from set_roll_pitch_yaw_speed message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field roll_speed from set_roll_pitch_yaw_speed message - * - * @return Desired roll angular speed in rad/s - */ -static inline float mavlink_msg_set_roll_pitch_yaw_speed_get_roll_speed(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field pitch_speed from set_roll_pitch_yaw_speed message - * - * @return Desired pitch angular speed in rad/s - */ -static inline float mavlink_msg_set_roll_pitch_yaw_speed_get_pitch_speed(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field yaw_speed from set_roll_pitch_yaw_speed message - * - * @return Desired yaw angular speed in rad/s - */ -static inline float mavlink_msg_set_roll_pitch_yaw_speed_get_yaw_speed(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a set_roll_pitch_yaw_speed message into a struct - * - * @param msg The message to decode - * @param set_roll_pitch_yaw_speed C-struct to decode the message contents into - */ -static inline void mavlink_msg_set_roll_pitch_yaw_speed_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_speed_t* set_roll_pitch_yaw_speed) -{ - set_roll_pitch_yaw_speed->target_system = mavlink_msg_set_roll_pitch_yaw_speed_get_target_system(msg); - set_roll_pitch_yaw_speed->target_component = mavlink_msg_set_roll_pitch_yaw_speed_get_target_component(msg); - set_roll_pitch_yaw_speed->roll_speed = mavlink_msg_set_roll_pitch_yaw_speed_get_roll_speed(msg); - set_roll_pitch_yaw_speed->pitch_speed = mavlink_msg_set_roll_pitch_yaw_speed_get_pitch_speed(msg); - set_roll_pitch_yaw_speed->yaw_speed = mavlink_msg_set_roll_pitch_yaw_speed_get_yaw_speed(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h index dd12ea4cb09bc882873096c2ecb606019c2e3f31..0141f77520e5188d38340849de2ee212cecd4682 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h @@ -1,18 +1,33 @@ // MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST PACKING -#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST 56 +#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST 57 -typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t +typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - float roll_speed; ///< Desired roll angular speed in rad/s - float pitch_speed; ///< Desired pitch angular speed in rad/s - float yaw_speed; ///< Desired yaw angular speed in rad/s - float thrust; ///< Collective thrust, normalized to 0 .. 1 - + float roll_speed; ///< Desired roll angular speed in rad/s + float pitch_speed; ///< Desired pitch angular speed in rad/s + float yaw_speed; ///< Desired yaw angular speed in rad/s + float thrust; ///< Collective thrust, normalized to 0 .. 1 + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID } mavlink_set_roll_pitch_yaw_speed_thrust_t; +#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN 18 +#define MAVLINK_MSG_ID_57_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST { \ + "SET_ROLL_PITCH_YAW_SPEED_THRUST", \ + 6, \ + { { "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, roll_speed) }, \ + { "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, pitch_speed) }, \ + { "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, yaw_speed) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, thrust) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_component) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s - i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s - i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s - i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, roll_speed); + _mav_put_float(buf, 4, pitch_speed); + _mav_put_float(buf, 8, yaw_speed); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_set_roll_pitch_yaw_speed_thrust_t packet; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST; + return mavlink_finalize_message(msg, system_id, component_id, 18, 24); } /** - * @brief Pack a set_roll_pitch_yaw_speed_thrust message + * @brief Pack a set_roll_pitch_yaw_speed_thrust 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 @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_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, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_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,float roll_speed,float pitch_speed,float yaw_speed,float thrust) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s - i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s - i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s - i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, roll_speed); + _mav_put_float(buf, 4, pitch_speed); + _mav_put_float(buf, 8, yaw_speed); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_set_roll_pitch_yaw_speed_thrust_t packet; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 24); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(uint8_ static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust) { - mavlink_message_t msg; - mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, roll_speed); + _mav_put_float(buf, 4, pitch_speed); + _mav_put_float(buf, 8, yaw_speed); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, buf, 18, 24); +#else + mavlink_set_roll_pitch_yaw_speed_thrust_t packet; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, (const char *)&packet, 18, 24); +#endif } #endif + // MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST UNPACKING + /** * @brief Get field target_system from set_roll_pitch_yaw_speed_thrust message * @@ -116,7 +180,7 @@ static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_chan */ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 16); } /** @@ -126,7 +190,7 @@ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_sys */ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 17); } /** @@ -136,12 +200,7 @@ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_com */ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -151,12 +210,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(c */ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -166,12 +220,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed( */ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -181,12 +230,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(co */ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -197,10 +241,14 @@ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(const */ static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust) { - set_roll_pitch_yaw_speed_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(msg); - set_roll_pitch_yaw_speed_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(msg); +#if MAVLINK_NEED_BYTE_SWAP set_roll_pitch_yaw_speed_thrust->roll_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(msg); set_roll_pitch_yaw_speed_thrust->pitch_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(msg); set_roll_pitch_yaw_speed_thrust->yaw_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(msg); set_roll_pitch_yaw_speed_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(msg); + set_roll_pitch_yaw_speed_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(msg); + set_roll_pitch_yaw_speed_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(msg); +#else + memcpy(set_roll_pitch_yaw_speed_thrust, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h index 7bf7d26247de458a5c10f7600da0358d7924e659..453cf7b9c8b9f8c88143c55b2e25b646627603d6 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h @@ -1,18 +1,33 @@ // MESSAGE SET_ROLL_PITCH_YAW_THRUST PACKING -#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST 55 +#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST 56 -typedef struct __mavlink_set_roll_pitch_yaw_thrust_t +typedef struct __mavlink_set_roll_pitch_yaw_thrust_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - float roll; ///< Desired roll angle in radians - float pitch; ///< Desired pitch angle in radians - float yaw; ///< Desired yaw angle in radians - float thrust; ///< Collective thrust, normalized to 0 .. 1 - + float roll; ///< Desired roll angle in radians + float pitch; ///< Desired pitch angle in radians + float yaw; ///< Desired yaw angle in radians + float thrust; ///< Collective thrust, normalized to 0 .. 1 + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID } mavlink_set_roll_pitch_yaw_thrust_t; +#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN 18 +#define MAVLINK_MSG_ID_56_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST { \ + "SET_ROLL_PITCH_YAW_THRUST", \ + 6, \ + { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, thrust) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_component) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_set_roll_pitch_yaw_thrust_t * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust) +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians - i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians - i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_set_roll_pitch_yaw_thrust_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST; + return mavlink_finalize_message(msg, system_id, component_id, 18, 100); } /** - * @brief Pack a set_roll_pitch_yaw_thrust message + * @brief Pack a set_roll_pitch_yaw_thrust 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 @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_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, float roll, float pitch, float yaw, float thrust) +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_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,float roll,float pitch,float yaw,float thrust) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians - i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians - i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians - i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_set_roll_pitch_yaw_thrust_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 100); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_encode(uint8_t syst static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust) { - mavlink_message_t msg; - mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll, pitch, yaw, thrust); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, buf, 18, 100); +#else + mavlink_set_roll_pitch_yaw_thrust_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 18, 100); +#endif } #endif + // MESSAGE SET_ROLL_PITCH_YAW_THRUST UNPACKING + /** * @brief Get field target_system from set_roll_pitch_yaw_thrust message * @@ -116,7 +180,7 @@ static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t */ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 16); } /** @@ -126,7 +190,7 @@ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(co */ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 17); } /** @@ -136,12 +200,7 @@ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component */ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -151,12 +210,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(const mavlink */ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -166,12 +220,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(const mavlin */ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -181,12 +230,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(const mavlink_ */ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -197,10 +241,14 @@ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(const mavli */ static inline void mavlink_msg_set_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust) { - set_roll_pitch_yaw_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(msg); - set_roll_pitch_yaw_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(msg); +#if MAVLINK_NEED_BYTE_SWAP set_roll_pitch_yaw_thrust->roll = mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(msg); set_roll_pitch_yaw_thrust->pitch = mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(msg); set_roll_pitch_yaw_thrust->yaw = mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(msg); set_roll_pitch_yaw_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(msg); + set_roll_pitch_yaw_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(msg); + set_roll_pitch_yaw_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(msg); +#else + memcpy(set_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h b/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h index c4c6b5abc9e36a7d3bbca3e4b3bb7610c30410c1..7dea690d292725dce5b28b8335ce0891410d2e46 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h @@ -2,20 +2,38 @@ #define MAVLINK_MSG_ID_STATE_CORRECTION 64 -typedef struct __mavlink_state_correction_t +typedef struct __mavlink_state_correction_t { - float xErr; ///< x position error - float yErr; ///< y position error - float zErr; ///< z position error - float rollErr; ///< roll error (radians) - float pitchErr; ///< pitch error (radians) - float yawErr; ///< yaw error (radians) - float vxErr; ///< x velocity - float vyErr; ///< y velocity - float vzErr; ///< z velocity - + float xErr; ///< x position error + float yErr; ///< y position error + float zErr; ///< z position error + float rollErr; ///< roll error (radians) + float pitchErr; ///< pitch error (radians) + float yawErr; ///< yaw error (radians) + float vxErr; ///< x velocity + float vyErr; ///< y velocity + float vzErr; ///< z velocity } mavlink_state_correction_t; +#define MAVLINK_MSG_ID_STATE_CORRECTION_LEN 36 +#define MAVLINK_MSG_ID_64_LEN 36 + + + +#define MAVLINK_MESSAGE_INFO_STATE_CORRECTION { \ + "STATE_CORRECTION", \ + 9, \ + { { "xErr", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_state_correction_t, xErr) }, \ + { "yErr", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_state_correction_t, yErr) }, \ + { "zErr", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_state_correction_t, zErr) }, \ + { "rollErr", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_state_correction_t, rollErr) }, \ + { "pitchErr", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_state_correction_t, pitchErr) }, \ + { "yawErr", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_state_correction_t, yawErr) }, \ + { "vxErr", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_state_correction_t, vxErr) }, \ + { "vyErr", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_state_correction_t, vyErr) }, \ + { "vzErr", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_state_correction_t, vzErr) }, \ + } \ +} /** @@ -35,26 +53,43 @@ typedef struct __mavlink_state_correction_t * @param vzErr z velocity * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr) +static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_float(buf, 0, xErr); + _mav_put_float(buf, 4, yErr); + _mav_put_float(buf, 8, zErr); + _mav_put_float(buf, 12, rollErr); + _mav_put_float(buf, 16, pitchErr); + _mav_put_float(buf, 20, yawErr); + _mav_put_float(buf, 24, vxErr); + _mav_put_float(buf, 28, vyErr); + _mav_put_float(buf, 32, vzErr); - i += put_float_by_index(xErr, i, msg->payload); // x position error - i += put_float_by_index(yErr, i, msg->payload); // y position error - i += put_float_by_index(zErr, i, msg->payload); // z position error - i += put_float_by_index(rollErr, i, msg->payload); // roll error (radians) - i += put_float_by_index(pitchErr, i, msg->payload); // pitch error (radians) - i += put_float_by_index(yawErr, i, msg->payload); // yaw error (radians) - i += put_float_by_index(vxErr, i, msg->payload); // x velocity - i += put_float_by_index(vyErr, i, msg->payload); // y velocity - i += put_float_by_index(vzErr, i, msg->payload); // z velocity - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_state_correction_t packet; + packet.xErr = xErr; + packet.yErr = yErr; + packet.zErr = zErr; + packet.rollErr = rollErr; + packet.pitchErr = pitchErr; + packet.yawErr = yawErr; + packet.vxErr = vxErr; + packet.vyErr = vyErr; + packet.vzErr = vzErr; + + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION; + return mavlink_finalize_message(msg, system_id, component_id, 36, 130); } /** - * @brief Pack a state_correction message + * @brief Pack a state_correction 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 @@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint * @param vzErr z velocity * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr) +static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float xErr,float yErr,float zErr,float rollErr,float pitchErr,float yawErr,float vxErr,float vyErr,float vzErr) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_float(buf, 0, xErr); + _mav_put_float(buf, 4, yErr); + _mav_put_float(buf, 8, zErr); + _mav_put_float(buf, 12, rollErr); + _mav_put_float(buf, 16, pitchErr); + _mav_put_float(buf, 20, yawErr); + _mav_put_float(buf, 24, vxErr); + _mav_put_float(buf, 28, vyErr); + _mav_put_float(buf, 32, vzErr); + + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_state_correction_t packet; + packet.xErr = xErr; + packet.yErr = yErr; + packet.zErr = zErr; + packet.rollErr = rollErr; + packet.pitchErr = pitchErr; + packet.yawErr = yawErr; + packet.vxErr = vxErr; + packet.vyErr = vyErr; + packet.vzErr = vzErr; + + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif - i += put_float_by_index(xErr, i, msg->payload); // x position error - i += put_float_by_index(yErr, i, msg->payload); // y position error - i += put_float_by_index(zErr, i, msg->payload); // z position error - i += put_float_by_index(rollErr, i, msg->payload); // roll error (radians) - i += put_float_by_index(pitchErr, i, msg->payload); // pitch error (radians) - i += put_float_by_index(yawErr, i, msg->payload); // yaw error (radians) - i += put_float_by_index(vxErr, i, msg->payload); // x velocity - i += put_float_by_index(vyErr, i, msg->payload); // y velocity - i += put_float_by_index(vzErr, i, msg->payload); // z velocity - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 130); } /** @@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_state_correction_encode(uint8_t system_id, ui static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr) { - mavlink_message_t msg; - mavlink_msg_state_correction_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_float(buf, 0, xErr); + _mav_put_float(buf, 4, yErr); + _mav_put_float(buf, 8, zErr); + _mav_put_float(buf, 12, rollErr); + _mav_put_float(buf, 16, pitchErr); + _mav_put_float(buf, 20, yawErr); + _mav_put_float(buf, 24, vxErr); + _mav_put_float(buf, 28, vyErr); + _mav_put_float(buf, 32, vzErr); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, buf, 36, 130); +#else + mavlink_state_correction_t packet; + packet.xErr = xErr; + packet.yErr = yErr; + packet.zErr = zErr; + packet.rollErr = rollErr; + packet.pitchErr = pitchErr; + packet.yawErr = yawErr; + packet.vxErr = vxErr; + packet.vyErr = vyErr; + packet.vzErr = vzErr; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, (const char *)&packet, 36, 130); +#endif } #endif + // MESSAGE STATE_CORRECTION UNPACKING + /** * @brief Get field xErr from state_correction message * @@ -134,12 +213,7 @@ static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, flo */ static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -149,12 +223,7 @@ static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_ */ static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -164,12 +233,7 @@ static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_ */ static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -179,12 +243,7 @@ static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_ */ static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -194,12 +253,7 @@ static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_messa */ static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -209,12 +263,7 @@ static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_mess */ static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -224,12 +273,7 @@ static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_messag */ static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -239,12 +283,7 @@ static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message */ static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 28); } /** @@ -254,12 +293,7 @@ static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message */ static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 32); } /** @@ -270,6 +304,7 @@ static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message */ static inline void mavlink_msg_state_correction_decode(const mavlink_message_t* msg, mavlink_state_correction_t* state_correction) { +#if MAVLINK_NEED_BYTE_SWAP state_correction->xErr = mavlink_msg_state_correction_get_xErr(msg); state_correction->yErr = mavlink_msg_state_correction_get_yErr(msg); state_correction->zErr = mavlink_msg_state_correction_get_zErr(msg); @@ -279,4 +314,7 @@ static inline void mavlink_msg_state_correction_decode(const mavlink_message_t* state_correction->vxErr = mavlink_msg_state_correction_get_vxErr(msg); state_correction->vyErr = mavlink_msg_state_correction_get_vyErr(msg); state_correction->vzErr = mavlink_msg_state_correction_get_vzErr(msg); +#else + memcpy(state_correction, _MAV_PAYLOAD(msg), 36); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_statustext.h b/thirdParty/mavlink/include/common/mavlink_msg_statustext.h index 681b659c4d2c75aa1c27de58bdcb0a9efadcab70..90271de8d1d174732b7975a005d94c22177e0fe9 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_statustext.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_statustext.h @@ -1,16 +1,26 @@ // MESSAGE STATUSTEXT PACKING -#define MAVLINK_MSG_ID_STATUSTEXT 254 +#define MAVLINK_MSG_ID_STATUSTEXT 253 -typedef struct __mavlink_statustext_t +typedef struct __mavlink_statustext_t { - uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault - int8_t text[50]; ///< Status text message, without null termination character - + uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault + char text[50]; ///< Status text message, without null termination character } mavlink_statustext_t; +#define MAVLINK_MSG_ID_STATUSTEXT_LEN 51 +#define MAVLINK_MSG_ID_253_LEN 51 + #define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50 +#define MAVLINK_MESSAGE_INFO_STATUSTEXT { \ + "STATUSTEXT", \ + 2, \ + { { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \ + { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \ + } \ +} + /** * @brief Pack a statustext message @@ -22,19 +32,27 @@ typedef struct __mavlink_statustext_t * @param text Status text message, without null termination character * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t severity, const int8_t* text) +static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t severity, const char *text) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; - - i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault - i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[51]; + _mav_put_uint8_t(buf, 0, severity); + _mav_put_char_array(buf, 1, text, 50); + memcpy(_MAV_PAYLOAD(msg), buf, 51); +#else + mavlink_statustext_t packet; + packet.severity = severity; + memcpy(packet.text, text, sizeof(char)*50); + memcpy(_MAV_PAYLOAD(msg), &packet, 51); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; + return mavlink_finalize_message(msg, system_id, component_id, 51, 83); } /** - * @brief Pack a statustext message + * @brief Pack a statustext 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 @@ -43,15 +61,24 @@ static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t co * @param text Status text message, without null termination character * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t severity, const int8_t* text) +static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t severity,const char *text) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; - - i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault - i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[51]; + _mav_put_uint8_t(buf, 0, severity); + _mav_put_char_array(buf, 1, text, 50); + memcpy(_MAV_PAYLOAD(msg), buf, 51); +#else + mavlink_statustext_t packet; + packet.severity = severity; + memcpy(packet.text, text, sizeof(char)*50); + memcpy(_MAV_PAYLOAD(msg), &packet, 51); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 51, 83); } /** @@ -76,16 +103,26 @@ static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t* text) +static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text) { - mavlink_message_t msg; - mavlink_msg_statustext_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, severity, text); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[51]; + _mav_put_uint8_t(buf, 0, severity); + _mav_put_char_array(buf, 1, text, 50); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, 51, 83); +#else + mavlink_statustext_t packet; + packet.severity = severity; + memcpy(packet.text, text, sizeof(char)*50); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, 51, 83); +#endif } #endif + // MESSAGE STATUSTEXT UNPACKING + /** * @brief Get field severity from statustext message * @@ -93,7 +130,7 @@ static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t s */ static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 0); } /** @@ -101,11 +138,9 @@ static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_ * * @return Status text message, without null termination character */ -static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, char *text) { - - memcpy(r_data, msg->payload+sizeof(uint8_t), sizeof(int8_t)*50); - return sizeof(int8_t)*50; + return _MAV_RETURN_char_array(msg, text, 50, 1); } /** @@ -116,6 +151,10 @@ static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* */ static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext) { +#if MAVLINK_NEED_BYTE_SWAP statustext->severity = mavlink_msg_statustext_get_severity(msg); mavlink_msg_statustext_get_text(msg, statustext->text); +#else + memcpy(statustext, _MAV_PAYLOAD(msg), 51); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h b/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h index ef83d844813b07c3a0692b704e232894e58e1510..adada471d1d8a3b11b1516f72f143832209f2fe3 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h @@ -1,19 +1,47 @@ // MESSAGE SYS_STATUS PACKING -#define MAVLINK_MSG_ID_SYS_STATUS 34 +#define MAVLINK_MSG_ID_SYS_STATUS 1 -typedef struct __mavlink_sys_status_t +typedef struct __mavlink_sys_status_t { - uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM - uint8_t status; ///< System status flag, see MAV_STATUS ENUM - uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt) - uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000) - uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV) - + uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + uint16_t voltage_battery; ///< Battery voltage, in millivolts (1 = 1 millivolt) + int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + uint16_t drop_rate_comm; ///< Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + uint16_t errors_comm; ///< Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + uint16_t errors_count1; ///< Autopilot-specific errors + uint16_t errors_count2; ///< Autopilot-specific errors + uint16_t errors_count3; ///< Autopilot-specific errors + uint16_t errors_count4; ///< Autopilot-specific errors + int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery } mavlink_sys_status_t; +#define MAVLINK_MSG_ID_SYS_STATUS_LEN 31 +#define MAVLINK_MSG_ID_1_LEN 31 + + + +#define MAVLINK_MESSAGE_INFO_SYS_STATUS { \ + "SYS_STATUS", \ + 13, \ + { { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \ + { "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \ + { "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \ + { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \ + { "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \ + { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \ + { "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \ + { "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \ + { "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \ + { "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \ + { "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \ + { "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \ + { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \ + } \ +} /** @@ -22,60 +50,127 @@ typedef struct __mavlink_sys_status_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM - * @param status System status flag, see MAV_STATUS ENUM + * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) - * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) - * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) + * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) + * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery + * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_count1 Autopilot-specific errors + * @param errors_count2 Autopilot-specific errors + * @param errors_count3 Autopilot-specific errors + * @param errors_count4 Autopilot-specific errors * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop) +static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[31]; + _mav_put_uint32_t(buf, 0, onboard_control_sensors_present); + _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled); + _mav_put_uint32_t(buf, 8, onboard_control_sensors_health); + _mav_put_uint16_t(buf, 12, load); + _mav_put_uint16_t(buf, 14, voltage_battery); + _mav_put_int16_t(buf, 16, current_battery); + _mav_put_uint16_t(buf, 18, drop_rate_comm); + _mav_put_uint16_t(buf, 20, errors_comm); + _mav_put_uint16_t(buf, 22, errors_count1); + _mav_put_uint16_t(buf, 24, errors_count2); + _mav_put_uint16_t(buf, 26, errors_count3); + _mav_put_uint16_t(buf, 28, errors_count4); + _mav_put_int8_t(buf, 30, battery_remaining); + + memcpy(_MAV_PAYLOAD(msg), buf, 31); +#else + mavlink_sys_status_t packet; + packet.onboard_control_sensors_present = onboard_control_sensors_present; + packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled; + packet.onboard_control_sensors_health = onboard_control_sensors_health; + packet.load = load; + packet.voltage_battery = voltage_battery; + packet.current_battery = current_battery; + packet.drop_rate_comm = drop_rate_comm; + packet.errors_comm = errors_comm; + packet.errors_count1 = errors_count1; + packet.errors_count2 = errors_count2; + packet.errors_count3 = errors_count3; + packet.errors_count4 = errors_count4; + packet.battery_remaining = battery_remaining; - i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM - i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM - i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt) - i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000) - i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV) + memcpy(_MAV_PAYLOAD(msg), &packet, 31); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 31, 124); } /** - * @brief Pack a sys_status message + * @brief Pack a sys_status 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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM - * @param status System status flag, see MAV_STATUS ENUM + * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) - * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) - * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) + * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) + * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery + * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_count1 Autopilot-specific errors + * @param errors_count2 Autopilot-specific errors + * @param errors_count3 Autopilot-specific errors + * @param errors_count4 Autopilot-specific errors * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop) +static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t onboard_control_sensors_present,uint32_t onboard_control_sensors_enabled,uint32_t onboard_control_sensors_health,uint16_t load,uint16_t voltage_battery,int16_t current_battery,int8_t battery_remaining,uint16_t drop_rate_comm,uint16_t errors_comm,uint16_t errors_count1,uint16_t errors_count2,uint16_t errors_count3,uint16_t errors_count4) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[31]; + _mav_put_uint32_t(buf, 0, onboard_control_sensors_present); + _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled); + _mav_put_uint32_t(buf, 8, onboard_control_sensors_health); + _mav_put_uint16_t(buf, 12, load); + _mav_put_uint16_t(buf, 14, voltage_battery); + _mav_put_int16_t(buf, 16, current_battery); + _mav_put_uint16_t(buf, 18, drop_rate_comm); + _mav_put_uint16_t(buf, 20, errors_comm); + _mav_put_uint16_t(buf, 22, errors_count1); + _mav_put_uint16_t(buf, 24, errors_count2); + _mav_put_uint16_t(buf, 26, errors_count3); + _mav_put_uint16_t(buf, 28, errors_count4); + _mav_put_int8_t(buf, 30, battery_remaining); - i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM - i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM - i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt) - i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000) - i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV) + memcpy(_MAV_PAYLOAD(msg), buf, 31); +#else + mavlink_sys_status_t packet; + packet.onboard_control_sensors_present = onboard_control_sensors_present; + packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled; + packet.onboard_control_sensors_health = onboard_control_sensors_health; + packet.load = load; + packet.voltage_battery = voltage_battery; + packet.current_battery = current_battery; + packet.drop_rate_comm = drop_rate_comm; + packet.errors_comm = errors_comm; + packet.errors_count1 = errors_count1; + packet.errors_count2 = errors_count2; + packet.errors_count3 = errors_count3; + packet.errors_count4 = errors_count4; + packet.battery_remaining = battery_remaining; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 31); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 31, 124); } /** @@ -88,61 +183,101 @@ static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8 */ static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status) { - return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->mode, sys_status->nav_mode, sys_status->status, sys_status->load, sys_status->vbat, sys_status->battery_remaining, sys_status->packet_drop); + return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4); } /** * @brief Send a sys_status message * @param chan MAVLink channel to send the message * - * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM - * @param status System status flag, see MAV_STATUS ENUM + * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) - * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) - * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) + * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) + * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery + * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_count1 Autopilot-specific errors + * @param errors_count2 Autopilot-specific errors + * @param errors_count3 Autopilot-specific errors + * @param errors_count4 Autopilot-specific errors */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop) +static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4) { - mavlink_message_t msg; - mavlink_msg_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[31]; + _mav_put_uint32_t(buf, 0, onboard_control_sensors_present); + _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled); + _mav_put_uint32_t(buf, 8, onboard_control_sensors_health); + _mav_put_uint16_t(buf, 12, load); + _mav_put_uint16_t(buf, 14, voltage_battery); + _mav_put_int16_t(buf, 16, current_battery); + _mav_put_uint16_t(buf, 18, drop_rate_comm); + _mav_put_uint16_t(buf, 20, errors_comm); + _mav_put_uint16_t(buf, 22, errors_count1); + _mav_put_uint16_t(buf, 24, errors_count2); + _mav_put_uint16_t(buf, 26, errors_count3); + _mav_put_uint16_t(buf, 28, errors_count4); + _mav_put_int8_t(buf, 30, battery_remaining); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, 31, 124); +#else + mavlink_sys_status_t packet; + packet.onboard_control_sensors_present = onboard_control_sensors_present; + packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled; + packet.onboard_control_sensors_health = onboard_control_sensors_health; + packet.load = load; + packet.voltage_battery = voltage_battery; + packet.current_battery = current_battery; + packet.drop_rate_comm = drop_rate_comm; + packet.errors_comm = errors_comm; + packet.errors_count1 = errors_count1; + packet.errors_count2 = errors_count2; + packet.errors_count3 = errors_count3; + packet.errors_count4 = errors_count4; + packet.battery_remaining = battery_remaining; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, 31, 124); +#endif } #endif + // MESSAGE SYS_STATUS UNPACKING + /** - * @brief Get field mode from sys_status message + * @brief Get field onboard_control_sensors_present from sys_status message * - * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + * @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control */ -static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint32_t(msg, 0); } /** - * @brief Get field nav_mode from sys_status message + * @brief Get field onboard_control_sensors_enabled from sys_status message * - * @return Navigation mode, see MAV_NAV_MODE ENUM + * @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control */ -static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint32_t(msg, 4); } /** - * @brief Get field status from sys_status message + * @brief Get field onboard_control_sensors_health from sys_status message * - * @return System status flag, see MAV_STATUS ENUM + * @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control */ -static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint32_t(msg, 8); } /** @@ -152,49 +287,97 @@ static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* */ static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 12); } /** - * @brief Get field vbat from sys_status message + * @brief Get field voltage_battery from sys_status message * * @return Battery voltage, in millivolts (1 = 1 millivolt) */ -static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 14); +} + +/** + * @brief Get field current_battery from sys_status message + * + * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + */ +static inline int16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_int16_t(msg, 16); } /** * @brief Get field battery_remaining from sys_status message * - * @return Remaining battery energy: (0%: 0, 100%: 1000) + * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery + */ +static inline int8_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int8_t(msg, 30); +} + +/** + * @brief Get field drop_rate_comm from sys_status message + * + * @return Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + */ +static inline uint16_t mavlink_msg_sys_status_get_drop_rate_comm(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 18); +} + +/** + * @brief Get field errors_comm from sys_status message + * + * @return Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + */ +static inline uint16_t mavlink_msg_sys_status_get_errors_comm(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 20); +} + +/** + * @brief Get field errors_count1 from sys_status message + * + * @return Autopilot-specific errors + */ +static inline uint16_t mavlink_msg_sys_status_get_errors_count1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 22); +} + +/** + * @brief Get field errors_count2 from sys_status message + * + * @return Autopilot-specific errors */ -static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_sys_status_get_errors_count2(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 24); } /** - * @brief Get field packet_drop from sys_status message + * @brief Get field errors_count3 from sys_status message * - * @return Dropped packets (packets that were corrupted on reception on the MAV) + * @return Autopilot-specific errors */ -static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_sys_status_get_errors_count3(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 26); +} + +/** + * @brief Get field errors_count4 from sys_status message + * + * @return Autopilot-specific errors + */ +static inline uint16_t mavlink_msg_sys_status_get_errors_count4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 28); } /** @@ -205,11 +388,21 @@ static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_mess */ static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status) { - sys_status->mode = mavlink_msg_sys_status_get_mode(msg); - sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg); - sys_status->status = mavlink_msg_sys_status_get_status(msg); +#if MAVLINK_NEED_BYTE_SWAP + sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg); + sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg); + sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg); sys_status->load = mavlink_msg_sys_status_get_load(msg); - sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg); + sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg); + sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg); + sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg); + sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg); + sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg); + sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg); + sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg); + sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg); sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg); - sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg); +#else + memcpy(sys_status, _MAV_PAYLOAD(msg), 31); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_system_time.h b/thirdParty/mavlink/include/common/mavlink_msg_system_time.h index d293f025bfc5937c253e1e78747c61720b88f436..a46db49c31a6bf0b1733993ce6b24b2dfbb7fe38 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_system_time.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_system_time.h @@ -2,12 +2,24 @@ #define MAVLINK_MSG_ID_SYSTEM_TIME 2 -typedef struct __mavlink_system_time_t +typedef struct __mavlink_system_time_t { - uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch. - + uint64_t time_unix_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch. + uint32_t time_boot_ms; ///< Timestamp of the component clock since boot time in milliseconds. } mavlink_system_time_t; +#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12 +#define MAVLINK_MSG_ID_2_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \ + "SYSTEM_TIME", \ + 2, \ + { { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \ + { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \ + } \ +} /** @@ -16,36 +28,61 @@ typedef struct __mavlink_system_time_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec) +static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_unix_usec, uint32_t time_boot_ms) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; - - i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch. +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint64_t(buf, 0, time_unix_usec); + _mav_put_uint32_t(buf, 8, time_boot_ms); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_system_time_t packet; + packet.time_unix_usec = time_unix_usec; + packet.time_boot_ms = time_boot_ms; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; + return mavlink_finalize_message(msg, system_id, component_id, 12, 137); } /** - * @brief Pack a system_time message + * @brief Pack a system_time 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 time_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec) +static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_unix_usec,uint32_t time_boot_ms) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; - - i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch. +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint64_t(buf, 0, time_unix_usec); + _mav_put_uint32_t(buf, 8, time_boot_ms); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_system_time_t packet; + packet.time_unix_usec = time_unix_usec; + packet.time_boot_ms = time_boot_ms; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 137); } /** @@ -58,44 +95,58 @@ static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint */ static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time) { - return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_usec); + return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_unix_usec, system_time->time_boot_ms); } /** * @brief Send a system_time message * @param chan MAVLink channel to send the message * - * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec) +static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms) { - mavlink_message_t msg; - mavlink_msg_system_time_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_usec); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint64_t(buf, 0, time_unix_usec); + _mav_put_uint32_t(buf, 8, time_boot_ms); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, 12, 137); +#else + mavlink_system_time_t packet; + packet.time_unix_usec = time_unix_usec; + packet.time_boot_ms = time_boot_ms; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, 12, 137); +#endif } #endif + // MESSAGE SYSTEM_TIME UNPACKING + /** - * @brief Get field time_usec from system_time message + * @brief Get field time_unix_usec from system_time message * * @return Timestamp of the master clock in microseconds since UNIX epoch. */ -static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_system_time_get_time_unix_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field time_boot_ms from system_time message + * + * @return Timestamp of the component clock since boot time in milliseconds. + */ +static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint32_t(msg, 8); } /** @@ -106,5 +157,10 @@ static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_messa */ static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time) { - system_time->time_usec = mavlink_msg_system_time_get_time_usec(msg); +#if MAVLINK_NEED_BYTE_SWAP + system_time->time_unix_usec = mavlink_msg_system_time_get_time_unix_usec(msg); + system_time->time_boot_ms = mavlink_msg_system_time_get_time_boot_ms(msg); +#else + memcpy(system_time, _MAV_PAYLOAD(msg), 12); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_system_time_utc.h b/thirdParty/mavlink/include/common/mavlink_msg_system_time_utc.h deleted file mode 100644 index 75c25f1ced937bd7d13bfdfa91f07bf7601200f5..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_system_time_utc.h +++ /dev/null @@ -1,128 +0,0 @@ -// MESSAGE SYSTEM_TIME_UTC PACKING - -#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC 4 - -typedef struct __mavlink_system_time_utc_t -{ - uint32_t utc_date; ///< GPS UTC date ddmmyy - uint32_t utc_time; ///< GPS UTC time hhmmss - -} mavlink_system_time_utc_t; - - - -/** - * @brief Pack a system_time_utc 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 utc_date GPS UTC date ddmmyy - * @param utc_time GPS UTC time hhmmss - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_system_time_utc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t utc_date, uint32_t utc_time) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC; - - i += put_uint32_t_by_index(utc_date, i, msg->payload); // GPS UTC date ddmmyy - i += put_uint32_t_by_index(utc_time, i, msg->payload); // GPS UTC time hhmmss - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a system_time_utc message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param utc_date GPS UTC date ddmmyy - * @param utc_time GPS UTC time hhmmss - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_system_time_utc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t utc_date, uint32_t utc_time) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC; - - i += put_uint32_t_by_index(utc_date, i, msg->payload); // GPS UTC date ddmmyy - i += put_uint32_t_by_index(utc_time, i, msg->payload); // GPS UTC time hhmmss - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a system_time_utc 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 system_time_utc C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_system_time_utc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_utc_t* system_time_utc) -{ - return mavlink_msg_system_time_utc_pack(system_id, component_id, msg, system_time_utc->utc_date, system_time_utc->utc_time); -} - -/** - * @brief Send a system_time_utc message - * @param chan MAVLink channel to send the message - * - * @param utc_date GPS UTC date ddmmyy - * @param utc_time GPS UTC time hhmmss - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_system_time_utc_send(mavlink_channel_t chan, uint32_t utc_date, uint32_t utc_time) -{ - mavlink_message_t msg; - mavlink_msg_system_time_utc_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, utc_date, utc_time); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE SYSTEM_TIME_UTC UNPACKING - -/** - * @brief Get field utc_date from system_time_utc message - * - * @return GPS UTC date ddmmyy - */ -static inline uint32_t mavlink_msg_system_time_utc_get_utc_date(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (uint32_t)r.i; -} - -/** - * @brief Get field utc_time from system_time_utc message - * - * @return GPS UTC time hhmmss - */ -static inline uint32_t mavlink_msg_system_time_utc_get_utc_time(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint32_t))[3]; - return (uint32_t)r.i; -} - -/** - * @brief Decode a system_time_utc message into a struct - * - * @param msg The message to decode - * @param system_time_utc C-struct to decode the message contents into - */ -static inline void mavlink_msg_system_time_utc_decode(const mavlink_message_t* msg, mavlink_system_time_utc_t* system_time_utc) -{ - system_time_utc->utc_date = mavlink_msg_system_time_utc_get_utc_date(msg); - system_time_utc->utc_time = mavlink_msg_system_time_utc_get_utc_time(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h b/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h index 9f55bdfa70f7b3f754db24eda1c73f720e52daa3..3e4c09acdc0dc44eacca0eab0cd1fc07c23a9c13 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h @@ -2,17 +2,32 @@ #define MAVLINK_MSG_ID_VFR_HUD 74 -typedef struct __mavlink_vfr_hud_t +typedef struct __mavlink_vfr_hud_t { - float airspeed; ///< Current airspeed in m/s - float groundspeed; ///< Current ground speed in m/s - int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north) - uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100 - float alt; ///< Current altitude (MSL), in meters - float climb; ///< Current climb rate in meters/second - + float airspeed; ///< Current airspeed in m/s + float groundspeed; ///< Current ground speed in m/s + float alt; ///< Current altitude (MSL), in meters + float climb; ///< Current climb rate in meters/second + int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north) + uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100 } mavlink_vfr_hud_t; +#define MAVLINK_MSG_ID_VFR_HUD_LEN 20 +#define MAVLINK_MSG_ID_74_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_VFR_HUD { \ + "VFR_HUD", \ + 6, \ + { { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \ + { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vfr_hud_t, alt) }, \ + { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, climb) }, \ + { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_vfr_hud_t, heading) }, \ + { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vfr_hud_t, throttle) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_vfr_hud_t * @param climb Current climb rate in meters/second * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) +static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VFR_HUD; - - i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s - i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s - i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north) - i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100 - i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters - i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_float(buf, 8, alt); + _mav_put_float(buf, 12, climb); + _mav_put_int16_t(buf, 16, heading); + _mav_put_uint16_t(buf, 18, throttle); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.alt = alt; + packet.climb = climb; + packet.heading = heading; + packet.throttle = throttle; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_VFR_HUD; + return mavlink_finalize_message(msg, system_id, component_id, 20, 20); } /** - * @brief Pack a vfr_hud message + * @brief Pack a vfr_hud 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 @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t compo * @param climb Current climb rate in meters/second * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) +static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VFR_HUD; - - i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s - i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s - i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north) - i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100 - i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters - i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_float(buf, 8, alt); + _mav_put_float(buf, 12, climb); + _mav_put_int16_t(buf, 16, heading); + _mav_put_uint16_t(buf, 18, throttle); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.alt = alt; + packet.climb = climb; + packet.heading = heading; + packet.throttle = throttle; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_VFR_HUD; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 20); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t com static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) { - mavlink_message_t msg; - mavlink_msg_vfr_hud_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed, groundspeed, heading, throttle, alt, climb); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_float(buf, 8, alt); + _mav_put_float(buf, 12, climb); + _mav_put_int16_t(buf, 16, heading); + _mav_put_uint16_t(buf, 18, throttle); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, 20, 20); +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.alt = alt; + packet.climb = climb; + packet.heading = heading; + packet.throttle = throttle; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, 20, 20); +#endif } #endif + // MESSAGE VFR_HUD UNPACKING + /** * @brief Get field airspeed from vfr_hud message * @@ -116,12 +180,7 @@ static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspe */ static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -131,12 +190,7 @@ static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* ms */ static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -146,10 +200,7 @@ static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* */ static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 16); } /** @@ -159,10 +210,7 @@ static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* m */ static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 18); } /** @@ -172,12 +220,7 @@ static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* */ static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -187,12 +230,7 @@ static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg) */ static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -203,10 +241,14 @@ static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg) */ static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud) { +#if MAVLINK_NEED_BYTE_SWAP vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg); vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg); - vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg); - vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg); vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg); vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg); + vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg); + vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg); +#else + memcpy(vfr_hud, _MAV_PAYLOAD(msg), 20); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h b/thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h similarity index 54% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h rename to thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h index 6e349eafc55eaaca92c6ec4a3a5e86dfdce8bb91..93db6edef98dcd022c47c9213c94b2f78b69397a 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h @@ -1,19 +1,35 @@ // MESSAGE VICON_POSITION_ESTIMATE PACKING -#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 112 +#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 104 -typedef struct __mavlink_vicon_position_estimate_t +typedef struct __mavlink_vicon_position_estimate_t { - uint64_t usec; ///< Timestamp (milliseconds) - float x; ///< Global X position - float y; ///< Global Y position - float z; ///< Global Z position - float roll; ///< Roll angle in rad - float pitch; ///< Pitch angle in rad - float yaw; ///< Yaw angle in rad - + uint64_t usec; ///< Timestamp (milliseconds) + float x; ///< Global X position + float y; ///< Global Y position + float z; ///< Global Z position + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad } mavlink_vicon_position_estimate_t; +#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32 +#define MAVLINK_MSG_ID_104_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \ + "VICON_POSITION_ESTIMATE", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vicon_position_estimate_t, z) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \ + } \ +} /** @@ -31,24 +47,39 @@ typedef struct __mavlink_vicon_position_estimate_t * @param yaw Yaw angle in rad * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_vicon_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) - i += put_float_by_index(x, i, msg->payload); // Global X position - i += put_float_by_index(y, i, msg->payload); // Global Y position - i += put_float_by_index(z, i, msg->payload); // Global Z position - i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; + return mavlink_finalize_message(msg, system_id, component_id, 32, 56); } /** - * @brief Pack a vicon_position_estimate message + * @brief Pack a vicon_position_estimate 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 @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i * @param yaw Yaw angle in rad * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_vicon_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) - i += put_float_by_index(x, i, msg->payload); // Global X position - i += put_float_by_index(y, i, msg->payload); // Global Y position - i += put_float_by_index(z, i, msg->payload); // Global Z position - i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 56); } /** @@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) { - mavlink_message_t msg; - mavlink_msg_vicon_position_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, roll, pitch, yaw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, 32, 56); +#else + mavlink_vicon_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, 32, 56); +#endif } #endif + // MESSAGE VICON_POSITION_ESTIMATE UNPACKING + /** * @brief Get field usec from vicon_position_estimate message * @@ -122,16 +191,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch */ static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -141,12 +201,7 @@ static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlin */ static inline float mavlink_msg_vicon_position_estimate_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -156,12 +211,7 @@ static inline float mavlink_msg_vicon_position_estimate_get_x(const mavlink_mess */ static inline float mavlink_msg_vicon_position_estimate_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -171,12 +221,7 @@ static inline float mavlink_msg_vicon_position_estimate_get_y(const mavlink_mess */ static inline float mavlink_msg_vicon_position_estimate_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -186,12 +231,7 @@ static inline float mavlink_msg_vicon_position_estimate_get_z(const mavlink_mess */ static inline float mavlink_msg_vicon_position_estimate_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -201,12 +241,7 @@ static inline float mavlink_msg_vicon_position_estimate_get_roll(const mavlink_m */ static inline float mavlink_msg_vicon_position_estimate_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -216,12 +251,7 @@ static inline float mavlink_msg_vicon_position_estimate_get_pitch(const mavlink_ */ static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 28); } /** @@ -232,6 +262,7 @@ static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_me */ static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_message_t* msg, mavlink_vicon_position_estimate_t* vicon_position_estimate) { +#if MAVLINK_NEED_BYTE_SWAP vicon_position_estimate->usec = mavlink_msg_vicon_position_estimate_get_usec(msg); vicon_position_estimate->x = mavlink_msg_vicon_position_estimate_get_x(msg); vicon_position_estimate->y = mavlink_msg_vicon_position_estimate_get_y(msg); @@ -239,4 +270,7 @@ static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_mess vicon_position_estimate->roll = mavlink_msg_vicon_position_estimate_get_roll(msg); vicon_position_estimate->pitch = mavlink_msg_vicon_position_estimate_get_pitch(msg); vicon_position_estimate->yaw = mavlink_msg_vicon_position_estimate_get_yaw(msg); +#else + memcpy(vicon_position_estimate, _MAV_PAYLOAD(msg), 32); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h b/thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h similarity index 54% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h rename to thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h index 30728191d4a45423c65544c3dd16e409bf7809cc..c99fc99ab10090d5d753de3ad43cb7b7c9c01ee6 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h @@ -1,19 +1,35 @@ // MESSAGE VISION_POSITION_ESTIMATE PACKING -#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 111 +#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 102 -typedef struct __mavlink_vision_position_estimate_t +typedef struct __mavlink_vision_position_estimate_t { - uint64_t usec; ///< Timestamp (milliseconds) - float x; ///< Global X position - float y; ///< Global Y position - float z; ///< Global Z position - float roll; ///< Roll angle in rad - float pitch; ///< Pitch angle in rad - float yaw; ///< Yaw angle in rad - + uint64_t usec; ///< Timestamp (milliseconds) + float x; ///< Global X position + float y; ///< Global Y position + float z; ///< Global Z position + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad } mavlink_vision_position_estimate_t; +#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32 +#define MAVLINK_MSG_ID_102_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \ + "VISION_POSITION_ESTIMATE", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \ + } \ +} /** @@ -31,24 +47,39 @@ typedef struct __mavlink_vision_position_estimate_t * @param yaw Yaw angle in rad * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) - i += put_float_by_index(x, i, msg->payload); // Global X position - i += put_float_by_index(y, i, msg->payload); // Global Y position - i += put_float_by_index(z, i, msg->payload); // Global Z position - i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; + return mavlink_finalize_message(msg, system_id, component_id, 32, 158); } /** - * @brief Pack a vision_position_estimate message + * @brief Pack a vision_position_estimate 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 @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_ * @param yaw Yaw angle in rad * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) - i += put_float_by_index(x, i, msg->payload); // Global X position - i += put_float_by_index(y, i, msg->payload); // Global Y position - i += put_float_by_index(z, i, msg->payload); // Global Z position - i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 158); } /** @@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t syste static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) { - mavlink_message_t msg; - mavlink_msg_vision_position_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, roll, pitch, yaw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, 32, 158); +#else + mavlink_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, 32, 158); +#endif } #endif + // MESSAGE VISION_POSITION_ESTIMATE UNPACKING + /** * @brief Get field usec from vision_position_estimate message * @@ -122,16 +191,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c */ static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -141,12 +201,7 @@ static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavli */ static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -156,12 +211,7 @@ static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_mes */ static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -171,12 +221,7 @@ static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_mes */ static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -186,12 +231,7 @@ static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_mes */ static inline float mavlink_msg_vision_position_estimate_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -201,12 +241,7 @@ static inline float mavlink_msg_vision_position_estimate_get_roll(const mavlink_ */ static inline float mavlink_msg_vision_position_estimate_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -216,12 +251,7 @@ static inline float mavlink_msg_vision_position_estimate_get_pitch(const mavlink */ static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 28); } /** @@ -232,6 +262,7 @@ static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_m */ static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_vision_position_estimate_t* vision_position_estimate) { +#if MAVLINK_NEED_BYTE_SWAP vision_position_estimate->usec = mavlink_msg_vision_position_estimate_get_usec(msg); vision_position_estimate->x = mavlink_msg_vision_position_estimate_get_x(msg); vision_position_estimate->y = mavlink_msg_vision_position_estimate_get_y(msg); @@ -239,4 +270,7 @@ static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_mes vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg); vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg); vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg); +#else + memcpy(vision_position_estimate, _MAV_PAYLOAD(msg), 32); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h b/thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h similarity index 57% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h rename to thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h index 66224c28e9e4487e3f8eb245985aefd824a3f914..71d250c38957a68acf4d6f34929c06b0b855147b 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h @@ -1,16 +1,29 @@ // MESSAGE VISION_SPEED_ESTIMATE PACKING -#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 113 +#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 103 -typedef struct __mavlink_vision_speed_estimate_t +typedef struct __mavlink_vision_speed_estimate_t { - uint64_t usec; ///< Timestamp (milliseconds) - float x; ///< Global X speed - float y; ///< Global Y speed - float z; ///< Global Z speed - + uint64_t usec; ///< Timestamp (milliseconds) + float x; ///< Global X speed + float y; ///< Global Y speed + float z; ///< Global Z speed } mavlink_vision_speed_estimate_t; +#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20 +#define MAVLINK_MSG_ID_103_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \ + "VISION_SPEED_ESTIMATE", \ + 4, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \ + } \ +} /** @@ -25,21 +38,33 @@ typedef struct __mavlink_vision_speed_estimate_t * @param z Global Z speed * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z) +static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float x, float y, float z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) - i += put_float_by_index(x, i, msg->payload); // Global X speed - i += put_float_by_index(y, i, msg->payload); // Global Y speed - i += put_float_by_index(z, i, msg->payload); // Global Z speed +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_vision_speed_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; + return mavlink_finalize_message(msg, system_id, component_id, 20, 208); } /** - * @brief Pack a vision_speed_estimate message + * @brief Pack a vision_speed_estimate 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 @@ -50,17 +75,30 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, * @param z Global Z speed * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z) +static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float x,float y,float z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; - - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) - i += put_float_by_index(x, i, msg->payload); // Global X speed - i += put_float_by_index(y, i, msg->payload); // Global Y speed - i += put_float_by_index(z, i, msg->payload); // Global Z speed +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_vision_speed_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 208); } /** @@ -89,14 +127,30 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_i static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z) { - mavlink_message_t msg; - mavlink_msg_vision_speed_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, 20, 208); +#else + mavlink_vision_speed_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, 20, 208); +#endif } #endif + // MESSAGE VISION_SPEED_ESTIMATE UNPACKING + /** * @brief Get field usec from vision_speed_estimate message * @@ -104,16 +158,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan */ static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -123,12 +168,7 @@ static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_ */ static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -138,12 +178,7 @@ static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_messag */ static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -153,12 +188,7 @@ static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_messag */ static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -169,8 +199,12 @@ static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_messag */ static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate) { +#if MAVLINK_NEED_BYTE_SWAP vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg); vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg); vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg); vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg); +#else + memcpy(vision_speed_estimate, _MAV_PAYLOAD(msg), 20); +#endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint.h deleted file mode 100644 index ab1c5f836a0b44b4e7139c486eec860dc6b6c90f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint.h +++ /dev/null @@ -1,360 +0,0 @@ -// MESSAGE WAYPOINT PACKING - -#define MAVLINK_MSG_ID_WAYPOINT 39 - -typedef struct __mavlink_waypoint_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - uint16_t seq; ///< Sequence - uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h - uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs - uint8_t current; ///< false:0, true:1 - uint8_t autocontinue; ///< autocontinue to next wp - float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters - float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH - float x; ///< PARAM5 / local: x position, global: latitude - float y; ///< PARAM6 / y position: global: longitude - float z; ///< PARAM7 / z position: global: altitude - -} mavlink_waypoint_t; - - - -/** - * @brief Pack a waypoint 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 seq Sequence - * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h - * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs - * @param current false:0, true:1 - * @param autocontinue autocontinue to next wp - * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters - * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH - * @param x PARAM5 / local: x position, global: latitude - * @param y PARAM6 / y position: global: longitude - * @param z PARAM7 / z position: global: altitude - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h - i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs - i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1 - i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp - i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters - i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH - i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude - i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude - i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @param seq Sequence - * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h - * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs - * @param current false:0, true:1 - * @param autocontinue autocontinue to next wp - * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters - * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH - * @param x PARAM5 / local: x position, global: latitude - * @param y PARAM6 / y position: global: longitude - * @param z PARAM7 / z position: global: altitude - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_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, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h - i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs - i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1 - i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp - i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters - i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH - i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude - i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude - i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint 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 waypoint C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint) -{ - return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z); -} - -/** - * @brief Send a waypoint message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - * @param seq Sequence - * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h - * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs - * @param current false:0, true:1 - * @param autocontinue autocontinue to next wp - * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters - * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH - * @param x PARAM5 / local: x position, global: latitude - * @param y PARAM6 / y position: global: longitude - * @param z PARAM7 / z position: global: altitude - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT UNPACKING - -/** - * @brief Get field target_system from waypoint message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from waypoint message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field seq from waypoint message - * - * @return Sequence - */ -static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Get field frame from waypoint message - * - * @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h - */ -static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; -} - -/** - * @brief Get field command from waypoint message - * - * @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs - */ -static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field current from waypoint message - * - * @return false:0, true:1 - */ -static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field autocontinue from waypoint message - * - * @return autocontinue to next wp - */ -static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field param1 from waypoint message - * - * @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters - */ -static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field param2 from waypoint message - * - * @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - */ -static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field param3 from waypoint message - * - * @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - */ -static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field param4 from waypoint message - * - * @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH - */ -static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field x from waypoint message - * - * @return PARAM5 / local: x position, global: latitude - */ -static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field y from waypoint message - * - * @return PARAM6 / y position: global: longitude - */ -static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field z from waypoint message - * - * @return PARAM7 / z position: global: altitude - */ -static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a waypoint message into a struct - * - * @param msg The message to decode - * @param waypoint C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint) -{ - waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg); - waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg); - waypoint->seq = mavlink_msg_waypoint_get_seq(msg); - waypoint->frame = mavlink_msg_waypoint_get_frame(msg); - waypoint->command = mavlink_msg_waypoint_get_command(msg); - waypoint->current = mavlink_msg_waypoint_get_current(msg); - waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg); - waypoint->param1 = mavlink_msg_waypoint_get_param1(msg); - waypoint->param2 = mavlink_msg_waypoint_get_param2(msg); - waypoint->param3 = mavlink_msg_waypoint_get_param3(msg); - waypoint->param4 = mavlink_msg_waypoint_get_param4(msg); - waypoint->x = mavlink_msg_waypoint_get_x(msg); - waypoint->y = mavlink_msg_waypoint_get_y(msg); - waypoint->z = mavlink_msg_waypoint_get_z(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_ack.h deleted file mode 100644 index d994eaf49a76a8a6b226311052dbf8451c9e4493..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_ack.h +++ /dev/null @@ -1,135 +0,0 @@ -// MESSAGE WAYPOINT_ACK PACKING - -#define MAVLINK_MSG_ID_WAYPOINT_ACK 47 - -typedef struct __mavlink_waypoint_ack_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - uint8_t type; ///< 0: OK, 1: Error - -} mavlink_waypoint_ack_t; - - - -/** - * @brief Pack a waypoint_ack message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param target_system System ID - * @param target_component Component ID - * @param type 0: OK, 1: Error - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t type) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint8_t_by_index(type, i, msg->payload); // 0: OK, 1: Error - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint_ack message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @param type 0: OK, 1: Error - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_ack_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, uint8_t type) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint8_t_by_index(type, i, msg->payload); // 0: OK, 1: Error - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint_ack struct into a message - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param waypoint_ack C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_ack_t* waypoint_ack) -{ - return mavlink_msg_waypoint_ack_pack(system_id, component_id, msg, waypoint_ack->target_system, waypoint_ack->target_component, waypoint_ack->type); -} - -/** - * @brief Send a waypoint_ack message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - * @param type 0: OK, 1: Error - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, type); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT_ACK UNPACKING - -/** - * @brief Get field target_system from waypoint_ack message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_waypoint_ack_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from waypoint_ack message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_waypoint_ack_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field type from waypoint_ack message - * - * @return 0: OK, 1: Error - */ -static inline uint8_t mavlink_msg_waypoint_ack_get_type(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; -} - -/** - * @brief Decode a waypoint_ack message into a struct - * - * @param msg The message to decode - * @param waypoint_ack C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_ack_decode(const mavlink_message_t* msg, mavlink_waypoint_ack_t* waypoint_ack) -{ - waypoint_ack->target_system = mavlink_msg_waypoint_ack_get_target_system(msg); - waypoint_ack->target_component = mavlink_msg_waypoint_ack_get_target_component(msg); - waypoint_ack->type = mavlink_msg_waypoint_ack_get_type(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_clear_all.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_clear_all.h deleted file mode 100644 index 5020fbada8671223344d1fd9056b41259f14f747..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_clear_all.h +++ /dev/null @@ -1,118 +0,0 @@ -// MESSAGE WAYPOINT_CLEAR_ALL PACKING - -#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL 45 - -typedef struct __mavlink_waypoint_clear_all_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - -} mavlink_waypoint_clear_all_t; - - - -/** - * @brief Pack a waypoint_clear_all 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 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint_clear_all message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_clear_all_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) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint_clear_all 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 waypoint_clear_all C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_clear_all_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_clear_all_t* waypoint_clear_all) -{ - return mavlink_msg_waypoint_clear_all_pack(system_id, component_id, msg, waypoint_clear_all->target_system, waypoint_clear_all->target_component); -} - -/** - * @brief Send a waypoint_clear_all message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_clear_all_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT_CLEAR_ALL UNPACKING - -/** - * @brief Get field target_system from waypoint_clear_all message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from waypoint_clear_all message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Decode a waypoint_clear_all message into a struct - * - * @param msg The message to decode - * @param waypoint_clear_all C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_clear_all_decode(const mavlink_message_t* msg, mavlink_waypoint_clear_all_t* waypoint_clear_all) -{ - waypoint_clear_all->target_system = mavlink_msg_waypoint_clear_all_get_target_system(msg); - waypoint_clear_all->target_component = mavlink_msg_waypoint_clear_all_get_target_component(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_count.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_count.h deleted file mode 100644 index 9ceacb08064ee5bfaaf678f43834e76c0c463cde..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_count.h +++ /dev/null @@ -1,138 +0,0 @@ -// MESSAGE WAYPOINT_COUNT PACKING - -#define MAVLINK_MSG_ID_WAYPOINT_COUNT 44 - -typedef struct __mavlink_waypoint_count_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - uint16_t count; ///< Number of Waypoints in the Sequence - -} mavlink_waypoint_count_t; - - - -/** - * @brief Pack a waypoint_count 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 count Number of Waypoints in the Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t count) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(count, i, msg->payload); // Number of Waypoints in the Sequence - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint_count message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @param count Number of Waypoints in the Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_count_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, uint16_t count) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(count, i, msg->payload); // Number of Waypoints in the Sequence - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint_count 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 waypoint_count C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_count_t* waypoint_count) -{ - return mavlink_msg_waypoint_count_pack(system_id, component_id, msg, waypoint_count->target_system, waypoint_count->target_component, waypoint_count->count); -} - -/** - * @brief Send a waypoint_count message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - * @param count Number of Waypoints in the Sequence - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_count_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, count); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT_COUNT UNPACKING - -/** - * @brief Get field target_system from waypoint_count message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_waypoint_count_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from waypoint_count message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_waypoint_count_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field count from waypoint_count message - * - * @return Number of Waypoints in the Sequence - */ -static inline uint16_t mavlink_msg_waypoint_count_get_count(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Decode a waypoint_count message into a struct - * - * @param msg The message to decode - * @param waypoint_count C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_count_decode(const mavlink_message_t* msg, mavlink_waypoint_count_t* waypoint_count) -{ - waypoint_count->target_system = mavlink_msg_waypoint_count_get_target_system(msg); - waypoint_count->target_component = mavlink_msg_waypoint_count_get_target_component(msg); - waypoint_count->count = mavlink_msg_waypoint_count_get_count(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_current.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_current.h deleted file mode 100644 index 17f66fc298937fe031c4e02b6ad6e15cfa91f561..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_current.h +++ /dev/null @@ -1,104 +0,0 @@ -// MESSAGE WAYPOINT_CURRENT PACKING - -#define MAVLINK_MSG_ID_WAYPOINT_CURRENT 42 - -typedef struct __mavlink_waypoint_current_t -{ - uint16_t seq; ///< Sequence - -} mavlink_waypoint_current_t; - - - -/** - * @brief Pack a waypoint_current 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 seq Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seq) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT; - - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint_current message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param seq Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seq) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT; - - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint_current 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 waypoint_current C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_current_t* waypoint_current) -{ - return mavlink_msg_waypoint_current_pack(system_id, component_id, msg, waypoint_current->seq); -} - -/** - * @brief Send a waypoint_current message - * @param chan MAVLink channel to send the message - * - * @param seq Sequence - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_current_send(mavlink_channel_t chan, uint16_t seq) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_current_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT_CURRENT UNPACKING - -/** - * @brief Get field seq from waypoint_current message - * - * @return Sequence - */ -static inline uint16_t mavlink_msg_waypoint_current_get_seq(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; -} - -/** - * @brief Decode a waypoint_current message into a struct - * - * @param msg The message to decode - * @param waypoint_current C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_current_decode(const mavlink_message_t* msg, mavlink_waypoint_current_t* waypoint_current) -{ - waypoint_current->seq = mavlink_msg_waypoint_current_get_seq(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_reached.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_reached.h deleted file mode 100644 index ffcea52fc94f66b730a41f159629fee62cb14af8..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_reached.h +++ /dev/null @@ -1,104 +0,0 @@ -// MESSAGE WAYPOINT_REACHED PACKING - -#define MAVLINK_MSG_ID_WAYPOINT_REACHED 46 - -typedef struct __mavlink_waypoint_reached_t -{ - uint16_t seq; ///< Sequence - -} mavlink_waypoint_reached_t; - - - -/** - * @brief Pack a waypoint_reached 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 seq Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seq) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED; - - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint_reached message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param seq Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seq) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED; - - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint_reached 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 waypoint_reached C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_reached_t* waypoint_reached) -{ - return mavlink_msg_waypoint_reached_pack(system_id, component_id, msg, waypoint_reached->seq); -} - -/** - * @brief Send a waypoint_reached message - * @param chan MAVLink channel to send the message - * - * @param seq Sequence - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uint16_t seq) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_reached_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT_REACHED UNPACKING - -/** - * @brief Get field seq from waypoint_reached message - * - * @return Sequence - */ -static inline uint16_t mavlink_msg_waypoint_reached_get_seq(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; -} - -/** - * @brief Decode a waypoint_reached message into a struct - * - * @param msg The message to decode - * @param waypoint_reached C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_reached_decode(const mavlink_message_t* msg, mavlink_waypoint_reached_t* waypoint_reached) -{ - waypoint_reached->seq = mavlink_msg_waypoint_reached_get_seq(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request.h deleted file mode 100644 index 234b55c11d4da51f2c897096d2ca0e88f9c3ed2e..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request.h +++ /dev/null @@ -1,138 +0,0 @@ -// MESSAGE WAYPOINT_REQUEST PACKING - -#define MAVLINK_MSG_ID_WAYPOINT_REQUEST 40 - -typedef struct __mavlink_waypoint_request_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - uint16_t seq; ///< Sequence - -} mavlink_waypoint_request_t; - - - -/** - * @brief Pack a waypoint_request 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 seq Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint_request message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @param seq Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_request_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, uint16_t seq) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint_request 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 waypoint_request C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_request_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_request_t* waypoint_request) -{ - return mavlink_msg_waypoint_request_pack(system_id, component_id, msg, waypoint_request->target_system, waypoint_request->target_component, waypoint_request->seq); -} - -/** - * @brief Send a waypoint_request message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - * @param seq Sequence - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_request_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT_REQUEST UNPACKING - -/** - * @brief Get field target_system from waypoint_request message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_waypoint_request_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from waypoint_request message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_waypoint_request_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field seq from waypoint_request message - * - * @return Sequence - */ -static inline uint16_t mavlink_msg_waypoint_request_get_seq(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Decode a waypoint_request message into a struct - * - * @param msg The message to decode - * @param waypoint_request C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_request_decode(const mavlink_message_t* msg, mavlink_waypoint_request_t* waypoint_request) -{ - waypoint_request->target_system = mavlink_msg_waypoint_request_get_target_system(msg); - waypoint_request->target_component = mavlink_msg_waypoint_request_get_target_component(msg); - waypoint_request->seq = mavlink_msg_waypoint_request_get_seq(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request_list.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request_list.h deleted file mode 100644 index d4f7cf03d5d3c9bc04c86d06f2f490f668f46e12..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request_list.h +++ /dev/null @@ -1,118 +0,0 @@ -// MESSAGE WAYPOINT_REQUEST_LIST PACKING - -#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST 43 - -typedef struct __mavlink_waypoint_request_list_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - -} mavlink_waypoint_request_list_t; - - - -/** - * @brief Pack a waypoint_request_list 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 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint_request_list message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_request_list_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) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint_request_list 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 waypoint_request_list C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_request_list_t* waypoint_request_list) -{ - return mavlink_msg_waypoint_request_list_pack(system_id, component_id, msg, waypoint_request_list->target_system, waypoint_request_list->target_component); -} - -/** - * @brief Send a waypoint_request_list message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_request_list_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT_REQUEST_LIST UNPACKING - -/** - * @brief Get field target_system from waypoint_request_list message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_waypoint_request_list_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from waypoint_request_list message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_waypoint_request_list_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Decode a waypoint_request_list message into a struct - * - * @param msg The message to decode - * @param waypoint_request_list C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_request_list_decode(const mavlink_message_t* msg, mavlink_waypoint_request_list_t* waypoint_request_list) -{ - waypoint_request_list->target_system = mavlink_msg_waypoint_request_list_get_target_system(msg); - waypoint_request_list->target_component = mavlink_msg_waypoint_request_list_get_target_component(msg); -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_set_current.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_set_current.h deleted file mode 100644 index 6570fe4f8297e9b7e860f0f3374d90329dda1875..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_set_current.h +++ /dev/null @@ -1,138 +0,0 @@ -// MESSAGE WAYPOINT_SET_CURRENT PACKING - -#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT 41 - -typedef struct __mavlink_waypoint_set_current_t -{ - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - uint16_t seq; ///< Sequence - -} mavlink_waypoint_set_current_t; - - - -/** - * @brief Pack a waypoint_set_current 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 seq Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_set_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a waypoint_set_current message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param target_system System ID - * @param target_component Component ID - * @param seq Sequence - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_waypoint_set_current_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, uint16_t seq) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a waypoint_set_current 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 waypoint_set_current C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_waypoint_set_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_set_current_t* waypoint_set_current) -{ - return mavlink_msg_waypoint_set_current_pack(system_id, component_id, msg, waypoint_set_current->target_system, waypoint_set_current->target_component, waypoint_set_current->seq); -} - -/** - * @brief Send a waypoint_set_current message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID - * @param target_component Component ID - * @param seq Sequence - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_waypoint_set_current_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) -{ - mavlink_message_t msg; - mavlink_msg_waypoint_set_current_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE WAYPOINT_SET_CURRENT UNPACKING - -/** - * @brief Get field target_system from waypoint_set_current message - * - * @return System ID - */ -static inline uint8_t mavlink_msg_waypoint_set_current_get_target_system(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Get field target_component from waypoint_set_current message - * - * @return Component ID - */ -static inline uint8_t mavlink_msg_waypoint_set_current_get_target_component(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; -} - -/** - * @brief Get field seq from waypoint_set_current message - * - * @return Sequence - */ -static inline uint16_t mavlink_msg_waypoint_set_current_get_seq(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Decode a waypoint_set_current message into a struct - * - * @param msg The message to decode - * @param waypoint_set_current C-struct to decode the message contents into - */ -static inline void mavlink_msg_waypoint_set_current_decode(const mavlink_message_t* msg, mavlink_waypoint_set_current_t* waypoint_set_current) -{ - waypoint_set_current->target_system = mavlink_msg_waypoint_set_current_get_target_system(msg); - waypoint_set_current->target_component = mavlink_msg_waypoint_set_current_get_target_component(msg); - waypoint_set_current->seq = mavlink_msg_waypoint_set_current_get_seq(msg); -} diff --git a/thirdParty/mavlink/include/common/testsuite.h b/thirdParty/mavlink/include/common/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..3dbd02674499fc190658997118d0d32f366cb670 --- /dev/null +++ b/thirdParty/mavlink/include/common/testsuite.h @@ -0,0 +1,3866 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from common.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef COMMON_TESTSUITE_H +#define COMMON_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL + +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); + +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, last_msg); +} +#endif + + + + +static void mavlink_test_heartbeat(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_heartbeat_t packet_in = { + 963497464, + 17, + 84, + 151, + 218, + 3, + }; + mavlink_heartbeat_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.custom_mode = packet_in.custom_mode; + packet1.type = packet_in.type; + packet1.autopilot = packet_in.autopilot; + packet1.base_mode = packet_in.base_mode; + packet1.system_status = packet_in.system_status; + packet1.mavlink_version = packet_in.mavlink_version; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_heartbeat_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); + mavlink_msg_heartbeat_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); + mavlink_msg_heartbeat_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; imagic = MAVLINK_STX; + msg->len = length; + msg->sysid = system_id; + msg->compid = component_id; + // One sequence number per component + msg->seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1; + checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN); +#if MAVLINK_CRC_EXTRA + crc_accumulate(crc_extra, &checksum); +#endif + mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF); + mavlink_ck_b(msg) = (uint8_t)(checksum >> 8); + + return length + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + + +/** + * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length, uint8_t crc_extra) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra); +} +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length); +} +#endif + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); + +/** + * @brief Finalize a MAVLink message with channel assignment and send + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, + uint8_t length, uint8_t crc_extra) +#else +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length) +#endif +{ + uint16_t checksum; + uint8_t buf[MAVLINK_NUM_HEADER_BYTES]; + uint8_t ck[2]; + mavlink_status_t *status = mavlink_get_channel_status(chan); + buf[0] = MAVLINK_STX; + buf[1] = length; + buf[2] = status->current_tx_seq; + buf[3] = mavlink_system.sysid; + buf[4] = mavlink_system.compid; + buf[5] = msgid; + status->current_tx_seq++; + checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN); + crc_accumulate_buffer(&checksum, packet, length); +#if MAVLINK_CRC_EXTRA + crc_accumulate(crc_extra, &checksum); +#endif + ck[0] = (uint8_t)(checksum & 0xFF); + ck[1] = (uint8_t)(checksum >> 8); + + MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length); + _mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES); + _mavlink_send_uart(chan, packet, length); + _mavlink_send_uart(chan, (const char *)ck, 2); + MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length); +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +/** + * @brief Pack a message to send it over a serial byte stream + */ +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg) +{ + memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len); + return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len; +} + +union __mavlink_bitfield { + uint8_t uint8; + int8_t int8; + uint16_t uint16; + int16_t int16; + uint32_t uint32; + int32_t int32; +}; + + +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg) +{ + crc_init(&msg->checksum); +} + +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) +{ + crc_accumulate(c, &msg->checksum); +} + +/** + * This is a convenience function which handles the complete MAVLink parsing. + * the function will parse one byte at a time and return the complete packet once + * it could be successfully decoded. Checksum and other failures will be silently + * ignored. + * + * @param chan ID of the current channel. This allows to parse different channels with this function. + * a channel is not a physical message channel like a serial port, but a logic partition of + * the communication streams in this case. COMM_NB is the limit for the number of channels + * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows + * @param c The char to barse + * + * @param returnMsg NULL if no message could be decoded, the message data else + * @return 0 if no message could be decoded, 1 else + * + * A typical use scenario of this function call is: + * + * @code + * #include // For fixed-width uint8_t type + * + * mavlink_message_t msg; + * int chan = 0; + * + * + * while(serial.bytesAvailable > 0) + * { + * uint8_t byte = serial.getNextByte(); + * if (mavlink_parse_char(chan, byte, &msg)) + * { + * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); + * } + * } + * + * + * @endcode + */ +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +{ + static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; + + /* + default message crc function. You can override this per-system to + put this data in a different memory segment + */ +#if MAVLINK_CRC_EXTRA +#ifndef MAVLINK_MESSAGE_CRC + static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS; +#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid] +#endif +#endif + + mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message + mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status + int bufferIndex = 0; + + status->msg_received = 0; + + switch (status->parse_state) + { + case MAVLINK_PARSE_STATE_UNINIT: + case MAVLINK_PARSE_STATE_IDLE: + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + break; + + case MAVLINK_PARSE_STATE_GOT_STX: + if (status->msg_received +/* Support shorter buffers than the + default maximum packet size */ +#if (MAVLINK_MAX_PAYLOAD_LEN < 255) + || c > MAVLINK_MAX_PAYLOAD_LEN +#endif + ) + { + status->buffer_overrun++; + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + } + else + { + // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 + rxmsg->len = c; + status->packet_idx = 0; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; + } + break; + + case MAVLINK_PARSE_STATE_GOT_LENGTH: + rxmsg->seq = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; + break; + + case MAVLINK_PARSE_STATE_GOT_SEQ: + rxmsg->sysid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; + break; + + case MAVLINK_PARSE_STATE_GOT_SYSID: + rxmsg->compid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; + break; + + case MAVLINK_PARSE_STATE_GOT_COMPID: + rxmsg->msgid = c; + mavlink_update_checksum(rxmsg, c); + if (rxmsg->len == 0) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID; + } + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID: + _MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c; + mavlink_update_checksum(rxmsg, c); + if (status->packet_idx == rxmsg->len) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + break; + + case MAVLINK_PARSE_STATE_GOT_PAYLOAD: +#if MAVLINK_CRC_EXTRA + mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid)); +#endif + if (c != (rxmsg->checksum & 0xFF)) { + // Check first checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; + } + break; + + case MAVLINK_PARSE_STATE_GOT_CRC1: + if (c != (rxmsg->checksum >> 8)) { + // Check second checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + } + else + { + // Successfully got message + status->msg_received = 1; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); + } + break; + } + + bufferIndex++; + // If a message has been sucessfully decoded, check index + if (status->msg_received == 1) + { + //while(status->current_seq != rxmsg->seq) + //{ + // status->packet_rx_drop_count++; + // status->current_seq++; + //} + status->current_rx_seq = rxmsg->seq; + // Initial condition: If no packet has been received so far, drop count is undefined + if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; + // Count this packet as received + status->packet_rx_success_count++; + } + + r_mavlink_status->current_rx_seq = status->current_rx_seq+1; + r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; + r_mavlink_status->packet_rx_drop_count = status->parse_error; + status->parse_error = 0; + return status->msg_received; +} + +/** + * @brief Put a bitfield of length 1-32 bit into the buffer + * + * @param b the value to add, will be encoded in the bitfield + * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc. + * @param packet_index the position in the packet (the index of the first byte to use) + * @param bit_index the position in the byte (the index of the first bit to use) + * @param buffer packet buffer to write into + * @return new position of the last used byte in the buffer + */ +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer) +{ + uint16_t bits_remain = bits; + // Transform number into network order + int32_t v; + uint8_t i_bit_index, i_byte_index, curr_bits_n; +#if MAVLINK_NEED_BYTE_SWAP + union { + int32_t i; + uint8_t b[4]; + } bin, bout; + bin.i = b; + bout.b[0] = bin.b[3]; + bout.b[1] = bin.b[2]; + bout.b[2] = bin.b[1]; + bout.b[3] = bin.b[0]; + v = bout.i; +#else + v = b; +#endif + + // buffer in + // 01100000 01000000 00000000 11110001 + // buffer out + // 11110001 00000000 01000000 01100000 + + // Existing partly filled byte (four free slots) + // 0111xxxx + + // Mask n free bits + // 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1 + // = ((uint32_t)(1 << n)) - 1; // = 2^n - 1 + + // Shift n bits into the right position + // out = in >> n; + + // Mask and shift bytes + i_bit_index = bit_index; + i_byte_index = packet_index; + if (bit_index > 0) + { + // If bits were available at start, they were available + // in the byte before the current index + i_byte_index--; + } + + // While bits have not been packed yet + while (bits_remain > 0) + { + // Bits still have to be packed + // there can be more than 8 bits, so + // we might have to pack them into more than one byte + + // First pack everything we can into the current 'open' byte + //curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8 + //FIXME + if (bits_remain <= (uint8_t)(8 - i_bit_index)) + { + // Enough space + curr_bits_n = (uint8_t)bits_remain; + } + else + { + curr_bits_n = (8 - i_bit_index); + } + + // Pack these n bits into the current byte + // Mask out whatever was at that position with ones (xxx11111) + buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n)); + // Put content to this position, by masking out the non-used part + buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v); + + // Increment the bit index + i_bit_index += curr_bits_n; + + // Now proceed to the next byte, if necessary + bits_remain -= curr_bits_n; + if (bits_remain > 0) + { + // Offer another 8 bits / one byte + i_byte_index++; + i_bit_index = 0; + } + } + + *r_bit_index = i_bit_index; + // If a partly filled byte is present, mark this as consumed + if (i_bit_index != 7) i_byte_index++; + return i_byte_index - packet_index; +} + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +// To make MAVLink work on your MCU, define comm_send_ch() if you wish +// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a +// whole packet at a time + +/* + +#include "mavlink_types.h" + +void comm_send_ch(mavlink_channel_t chan, uint8_t ch) +{ + if (chan == MAVLINK_COMM_0) + { + uart0_transmit(ch); + } + if (chan == MAVLINK_COMM_1) + { + uart1_transmit(ch); + } +} + */ + +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len) +{ +#ifdef MAVLINK_SEND_UART_BYTES + /* this is the more efficient approach, if the platform + defines it */ + MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len); +#else + /* fallback to one byte at a time */ + uint16_t i; + for (i = 0; i < len; i++) { + comm_send_ch(chan, (uint8_t)buf[i]); + } +#endif +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +#endif /* _MAVLINK_HELPERS_H_ */ diff --git a/thirdParty/mavlink/include/mavlink_types.h b/thirdParty/mavlink/include/mavlink_types.h index d2e4f8a451df67b5efb04c4a25ab8c467fade2d0..03faf594fe4ae7dbc3a86e24e6bb1540d7ab54ff 100644 --- a/thirdParty/mavlink/include/mavlink_types.h +++ b/thirdParty/mavlink/include/mavlink_types.h @@ -1,22 +1,7 @@ #ifndef MAVLINK_TYPES_H_ #define MAVLINK_TYPES_H_ -#include "inttypes.h" - -enum MAV_CLASS -{ - MAV_CLASS_GENERIC = 0, ///< Generic autopilot, full support for everything - MAV_CLASS_PIXHAWK = 1, ///< PIXHAWK autopilot, http://pixhawk.ethz.ch - MAV_CLASS_SLUGS = 2, ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu - MAV_CLASS_ARDUPILOTMEGA = 3, ///< ArduPilotMega / ArduCopter, http://diydrones.com - MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org - MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints - MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands - MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set - MAV_CLASS_NONE = 8, ///< No valid autopilot - MAV_CLASS_SENSESOAR = 9, ///< senseSoar autopilot - MAV_CLASS_NB ///< Number of autopilot classes -}; +#include enum MAV_ACTION { @@ -61,127 +46,31 @@ enum MAV_ACTION MAV_ACTION_CHANGE_MODE = 38, MAV_ACTION_LOITER_MAX_TURNS = 39, MAV_ACTION_LOITER_MAX_TIME = 40, - MAV_ACTION_START_HILSIM = 41, - MAV_ACTION_STOP_HILSIM = 42, + MAV_ACTION_START_HILSIM = 41, + MAV_ACTION_STOP_HILSIM = 42, MAV_ACTION_NB ///< Number of MAV actions }; -enum MAV_MODE -{ - MAV_MODE_UNINIT = 0, ///< System is in undefined state - MAV_MODE_LOCKED = 1, ///< Motors are blocked, system is safe - MAV_MODE_MANUAL = 2, ///< System is allowed to be active, under manual (RC) control - MAV_MODE_GUIDED = 3, ///< System is allowed to be active, under autonomous control, manual setpoint - MAV_MODE_AUTO = 4, ///< System is allowed to be active, under autonomous control and navigation - MAV_MODE_TEST1 = 5, ///< Generic test mode, for custom use - MAV_MODE_TEST2 = 6, ///< Generic test mode, for custom use - MAV_MODE_TEST3 = 7, ///< Generic test mode, for custom use - MAV_MODE_READY = 8, ///< System is ready, motors are unblocked, but controllers are inactive - MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back -}; - -enum MAV_STATE -{ - MAV_STATE_UNINIT = 0, - MAV_STATE_BOOT, - MAV_STATE_CALIBRATING, - MAV_STATE_STANDBY, - MAV_STATE_ACTIVE, - MAV_STATE_CRITICAL, - MAV_STATE_EMERGENCY, - MAV_STATE_HILSIM, - MAV_STATE_POWEROFF -}; - -enum MAV_NAV -{ - MAV_NAV_GROUNDED = 0, - MAV_NAV_LIFTOFF, - MAV_NAV_HOLD, - MAV_NAV_WAYPOINT, - MAV_NAV_VECTOR, - MAV_NAV_RETURNING, - MAV_NAV_LANDING, - MAV_NAV_LOST, - MAV_NAV_LOITER, - MAV_NAV_FREE_DRIFT -}; - -enum MAV_TYPE -{ - MAV_GENERIC = 0, - MAV_FIXED_WING = 1, - MAV_QUADROTOR = 2, - MAV_COAXIAL = 3, - MAV_HELICOPTER = 4, - MAV_GROUND = 5, - OCU = 6, - MAV_AIRSHIP = 7, - MAV_FREE_BALLOON = 8, - MAV_ROCKET = 9, - UGV_GROUND_ROVER = 10, - UGV_SURFACE_SHIP = 11 -}; - -enum MAV_AUTOPILOT_TYPE -{ - MAV_AUTOPILOT_GENERIC = 0, - MAV_AUTOPILOT_PIXHAWK = 1, - MAV_AUTOPILOT_SLUGS = 2, - MAV_AUTOPILOT_ARDUPILOTMEGA = 3, - MAV_AUTOPILOT_NONE = 4, - MAV_AUTOPILOT_SENSESOAR = 5 -}; - -enum MAV_COMPONENT -{ - MAV_COMP_ID_GPS, - MAV_COMP_ID_WAYPOINTPLANNER, - MAV_COMP_ID_BLOBTRACKER, - MAV_COMP_ID_PATHPLANNER, - MAV_COMP_ID_AIRSLAM, - MAV_COMP_ID_MAPPER, - MAV_COMP_ID_CAMERA, - MAV_COMP_ID_IMU = 200, - MAV_COMP_ID_IMU_2 = 201, - MAV_COMP_ID_IMU_3 = 202, - MAV_COMP_ID_UDP_BRIDGE = 240, - MAV_COMP_ID_UART_BRIDGE = 241, - MAV_COMP_ID_SYSTEM_CONTROL = 250 -}; - -enum MAV_FRAME -{ - MAV_FRAME_GLOBAL = 0, - MAV_FRAME_LOCAL = 1, - MAV_FRAME_MISSION = 2, - MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, - MAV_FRAME_LOCAL_ENU = 4 -}; - -enum MAVLINK_DATA_STREAM_TYPE -{ - MAVLINK_DATA_STREAM_IMG_JPEG, - MAVLINK_DATA_STREAM_IMG_BMP, - MAVLINK_DATA_STREAM_IMG_RAW8U, - MAVLINK_DATA_STREAM_IMG_RAW32U, - MAVLINK_DATA_STREAM_IMG_PGM, - MAVLINK_DATA_STREAM_IMG_PNG - -}; - -#define MAVLINK_STX 0x55 ///< Packet start sign -#define MAVLINK_STX_LEN 1 ///< Length of start sign +#ifndef MAVLINK_MAX_PAYLOAD_LEN +// it is possible to override this, but be careful! #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length +#endif #define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte) -#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + MAVLINK_STX_LEN) ///< Length of all header bytes, including core and checksum +#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum #define MAVLINK_NUM_CHECKSUM_BYTES 2 #define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES) -#define MAVLINK_NUM_NON_STX_PAYLOAD_BYTES (MAVLINK_NUM_NON_PAYLOAD_BYTES - MAVLINK_STX_LEN) #define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length -//#define MAVLINK_MAX_DATA_LEN MAVLINK_MAX_PACKET_LEN - MAVLINK_STX_LEN + +typedef struct param_union { + union { + float param_float; + int32_t param_int32; + uint32_t param_uint32; + }; + uint8_t type; +} mavlink_param_union_t; typedef struct __mavlink_system { uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function @@ -189,20 +78,59 @@ typedef struct __mavlink_system { uint8_t type; ///< Unused, can be used by user to store the system's type uint8_t state; ///< Unused, can be used by user to store the system's state uint8_t mode; ///< Unused, can be used by user to store the system's mode - uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode + uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode } mavlink_system_t; typedef struct __mavlink_message { - uint8_t len; ///< Length of payload - uint8_t seq; ///< Sequence of packet - uint8_t sysid; ///< ID of message sender system/aircraft - uint8_t compid; ///< ID of the message sender component - uint8_t msgid; ///< ID of message in payload - uint8_t payload[MAVLINK_MAX_PAYLOAD_LEN]; ///< Payload data, ALIGNMENT IMPORTANT ON MCU - uint8_t ck_a; ///< Checksum high byte - uint8_t ck_b; ///< Checksum low byte + uint16_t checksum; /// sent at end of packet + uint8_t magic; ///< protocol magic marker + uint8_t len; ///< Length of payload + uint8_t seq; ///< Sequence of packet + uint8_t sysid; ///< ID of message sender system/aircraft + uint8_t compid; ///< ID of the message sender component + uint8_t msgid; ///< ID of message in payload + uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; } mavlink_message_t; +typedef enum { + MAVLINK_TYPE_CHAR = 0, + MAVLINK_TYPE_UINT8_T = 1, + MAVLINK_TYPE_INT8_T = 2, + MAVLINK_TYPE_UINT16_T = 3, + MAVLINK_TYPE_INT16_T = 4, + MAVLINK_TYPE_UINT32_T = 5, + MAVLINK_TYPE_INT32_T = 6, + MAVLINK_TYPE_UINT64_T = 7, + MAVLINK_TYPE_INT64_T = 8, + MAVLINK_TYPE_FLOAT = 9, + MAVLINK_TYPE_DOUBLE = 10 +} mavlink_message_type_t; + +#define MAVLINK_MAX_FIELDS 64 + +typedef struct __mavlink_field_info { + const char *name; // name of this field + const char *print_format; // printing format hint, or NULL + mavlink_message_type_t type; // type of this field + unsigned array_length; // if non-zero, field is an array + unsigned wire_offset; // offset of each field in the payload + unsigned structure_offset; // offset in a C structure +} mavlink_field_info_t; + +// note that in this structure the order of fields is the order +// in the XML file, not necessary the wire order +typedef struct __mavlink_message_info { + const char *name; // name of the message + unsigned num_fields; // how many fields in this message + mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information +} mavlink_message_info_t; + +#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0])) + +// checksum is immediately after the payload bytes +#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg)) +#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg)) + typedef enum { MAVLINK_COMM_0, MAVLINK_COMM_1, @@ -237,8 +165,6 @@ typedef enum { } mavlink_parse_state_t; ///< The state machine for the comm parser typedef struct __mavlink_status { - uint8_t ck_a; ///< Checksum byte 1 - uint8_t ck_b; ///< Checksum byte 2 uint8_t msg_received; ///< Number of received messages uint8_t buffer_overrun; ///< Number of buffer overruns uint8_t parse_error; ///< Number of parse errors @@ -250,4 +176,7 @@ typedef struct __mavlink_status { uint16_t packet_rx_drop_count; ///< Number of packet drops } mavlink_status_t; +#define MAVLINK_BIG_ENDIAN 0 +#define MAVLINK_LITTLE_ENDIAN 1 + #endif /* MAVLINK_TYPES_H_ */ diff --git a/thirdParty/mavlink/include/minimal/mavlink.h b/thirdParty/mavlink/include/minimal/mavlink.h index 38389146abe8b01e562eacc67c2e200690b4dde6..0a759b61851db86988cbd9f6debf3a0c5a6ebcd3 100644 --- a/thirdParty/mavlink/include/minimal/mavlink.h +++ b/thirdParty/mavlink/include/minimal/mavlink.h @@ -1,11 +1,27 @@ /** @file - * @brief MAVLink comm protocol. + * @brief MAVLink comm protocol built from minimal.xml * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Friday, August 5 2011, 07:37 UTC */ #ifndef MAVLINK_H #define MAVLINK_H -#include "minimal.h" +#ifndef MAVLINK_STX +#define MAVLINK_STX 254 +#endif +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN #endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS 1 +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA 1 +#endif + +#include "version.h" +#include "minimal.h" + +#endif // MAVLINK_H diff --git a/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h b/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h index 0e5c4db5ca00fb627f2c5072cd8b2d1d7cbd02ad..103b08be8afc93eab8a41b9b9e5632a2640b49f0 100644 --- a/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h +++ b/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h @@ -2,14 +2,32 @@ #define MAVLINK_MSG_ID_HEARTBEAT 0 -typedef struct __mavlink_heartbeat_t +typedef struct __mavlink_heartbeat_t { - uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - uint8_t mavlink_version; ///< MAVLink version - + uint32_t custom_mode; ///< Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + uint8_t autopilot; ///< Autopilot type / class. defined in MAV_CLASS ENUM + uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + uint8_t system_status; ///< System status flag, see MAV_STATUS ENUM + uint8_t mavlink_version; ///< MAVLink version } mavlink_heartbeat_t; +#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9 +#define MAVLINK_MSG_ID_0_LEN 9 + + + +#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \ + "HEARTBEAT", \ + 6, \ + { { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \ + { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \ + { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \ + { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \ + { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \ + } \ +} /** @@ -19,41 +37,82 @@ typedef struct __mavlink_heartbeat_t * @param msg The MAVLink message to compress the data into * * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + * @param system_status System status flag, see MAV_STATUS ENUM * @return length of the message in bytes (excluding serial stream start sign) */ -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) +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, uint32_t custom_mode, uint8_t system_status) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; - - i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[9]; + _mav_put_uint32_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, autopilot); + _mav_put_uint8_t(buf, 6, base_mode); + _mav_put_uint8_t(buf, 7, system_status); + _mav_put_uint8_t(buf, 8, 2); + + memcpy(_MAV_PAYLOAD(msg), buf, 9); +#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 = 2; + + memcpy(_MAV_PAYLOAD(msg), &packet, 9); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + return mavlink_finalize_message(msg, system_id, component_id, 9, 50); } /** - * @brief Pack a heartbeat message + * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + * @param system_status System status flag, see MAV_STATUS ENUM * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot) +static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; - - i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[9]; + _mav_put_uint32_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, autopilot); + _mav_put_uint8_t(buf, 6, base_mode); + _mav_put_uint8_t(buf, 7, system_status); + _mav_put_uint8_t(buf, 8, 2); + + memcpy(_MAV_PAYLOAD(msg), buf, 9); +#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 = 2; + + memcpy(_MAV_PAYLOAD(msg), &packet, 9); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 50); } /** @@ -66,7 +125,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_ */ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat) { - return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot); + return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status); } /** @@ -74,20 +133,43 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c * @param chan MAVLink channel to send the message * * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + * @param system_status System status flag, see MAV_STATUS ENUM */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot) +static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status) { - mavlink_message_t msg; - mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[9]; + _mav_put_uint32_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, autopilot); + _mav_put_uint8_t(buf, 6, base_mode); + _mav_put_uint8_t(buf, 7, system_status); + _mav_put_uint8_t(buf, 8, 2); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 9, 50); +#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 = 2; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 9, 50); +#endif } #endif + // MESSAGE HEARTBEAT UNPACKING + /** * @brief Get field type from heartbeat message * @@ -95,17 +177,47 @@ 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 (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 4); } /** * @brief Get field autopilot from heartbeat message * - * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @return Autopilot type / class. defined in MAV_CLASS ENUM */ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field base_mode from heartbeat message + * + * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + */ +static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field custom_mode from heartbeat message + * + * @return Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + */ +static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field system_status from heartbeat message + * + * @return System status flag, see MAV_STATUS ENUM + */ +static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 7); } /** @@ -115,7 +227,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_ */ static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 8); } /** @@ -126,7 +238,14 @@ static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_me */ static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat) { +#if MAVLINK_NEED_BYTE_SWAP + heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg); heartbeat->type = mavlink_msg_heartbeat_get_type(msg); heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg); + heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg); + heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg); heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg); +#else + memcpy(heartbeat, _MAV_PAYLOAD(msg), 9); +#endif } diff --git a/thirdParty/mavlink/include/minimal/minimal.h b/thirdParty/mavlink/include/minimal/minimal.h index ee09135a68cf8baf23eaa915b6791e0b1168d99c..895c79d0a424f785ffec4e1c4626c03147cdb734 100644 --- a/thirdParty/mavlink/include/minimal/minimal.h +++ b/thirdParty/mavlink/include/minimal/minimal.h @@ -1,7 +1,6 @@ /** @file - * @brief MAVLink comm protocol. + * @brief MAVLink comm protocol generated from minimal.xml * @see http://qgroundcontrol.org/mavlink/ - * Generated on Friday, August 5 2011, 07:37 UTC */ #ifndef MINIMAL_H #define MINIMAL_H @@ -10,11 +9,26 @@ extern "C" { #endif +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#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}} +#endif #include "../protocol.h" #define MAVLINK_ENABLED_MINIMAL + + // MAVLINK VERSION #ifndef MAVLINK_VERSION @@ -29,17 +43,11 @@ extern "C" { // ENUM DEFINITIONS -// MESSAGE DEFINITIONS +// MESSAGE DEFINITIONS #include "./mavlink_msg_heartbeat.h" - -// MESSAGE LENGTHS - -#undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { } - #ifdef __cplusplus } -#endif -#endif +#endif // __cplusplus +#endif // MINIMAL_H diff --git a/thirdParty/mavlink/include/minimal/testsuite.h b/thirdParty/mavlink/include/minimal/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..1758c912cf367318e802b2743a33e4dcb8d82b78 --- /dev/null +++ b/thirdParty/mavlink/include/minimal/testsuite.h @@ -0,0 +1,88 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from minimal.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef MINIMAL_TESTSUITE_H +#define MINIMAL_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL + +static void mavlink_test_minimal(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + + mavlink_test_minimal(system_id, component_id, last_msg); +} +#endif + + + + +static void mavlink_test_heartbeat(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_heartbeat_t packet_in = { + 963497464, + 17, + 84, + 151, + 218, + 2, + }; + mavlink_heartbeat_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.custom_mode = packet_in.custom_mode; + packet1.type = packet_in.type; + packet1.autopilot = packet_in.autopilot; + packet1.base_mode = packet_in.base_mode; + packet1.system_status = packet_in.system_status; + packet1.mavlink_version = packet_in.mavlink_version; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_heartbeat_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); + mavlink_msg_heartbeat_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); + mavlink_msg_heartbeat_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; imsgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); - i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled - i += put_float_by_index(roll, i, msg->payload); // roll - i += put_float_by_index(pitch, i, msg->payload); // pitch - i += put_float_by_index(yaw, i, msg->payload); // yaw - i += put_float_by_index(thrust, i, msg->payload); // thrust - i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1 - i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1 - i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1 - i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1 - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_attitude_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target = target; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 21, 254); } /** - * @brief Pack a attitude_control message + * @brief Pack a attitude_control 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 @@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint * @param thrust_manual thrust auto:0, manual:1 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); - i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled - i += put_float_by_index(roll, i, msg->payload); // roll - i += put_float_by_index(pitch, i, msg->payload); // pitch - i += put_float_by_index(yaw, i, msg->payload); // yaw - i += put_float_by_index(thrust, i, msg->payload); // thrust - i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1 - i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1 - i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1 - i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1 - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_attitude_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target = target; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 254); } /** @@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, ui static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) { - mavlink_message_t msg; - mavlink_msg_attitude_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, 21, 254); +#else + mavlink_attitude_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.target = target; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)&packet, 21, 254); +#endif } #endif + // MESSAGE ATTITUDE_CONTROL UNPACKING + /** * @brief Get field target from attitude_control message * @@ -134,7 +213,7 @@ static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uin */ static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 16); } /** @@ -144,12 +223,7 @@ static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_mess */ static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -159,12 +233,7 @@ static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_ */ static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -174,12 +243,7 @@ static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message */ static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -189,12 +253,7 @@ static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t */ static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -204,7 +263,7 @@ static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_messag */ static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + return _MAV_RETURN_uint8_t(msg, 17); } /** @@ -214,7 +273,7 @@ static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink */ static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 18); } /** @@ -224,7 +283,7 @@ static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlin */ static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 19); } /** @@ -234,7 +293,7 @@ static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_ */ static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 20); } /** @@ -245,13 +304,17 @@ static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavli */ static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control) { - attitude_control->target = mavlink_msg_attitude_control_get_target(msg); +#if MAVLINK_NEED_BYTE_SWAP attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg); attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg); attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg); attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg); + attitude_control->target = mavlink_msg_attitude_control_get_target(msg); attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg); attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg); attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg); attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg); +#else + memcpy(attitude_control, _MAV_PAYLOAD(msg), 21); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_aux_status.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_aux_status.h deleted file mode 100644 index f9dbde8c86ca4350705a5d8dfe9cec05c7240571..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_aux_status.h +++ /dev/null @@ -1,204 +0,0 @@ -// MESSAGE AUX_STATUS PACKING - -#define MAVLINK_MSG_ID_AUX_STATUS 142 - -typedef struct __mavlink_aux_status_t -{ - uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - uint16_t i2c0_err_count; ///< Number of I2C errors since startup - uint16_t i2c1_err_count; ///< Number of I2C errors since startup - uint16_t spi0_err_count; ///< Number of I2C errors since startup - uint16_t spi1_err_count; ///< Number of I2C errors since startup - uint16_t uart_total_err_count; ///< Number of I2C errors since startup - -} mavlink_aux_status_t; - - - -/** - * @brief Pack a aux_status 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 load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - * @param i2c0_err_count Number of I2C errors since startup - * @param i2c1_err_count Number of I2C errors since startup - * @param spi0_err_count Number of I2C errors since startup - * @param spi1_err_count Number of I2C errors since startup - * @param uart_total_err_count Number of I2C errors since startup - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_aux_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_AUX_STATUS; - - i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup - i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup - i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup - i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup - i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a aux_status message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - * @param i2c0_err_count Number of I2C errors since startup - * @param i2c1_err_count Number of I2C errors since startup - * @param spi0_err_count Number of I2C errors since startup - * @param spi1_err_count Number of I2C errors since startup - * @param uart_total_err_count Number of I2C errors since startup - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_aux_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_AUX_STATUS; - - i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup - i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup - i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup - i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup - i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a aux_status 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 aux_status C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aux_status_t* aux_status) -{ - return mavlink_msg_aux_status_pack(system_id, component_id, msg, aux_status->load, aux_status->i2c0_err_count, aux_status->i2c1_err_count, aux_status->spi0_err_count, aux_status->spi1_err_count, aux_status->uart_total_err_count); -} - -/** - * @brief Send a aux_status message - * @param chan MAVLink channel to send the message - * - * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - * @param i2c0_err_count Number of I2C errors since startup - * @param i2c1_err_count Number of I2C errors since startup - * @param spi0_err_count Number of I2C errors since startup - * @param spi1_err_count Number of I2C errors since startup - * @param uart_total_err_count Number of I2C errors since startup - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count) -{ - mavlink_message_t msg; - mavlink_msg_aux_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, load, i2c0_err_count, i2c1_err_count, spi0_err_count, spi1_err_count, uart_total_err_count); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE AUX_STATUS UNPACKING - -/** - * @brief Get field load from aux_status message - * - * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - */ -static inline uint16_t mavlink_msg_aux_status_get_load(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; -} - -/** - * @brief Get field i2c0_err_count from aux_status message - * - * @return Number of I2C errors since startup - */ -static inline uint16_t mavlink_msg_aux_status_get_i2c0_err_count(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Get field i2c1_err_count from aux_status message - * - * @return Number of I2C errors since startup - */ -static inline uint16_t mavlink_msg_aux_status_get_i2c1_err_count(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Get field spi0_err_count from aux_status message - * - * @return Number of I2C errors since startup - */ -static inline uint16_t mavlink_msg_aux_status_get_spi0_err_count(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Get field spi1_err_count from aux_status message - * - * @return Number of I2C errors since startup - */ -static inline uint16_t mavlink_msg_aux_status_get_spi1_err_count(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Get field uart_total_err_count from aux_status message - * - * @return Number of I2C errors since startup - */ -static inline uint16_t mavlink_msg_aux_status_get_uart_total_err_count(const mavlink_message_t* msg) -{ - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; -} - -/** - * @brief Decode a aux_status message into a struct - * - * @param msg The message to decode - * @param aux_status C-struct to decode the message contents into - */ -static inline void mavlink_msg_aux_status_decode(const mavlink_message_t* msg, mavlink_aux_status_t* aux_status) -{ - aux_status->load = mavlink_msg_aux_status_get_load(msg); - aux_status->i2c0_err_count = mavlink_msg_aux_status_get_i2c0_err_count(msg); - aux_status->i2c1_err_count = mavlink_msg_aux_status_get_i2c1_err_count(msg); - aux_status->spi0_err_count = mavlink_msg_aux_status_get_spi0_err_count(msg); - aux_status->spi1_err_count = mavlink_msg_aux_status_get_spi1_err_count(msg); - aux_status->uart_total_err_count = mavlink_msg_aux_status_get_uart_total_err_count(msg); -} diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h index a61e13bcde2c02a4b79449affb839956a6baf5bf..3e6b374c2a78c0f701c0140c44b665455ab2622e 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h @@ -1,22 +1,38 @@ // MESSAGE BRIEF_FEATURE PACKING -#define MAVLINK_MSG_ID_BRIEF_FEATURE 172 +#define MAVLINK_MSG_ID_BRIEF_FEATURE 195 -typedef struct __mavlink_brief_feature_t +typedef struct __mavlink_brief_feature_t { - float x; ///< x position in m - float y; ///< y position in m - float z; ///< z position in m - uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true - uint16_t size; ///< Size in pixels - uint16_t orientation; ///< Orientation - uint8_t descriptor[32]; ///< Descriptor - float response; ///< Harris operator response at this location - + float x; ///< x position in m + float y; ///< y position in m + float z; ///< z position in m + float response; ///< Harris operator response at this location + uint16_t size; ///< Size in pixels + uint16_t orientation; ///< Orientation + uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true + uint8_t descriptor[32]; ///< Descriptor } mavlink_brief_feature_t; +#define MAVLINK_MSG_ID_BRIEF_FEATURE_LEN 53 +#define MAVLINK_MSG_ID_195_LEN 53 + #define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32 +#define MAVLINK_MESSAGE_INFO_BRIEF_FEATURE { \ + "BRIEF_FEATURE", \ + 8, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_brief_feature_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_brief_feature_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_brief_feature_t, z) }, \ + { "response", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_brief_feature_t, response) }, \ + { "size", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_brief_feature_t, size) }, \ + { "orientation", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_brief_feature_t, orientation) }, \ + { "orientation_assignment", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_brief_feature_t, orientation_assignment) }, \ + { "descriptor", NULL, MAVLINK_TYPE_UINT8_T, 32, 21, offsetof(mavlink_brief_feature_t, descriptor) }, \ + } \ +} + /** * @brief Pack a brief_feature message @@ -34,25 +50,39 @@ typedef struct __mavlink_brief_feature_t * @param response Harris operator response at this location * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response) +static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; - - i += put_float_by_index(x, i, msg->payload); // x position in m - i += put_float_by_index(y, i, msg->payload); // y position in m - i += put_float_by_index(z, i, msg->payload); // z position in m - i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true - i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels - i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation - i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor - i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[53]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, response); + _mav_put_uint16_t(buf, 16, size); + _mav_put_uint16_t(buf, 18, orientation); + _mav_put_uint8_t(buf, 20, orientation_assignment); + _mav_put_uint8_t_array(buf, 21, descriptor, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 53); +#else + mavlink_brief_feature_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.response = response; + packet.size = size; + packet.orientation = orientation; + packet.orientation_assignment = orientation_assignment; + memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32); + memcpy(_MAV_PAYLOAD(msg), &packet, 53); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; + return mavlink_finalize_message(msg, system_id, component_id, 53, 88); } /** - * @brief Pack a brief_feature message + * @brief Pack a brief_feature 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 @@ -67,21 +97,36 @@ static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t * @param response Harris operator response at this location * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response) +static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float x,float y,float z,uint8_t orientation_assignment,uint16_t size,uint16_t orientation,const uint8_t *descriptor,float response) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; - - i += put_float_by_index(x, i, msg->payload); // x position in m - i += put_float_by_index(y, i, msg->payload); // y position in m - i += put_float_by_index(z, i, msg->payload); // z position in m - i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true - i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels - i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation - i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor - i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[53]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, response); + _mav_put_uint16_t(buf, 16, size); + _mav_put_uint16_t(buf, 18, orientation); + _mav_put_uint8_t(buf, 20, orientation_assignment); + _mav_put_uint8_t_array(buf, 21, descriptor, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 53); +#else + mavlink_brief_feature_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.response = response; + packet.size = size; + packet.orientation = orientation; + packet.orientation_assignment = orientation_assignment; + memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32); + memcpy(_MAV_PAYLOAD(msg), &packet, 53); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 53, 88); } /** @@ -112,16 +157,38 @@ static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response) +static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response) { - mavlink_message_t msg; - mavlink_msg_brief_feature_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, orientation_assignment, size, orientation, descriptor, response); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[53]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, response); + _mav_put_uint16_t(buf, 16, size); + _mav_put_uint16_t(buf, 18, orientation); + _mav_put_uint8_t(buf, 20, orientation_assignment); + _mav_put_uint8_t_array(buf, 21, descriptor, 32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, 53, 88); +#else + mavlink_brief_feature_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.response = response; + packet.size = size; + packet.orientation = orientation; + packet.orientation_assignment = orientation_assignment; + memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)&packet, 53, 88); +#endif } #endif + // MESSAGE BRIEF_FEATURE UNPACKING + /** * @brief Get field x from brief_feature message * @@ -129,12 +196,7 @@ static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float */ static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -144,12 +206,7 @@ static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg */ static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -159,12 +216,7 @@ static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg */ static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -174,7 +226,7 @@ static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg */ static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; + return _MAV_RETURN_uint8_t(msg, 20); } /** @@ -184,10 +236,7 @@ static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const */ static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 16); } /** @@ -197,10 +246,7 @@ static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_ */ static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 18); } /** @@ -208,11 +254,9 @@ static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_m * * @return Descriptor */ -static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t* r_data) +static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t *descriptor) { - - memcpy(r_data, msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t), sizeof(uint8_t)*32); - return sizeof(uint8_t)*32; + return _MAV_RETURN_uint8_t_array(msg, descriptor, 32, 21); } /** @@ -222,12 +266,7 @@ static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_me */ static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -238,12 +277,16 @@ static inline float mavlink_msg_brief_feature_get_response(const mavlink_message */ static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature) { +#if MAVLINK_NEED_BYTE_SWAP brief_feature->x = mavlink_msg_brief_feature_get_x(msg); brief_feature->y = mavlink_msg_brief_feature_get_y(msg); brief_feature->z = mavlink_msg_brief_feature_get_z(msg); - brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg); + brief_feature->response = mavlink_msg_brief_feature_get_response(msg); brief_feature->size = mavlink_msg_brief_feature_get_size(msg); brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg); + brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg); mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor); - brief_feature->response = mavlink_msg_brief_feature_get_response(msg); +#else + memcpy(brief_feature, _MAV_PAYLOAD(msg), 53); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h index e9e69f7c9f53319f4c5c4973ebb80e65f3e72750..dccaace75b67ce0045e609f8a9b42606f9e815f5 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h @@ -1,17 +1,31 @@ // MESSAGE DATA_TRANSMISSION_HANDSHAKE PACKING -#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 170 +#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 193 -typedef struct __mavlink_data_transmission_handshake_t +typedef struct __mavlink_data_transmission_handshake_t { - uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) - uint32_t size; ///< total data size in bytes (set on ACK only) - uint8_t packets; ///< number of packets beeing sent (set on ACK only) - uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) - uint8_t jpg_quality; ///< JPEG quality out of [1,100] - + uint32_t size; ///< total data size in bytes (set on ACK only) + uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + uint8_t packets; ///< number of packets beeing sent (set on ACK only) + uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + uint8_t jpg_quality; ///< JPEG quality out of [1,100] } mavlink_data_transmission_handshake_t; +#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 8 +#define MAVLINK_MSG_ID_193_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE { \ + "DATA_TRANSMISSION_HANDSHAKE", \ + 5, \ + { { "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_data_transmission_handshake_t, size) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_data_transmission_handshake_t, type) }, \ + { "packets", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_data_transmission_handshake_t, packets) }, \ + { "payload", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_data_transmission_handshake_t, payload) }, \ + { "jpg_quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_data_transmission_handshake_t, jpg_quality) }, \ + } \ +} /** @@ -27,22 +41,35 @@ typedef struct __mavlink_data_transmission_handshake_t * @param jpg_quality JPEG quality out of [1,100] * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality) +static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; - - i += put_uint8_t_by_index(type, i, msg->payload); // type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) - i += put_uint32_t_by_index(size, i, msg->payload); // total data size in bytes (set on ACK only) - i += put_uint8_t_by_index(packets, i, msg->payload); // number of packets beeing sent (set on ACK only) - i += put_uint8_t_by_index(payload, i, msg->payload); // payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) - i += put_uint8_t_by_index(jpg_quality, i, msg->payload); // JPEG quality out of [1,100] +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint32_t(buf, 0, size); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_data_transmission_handshake_t packet; + packet.size = size; + packet.type = type; + packet.packets = packets; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; + return mavlink_finalize_message(msg, system_id, component_id, 8, 148); } /** - * @brief Pack a data_transmission_handshake message + * @brief Pack a data_transmission_handshake 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 @@ -54,18 +81,32 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t syst * @param jpg_quality JPEG quality out of [1,100] * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality) +static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint32_t size,uint8_t packets,uint8_t payload,uint8_t jpg_quality) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; - - i += put_uint8_t_by_index(type, i, msg->payload); // type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) - i += put_uint32_t_by_index(size, i, msg->payload); // total data size in bytes (set on ACK only) - i += put_uint8_t_by_index(packets, i, msg->payload); // number of packets beeing sent (set on ACK only) - i += put_uint8_t_by_index(payload, i, msg->payload); // payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) - i += put_uint8_t_by_index(jpg_quality, i, msg->payload); // JPEG quality out of [1,100] +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint32_t(buf, 0, size); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_data_transmission_handshake_t packet; + packet.size = size; + packet.type = type; + packet.packets = packets; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 148); } /** @@ -95,14 +136,32 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_encode(uint8_t sy static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality) { - mavlink_message_t msg; - mavlink_msg_data_transmission_handshake_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, size, packets, payload, jpg_quality); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint32_t(buf, 0, size); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, 8, 148); +#else + mavlink_data_transmission_handshake_t packet; + packet.size = size; + packet.type = type; + packet.packets = packets; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)&packet, 8, 148); +#endif } #endif + // MESSAGE DATA_TRANSMISSION_HANDSHAKE UNPACKING + /** * @brief Get field type from data_transmission_handshake message * @@ -110,7 +169,7 @@ static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_ */ static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 4); } /** @@ -120,12 +179,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mav */ static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t))[3]; - return (uint32_t)r.i; + return _MAV_RETURN_uint32_t(msg, 0); } /** @@ -135,7 +189,7 @@ static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const ma */ static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t))[0]; + return _MAV_RETURN_uint8_t(msg, 5); } /** @@ -145,7 +199,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const */ static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 6); } /** @@ -155,7 +209,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const */ static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 7); } /** @@ -166,9 +220,13 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(co */ static inline void mavlink_msg_data_transmission_handshake_decode(const mavlink_message_t* msg, mavlink_data_transmission_handshake_t* data_transmission_handshake) { - data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg); +#if MAVLINK_NEED_BYTE_SWAP data_transmission_handshake->size = mavlink_msg_data_transmission_handshake_get_size(msg); + data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg); data_transmission_handshake->packets = mavlink_msg_data_transmission_handshake_get_packets(msg); data_transmission_handshake->payload = mavlink_msg_data_transmission_handshake_get_payload(msg); data_transmission_handshake->jpg_quality = mavlink_msg_data_transmission_handshake_get_jpg_quality(msg); +#else + memcpy(data_transmission_handshake, _MAV_PAYLOAD(msg), 8); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h index c2c040ae65bcd63a12f434bcfba69f74636c4b43..dcd65c2f449816f8b529e0321c04fa9e1f871e2e 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h @@ -1,16 +1,26 @@ // MESSAGE ENCAPSULATED_DATA PACKING -#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 171 +#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 194 -typedef struct __mavlink_encapsulated_data_t +typedef struct __mavlink_encapsulated_data_t { - uint16_t seqnr; ///< sequence number (starting with 0 on every transmission) - uint8_t data[253]; ///< image data bytes - + uint16_t seqnr; ///< sequence number (starting with 0 on every transmission) + uint8_t data[253]; ///< image data bytes } mavlink_encapsulated_data_t; +#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255 +#define MAVLINK_MSG_ID_194_LEN 255 + #define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253 +#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \ + "ENCAPSULATED_DATA", \ + 2, \ + { { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \ + } \ +} + /** * @brief Pack a encapsulated_data message @@ -22,19 +32,27 @@ typedef struct __mavlink_encapsulated_data_t * @param data image data bytes * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data) +static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t seqnr, const uint8_t *data) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; - - i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission) - i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); + memcpy(_MAV_PAYLOAD(msg), buf, 255); +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + memcpy(packet.data, data, sizeof(uint8_t)*253); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; + return mavlink_finalize_message(msg, system_id, component_id, 255, 223); } /** - * @brief Pack a encapsulated_data message + * @brief Pack a encapsulated_data 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 @@ -43,15 +61,24 @@ static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uin * @param data image data bytes * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data) +static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t seqnr,const uint8_t *data) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; - - i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission) - i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); + memcpy(_MAV_PAYLOAD(msg), buf, 255); +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + memcpy(packet.data, data, sizeof(uint8_t)*253); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 255, 223); } /** @@ -76,16 +103,26 @@ static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, u */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t* data) +static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data) { - mavlink_message_t msg; - mavlink_msg_encapsulated_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seqnr, data); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, 255, 223); +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + memcpy(packet.data, data, sizeof(uint8_t)*253); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, 255, 223); +#endif } #endif + // MESSAGE ENCAPSULATED_DATA UNPACKING + /** * @brief Get field seqnr from encapsulated_data message * @@ -93,10 +130,7 @@ static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, ui */ static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -104,11 +138,9 @@ static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_mes * * @return image data bytes */ -static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t* r_data) +static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data) { - - memcpy(r_data, msg->payload+sizeof(uint16_t), sizeof(uint8_t)*253); - return sizeof(uint8_t)*253; + return _MAV_RETURN_uint8_t_array(msg, data, 253, 2); } /** @@ -119,6 +151,10 @@ static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_mess */ static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data) { +#if MAVLINK_NEED_BYTE_SWAP encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg); mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data); +#else + memcpy(encapsulated_data, _MAV_PAYLOAD(msg), 255); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h index b40e23df7b554477b32ea6803b25e051d3552b06..cdbdf466fd3ea01fff290086ee79e8e08554b319 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h @@ -1,35 +1,67 @@ // MESSAGE IMAGE_AVAILABLE PACKING -#define MAVLINK_MSG_ID_IMAGE_AVAILABLE 103 +#define MAVLINK_MSG_ID_IMAGE_AVAILABLE 154 -typedef struct __mavlink_image_available_t +typedef struct __mavlink_image_available_t { - uint64_t cam_id; ///< Camera id - uint8_t cam_no; ///< Camera # (starts with 0) - uint64_t timestamp; ///< Timestamp - uint64_t valid_until; ///< Until which timestamp this buffer will stay valid - uint32_t img_seq; ///< The image sequence number - uint32_t img_buf_index; ///< Position of the image in the buffer, starts with 0 - uint16_t width; ///< Image width - uint16_t height; ///< Image height - uint16_t depth; ///< Image depth - uint8_t channels; ///< Image channels - uint32_t key; ///< Shared memory area key - uint32_t exposure; ///< Exposure time, in microseconds - float gain; ///< Camera gain - float roll; ///< Roll angle in rad - float pitch; ///< Pitch angle in rad - float yaw; ///< Yaw angle in rad - float local_z; ///< Local frame Z coordinate (height over ground) - float lat; ///< GPS X coordinate - float lon; ///< GPS Y coordinate - float alt; ///< Global frame altitude - float ground_x; ///< Ground truth X - float ground_y; ///< Ground truth Y - float ground_z; ///< Ground truth Z - + uint64_t cam_id; ///< Camera id + uint64_t timestamp; ///< Timestamp + uint64_t valid_until; ///< Until which timestamp this buffer will stay valid + uint32_t img_seq; ///< The image sequence number + uint32_t img_buf_index; ///< Position of the image in the buffer, starts with 0 + uint32_t key; ///< Shared memory area key + uint32_t exposure; ///< Exposure time, in microseconds + float gain; ///< Camera gain + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad + float local_z; ///< Local frame Z coordinate (height over ground) + float lat; ///< GPS X coordinate + float lon; ///< GPS Y coordinate + float alt; ///< Global frame altitude + float ground_x; ///< Ground truth X + float ground_y; ///< Ground truth Y + float ground_z; ///< Ground truth Z + uint16_t width; ///< Image width + uint16_t height; ///< Image height + uint16_t depth; ///< Image depth + uint8_t cam_no; ///< Camera # (starts with 0) + uint8_t channels; ///< Image channels } mavlink_image_available_t; +#define MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN 92 +#define MAVLINK_MSG_ID_154_LEN 92 + + + +#define MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE { \ + "IMAGE_AVAILABLE", \ + 23, \ + { { "cam_id", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_available_t, cam_id) }, \ + { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_image_available_t, timestamp) }, \ + { "valid_until", NULL, MAVLINK_TYPE_UINT64_T, 0, 16, offsetof(mavlink_image_available_t, valid_until) }, \ + { "img_seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_image_available_t, img_seq) }, \ + { "img_buf_index", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_image_available_t, img_buf_index) }, \ + { "key", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_image_available_t, key) }, \ + { "exposure", NULL, MAVLINK_TYPE_UINT32_T, 0, 36, offsetof(mavlink_image_available_t, exposure) }, \ + { "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_image_available_t, gain) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_image_available_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_available_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_image_available_t, yaw) }, \ + { "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_image_available_t, local_z) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_image_available_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_image_available_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_image_available_t, alt) }, \ + { "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_image_available_t, ground_x) }, \ + { "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_image_available_t, ground_y) }, \ + { "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_image_available_t, ground_z) }, \ + { "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 84, offsetof(mavlink_image_available_t, width) }, \ + { "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 86, offsetof(mavlink_image_available_t, height) }, \ + { "depth", NULL, MAVLINK_TYPE_UINT16_T, 0, 88, offsetof(mavlink_image_available_t, depth) }, \ + { "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 90, offsetof(mavlink_image_available_t, cam_no) }, \ + { "channels", NULL, MAVLINK_TYPE_UINT8_T, 0, 91, offsetof(mavlink_image_available_t, channels) }, \ + } \ +} /** @@ -63,40 +95,71 @@ typedef struct __mavlink_image_available_t * @param ground_z Ground truth Z * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[92]; + _mav_put_uint64_t(buf, 0, cam_id); + _mav_put_uint64_t(buf, 8, timestamp); + _mav_put_uint64_t(buf, 16, valid_until); + _mav_put_uint32_t(buf, 24, img_seq); + _mav_put_uint32_t(buf, 28, img_buf_index); + _mav_put_uint32_t(buf, 32, key); + _mav_put_uint32_t(buf, 36, exposure); + _mav_put_float(buf, 40, gain); + _mav_put_float(buf, 44, roll); + _mav_put_float(buf, 48, pitch); + _mav_put_float(buf, 52, yaw); + _mav_put_float(buf, 56, local_z); + _mav_put_float(buf, 60, lat); + _mav_put_float(buf, 64, lon); + _mav_put_float(buf, 68, alt); + _mav_put_float(buf, 72, ground_x); + _mav_put_float(buf, 76, ground_y); + _mav_put_float(buf, 80, ground_z); + _mav_put_uint16_t(buf, 84, width); + _mav_put_uint16_t(buf, 86, height); + _mav_put_uint16_t(buf, 88, depth); + _mav_put_uint8_t(buf, 90, cam_no); + _mav_put_uint8_t(buf, 91, channels); + + memcpy(_MAV_PAYLOAD(msg), buf, 92); +#else + mavlink_image_available_t packet; + packet.cam_id = cam_id; + packet.timestamp = timestamp; + packet.valid_until = valid_until; + packet.img_seq = img_seq; + packet.img_buf_index = img_buf_index; + packet.key = key; + packet.exposure = exposure; + packet.gain = gain; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + packet.width = width; + packet.height = height; + packet.depth = depth; + packet.cam_no = cam_no; + packet.channels = channels; + + memcpy(_MAV_PAYLOAD(msg), &packet, 92); +#endif - i += put_uint64_t_by_index(cam_id, i, msg->payload); // Camera id - i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera # (starts with 0) - i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp - i += put_uint64_t_by_index(valid_until, i, msg->payload); // Until which timestamp this buffer will stay valid - i += put_uint32_t_by_index(img_seq, i, msg->payload); // The image sequence number - i += put_uint32_t_by_index(img_buf_index, i, msg->payload); // Position of the image in the buffer, starts with 0 - i += put_uint16_t_by_index(width, i, msg->payload); // Image width - i += put_uint16_t_by_index(height, i, msg->payload); // Image height - i += put_uint16_t_by_index(depth, i, msg->payload); // Image depth - i += put_uint8_t_by_index(channels, i, msg->payload); // Image channels - i += put_uint32_t_by_index(key, i, msg->payload); // Shared memory area key - i += put_uint32_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds - i += put_float_by_index(gain, i, msg->payload); // Camera gain - i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad - i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) - i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate - i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate - i += put_float_by_index(alt, i, msg->payload); // Global frame altitude - i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X - i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y - i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z - - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; + return mavlink_finalize_message(msg, system_id, component_id, 92, 224); } /** - * @brief Pack a image_available message + * @brief Pack a image_available 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 @@ -126,36 +189,68 @@ static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8 * @param ground_z Ground truth Z * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t cam_id,uint8_t cam_no,uint64_t timestamp,uint64_t valid_until,uint32_t img_seq,uint32_t img_buf_index,uint16_t width,uint16_t height,uint16_t depth,uint8_t channels,uint32_t key,uint32_t exposure,float gain,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[92]; + _mav_put_uint64_t(buf, 0, cam_id); + _mav_put_uint64_t(buf, 8, timestamp); + _mav_put_uint64_t(buf, 16, valid_until); + _mav_put_uint32_t(buf, 24, img_seq); + _mav_put_uint32_t(buf, 28, img_buf_index); + _mav_put_uint32_t(buf, 32, key); + _mav_put_uint32_t(buf, 36, exposure); + _mav_put_float(buf, 40, gain); + _mav_put_float(buf, 44, roll); + _mav_put_float(buf, 48, pitch); + _mav_put_float(buf, 52, yaw); + _mav_put_float(buf, 56, local_z); + _mav_put_float(buf, 60, lat); + _mav_put_float(buf, 64, lon); + _mav_put_float(buf, 68, alt); + _mav_put_float(buf, 72, ground_x); + _mav_put_float(buf, 76, ground_y); + _mav_put_float(buf, 80, ground_z); + _mav_put_uint16_t(buf, 84, width); + _mav_put_uint16_t(buf, 86, height); + _mav_put_uint16_t(buf, 88, depth); + _mav_put_uint8_t(buf, 90, cam_no); + _mav_put_uint8_t(buf, 91, channels); + + memcpy(_MAV_PAYLOAD(msg), buf, 92); +#else + mavlink_image_available_t packet; + packet.cam_id = cam_id; + packet.timestamp = timestamp; + packet.valid_until = valid_until; + packet.img_seq = img_seq; + packet.img_buf_index = img_buf_index; + packet.key = key; + packet.exposure = exposure; + packet.gain = gain; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + packet.width = width; + packet.height = height; + packet.depth = depth; + packet.cam_no = cam_no; + packet.channels = channels; + + memcpy(_MAV_PAYLOAD(msg), &packet, 92); +#endif - i += put_uint64_t_by_index(cam_id, i, msg->payload); // Camera id - i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera # (starts with 0) - i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp - i += put_uint64_t_by_index(valid_until, i, msg->payload); // Until which timestamp this buffer will stay valid - i += put_uint32_t_by_index(img_seq, i, msg->payload); // The image sequence number - i += put_uint32_t_by_index(img_buf_index, i, msg->payload); // Position of the image in the buffer, starts with 0 - i += put_uint16_t_by_index(width, i, msg->payload); // Image width - i += put_uint16_t_by_index(height, i, msg->payload); // Image height - i += put_uint16_t_by_index(depth, i, msg->payload); // Image depth - i += put_uint8_t_by_index(channels, i, msg->payload); // Image channels - i += put_uint32_t_by_index(key, i, msg->payload); // Shared memory area key - i += put_uint32_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds - i += put_float_by_index(gain, i, msg->payload); // Camera gain - i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad - i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) - i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate - i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate - i += put_float_by_index(alt, i, msg->payload); // Global frame altitude - i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X - i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y - i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 92, 224); } /** @@ -203,14 +298,68 @@ static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uin static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) { - mavlink_message_t msg; - mavlink_msg_image_available_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_id, cam_no, timestamp, valid_until, img_seq, img_buf_index, width, height, depth, channels, key, exposure, gain, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[92]; + _mav_put_uint64_t(buf, 0, cam_id); + _mav_put_uint64_t(buf, 8, timestamp); + _mav_put_uint64_t(buf, 16, valid_until); + _mav_put_uint32_t(buf, 24, img_seq); + _mav_put_uint32_t(buf, 28, img_buf_index); + _mav_put_uint32_t(buf, 32, key); + _mav_put_uint32_t(buf, 36, exposure); + _mav_put_float(buf, 40, gain); + _mav_put_float(buf, 44, roll); + _mav_put_float(buf, 48, pitch); + _mav_put_float(buf, 52, yaw); + _mav_put_float(buf, 56, local_z); + _mav_put_float(buf, 60, lat); + _mav_put_float(buf, 64, lon); + _mav_put_float(buf, 68, alt); + _mav_put_float(buf, 72, ground_x); + _mav_put_float(buf, 76, ground_y); + _mav_put_float(buf, 80, ground_z); + _mav_put_uint16_t(buf, 84, width); + _mav_put_uint16_t(buf, 86, height); + _mav_put_uint16_t(buf, 88, depth); + _mav_put_uint8_t(buf, 90, cam_no); + _mav_put_uint8_t(buf, 91, channels); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, buf, 92, 224); +#else + mavlink_image_available_t packet; + packet.cam_id = cam_id; + packet.timestamp = timestamp; + packet.valid_until = valid_until; + packet.img_seq = img_seq; + packet.img_buf_index = img_buf_index; + packet.key = key; + packet.exposure = exposure; + packet.gain = gain; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + packet.width = width; + packet.height = height; + packet.depth = depth; + packet.cam_no = cam_no; + packet.channels = channels; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, (const char *)&packet, 92, 224); +#endif } #endif + // MESSAGE IMAGE_AVAILABLE UNPACKING + /** * @brief Get field cam_id from image_available message * @@ -218,16 +367,7 @@ static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint */ static inline uint64_t mavlink_msg_image_available_get_cam_id(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -237,7 +377,7 @@ static inline uint64_t mavlink_msg_image_available_get_cam_id(const mavlink_mess */ static inline uint8_t mavlink_msg_image_available_get_cam_no(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint64_t))[0]; + return _MAV_RETURN_uint8_t(msg, 90); } /** @@ -247,16 +387,7 @@ static inline uint8_t mavlink_msg_image_available_get_cam_no(const mavlink_messa */ static inline uint64_t mavlink_msg_image_available_get_timestamp(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0]; - r.b[6] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1]; - r.b[5] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2]; - r.b[4] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3]; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[4]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[5]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[6]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 8); } /** @@ -266,16 +397,7 @@ static inline uint64_t mavlink_msg_image_available_get_timestamp(const mavlink_m */ static inline uint64_t mavlink_msg_image_available_get_valid_until(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[0]; - r.b[6] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[1]; - r.b[5] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[2]; - r.b[4] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[3]; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[4]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[5]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[6]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 16); } /** @@ -285,12 +407,7 @@ static inline uint64_t mavlink_msg_image_available_get_valid_until(const mavlink */ static inline uint32_t mavlink_msg_image_available_get_img_seq(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t))[3]; - return (uint32_t)r.i; + return _MAV_RETURN_uint32_t(msg, 24); } /** @@ -300,12 +417,7 @@ static inline uint32_t mavlink_msg_image_available_get_img_seq(const mavlink_mes */ static inline uint32_t mavlink_msg_image_available_get_img_buf_index(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t))[3]; - return (uint32_t)r.i; + return _MAV_RETURN_uint32_t(msg, 28); } /** @@ -315,10 +427,7 @@ static inline uint32_t mavlink_msg_image_available_get_img_buf_index(const mavli */ static inline uint16_t mavlink_msg_image_available_get_width(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 84); } /** @@ -328,10 +437,7 @@ static inline uint16_t mavlink_msg_image_available_get_width(const mavlink_messa */ static inline uint16_t mavlink_msg_image_available_get_height(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 86); } /** @@ -341,10 +447,7 @@ static inline uint16_t mavlink_msg_image_available_get_height(const mavlink_mess */ static inline uint16_t mavlink_msg_image_available_get_depth(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 88); } /** @@ -354,7 +457,7 @@ static inline uint16_t mavlink_msg_image_available_get_depth(const mavlink_messa */ static inline uint8_t mavlink_msg_image_available_get_channels(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; + return _MAV_RETURN_uint8_t(msg, 91); } /** @@ -364,12 +467,7 @@ static inline uint8_t mavlink_msg_image_available_get_channels(const mavlink_mes */ static inline uint32_t mavlink_msg_image_available_get_key(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[3]; - return (uint32_t)r.i; + return _MAV_RETURN_uint32_t(msg, 32); } /** @@ -379,12 +477,7 @@ static inline uint32_t mavlink_msg_image_available_get_key(const mavlink_message */ static inline uint32_t mavlink_msg_image_available_get_exposure(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t))[3]; - return (uint32_t)r.i; + return _MAV_RETURN_uint32_t(msg, 36); } /** @@ -394,12 +487,7 @@ static inline uint32_t mavlink_msg_image_available_get_exposure(const mavlink_me */ static inline float mavlink_msg_image_available_get_gain(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 40); } /** @@ -409,12 +497,7 @@ static inline float mavlink_msg_image_available_get_gain(const mavlink_message_t */ static inline float mavlink_msg_image_available_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 44); } /** @@ -424,12 +507,7 @@ static inline float mavlink_msg_image_available_get_roll(const mavlink_message_t */ static inline float mavlink_msg_image_available_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 48); } /** @@ -439,12 +517,7 @@ static inline float mavlink_msg_image_available_get_pitch(const mavlink_message_ */ static inline float mavlink_msg_image_available_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 52); } /** @@ -454,12 +527,7 @@ static inline float mavlink_msg_image_available_get_yaw(const mavlink_message_t* */ static inline float mavlink_msg_image_available_get_local_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 56); } /** @@ -469,12 +537,7 @@ static inline float mavlink_msg_image_available_get_local_z(const mavlink_messag */ static inline float mavlink_msg_image_available_get_lat(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 60); } /** @@ -484,12 +547,7 @@ static inline float mavlink_msg_image_available_get_lat(const mavlink_message_t* */ static inline float mavlink_msg_image_available_get_lon(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 64); } /** @@ -499,12 +557,7 @@ static inline float mavlink_msg_image_available_get_lon(const mavlink_message_t* */ static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 68); } /** @@ -514,12 +567,7 @@ static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t* */ static inline float mavlink_msg_image_available_get_ground_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 72); } /** @@ -529,12 +577,7 @@ static inline float mavlink_msg_image_available_get_ground_x(const mavlink_messa */ static inline float mavlink_msg_image_available_get_ground_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 76); } /** @@ -544,12 +587,7 @@ static inline float mavlink_msg_image_available_get_ground_y(const mavlink_messa */ static inline float mavlink_msg_image_available_get_ground_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 80); } /** @@ -560,16 +598,12 @@ static inline float mavlink_msg_image_available_get_ground_z(const mavlink_messa */ static inline void mavlink_msg_image_available_decode(const mavlink_message_t* msg, mavlink_image_available_t* image_available) { +#if MAVLINK_NEED_BYTE_SWAP image_available->cam_id = mavlink_msg_image_available_get_cam_id(msg); - image_available->cam_no = mavlink_msg_image_available_get_cam_no(msg); image_available->timestamp = mavlink_msg_image_available_get_timestamp(msg); image_available->valid_until = mavlink_msg_image_available_get_valid_until(msg); image_available->img_seq = mavlink_msg_image_available_get_img_seq(msg); image_available->img_buf_index = mavlink_msg_image_available_get_img_buf_index(msg); - image_available->width = mavlink_msg_image_available_get_width(msg); - image_available->height = mavlink_msg_image_available_get_height(msg); - image_available->depth = mavlink_msg_image_available_get_depth(msg); - image_available->channels = mavlink_msg_image_available_get_channels(msg); image_available->key = mavlink_msg_image_available_get_key(msg); image_available->exposure = mavlink_msg_image_available_get_exposure(msg); image_available->gain = mavlink_msg_image_available_get_gain(msg); @@ -583,4 +617,12 @@ static inline void mavlink_msg_image_available_decode(const mavlink_message_t* m image_available->ground_x = mavlink_msg_image_available_get_ground_x(msg); image_available->ground_y = mavlink_msg_image_available_get_ground_y(msg); image_available->ground_z = mavlink_msg_image_available_get_ground_z(msg); + image_available->width = mavlink_msg_image_available_get_width(msg); + image_available->height = mavlink_msg_image_available_get_height(msg); + image_available->depth = mavlink_msg_image_available_get_depth(msg); + image_available->cam_no = mavlink_msg_image_available_get_cam_no(msg); + image_available->channels = mavlink_msg_image_available_get_channels(msg); +#else + memcpy(image_available, _MAV_PAYLOAD(msg), 92); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h index 90aa9dcf4e8659e59fe0be38ece0c3cbecd9ade1..08f4d7944d65794b8d5a2cb96df804565e8ff527 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h @@ -1,13 +1,23 @@ // MESSAGE IMAGE_TRIGGER_CONTROL PACKING -#define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL 102 +#define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL 153 -typedef struct __mavlink_image_trigger_control_t +typedef struct __mavlink_image_trigger_control_t { - uint8_t enable; ///< 0 to disable, 1 to enable - + uint8_t enable; ///< 0 to disable, 1 to enable } mavlink_image_trigger_control_t; +#define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN 1 +#define MAVLINK_MSG_ID_153_LEN 1 + + + +#define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL { \ + "IMAGE_TRIGGER_CONTROL", \ + 1, \ + { { "enable", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_image_trigger_control_t, enable) }, \ + } \ +} /** @@ -19,18 +29,27 @@ typedef struct __mavlink_image_trigger_control_t * @param enable 0 to disable, 1 to enable * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_image_trigger_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t enable) +static inline uint16_t mavlink_msg_image_trigger_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t enable) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[1]; + _mav_put_uint8_t(buf, 0, enable); + + memcpy(_MAV_PAYLOAD(msg), buf, 1); +#else + mavlink_image_trigger_control_t packet; + packet.enable = enable; - i += put_uint8_t_by_index(enable, i, msg->payload); // 0 to disable, 1 to enable + memcpy(_MAV_PAYLOAD(msg), &packet, 1); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 1, 95); } /** - * @brief Pack a image_trigger_control message + * @brief Pack a image_trigger_control 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 @@ -38,14 +57,24 @@ static inline uint16_t mavlink_msg_image_trigger_control_pack(uint8_t system_id, * @param enable 0 to disable, 1 to enable * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_image_trigger_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t enable) +static inline uint16_t mavlink_msg_image_trigger_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t enable) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[1]; + _mav_put_uint8_t(buf, 0, enable); + + memcpy(_MAV_PAYLOAD(msg), buf, 1); +#else + mavlink_image_trigger_control_t packet; + packet.enable = enable; - i += put_uint8_t_by_index(enable, i, msg->payload); // 0 to disable, 1 to enable + memcpy(_MAV_PAYLOAD(msg), &packet, 1); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 1, 95); } /** @@ -71,14 +100,24 @@ static inline uint16_t mavlink_msg_image_trigger_control_encode(uint8_t system_i static inline void mavlink_msg_image_trigger_control_send(mavlink_channel_t chan, uint8_t enable) { - mavlink_message_t msg; - mavlink_msg_image_trigger_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, enable); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[1]; + _mav_put_uint8_t(buf, 0, enable); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, buf, 1, 95); +#else + mavlink_image_trigger_control_t packet; + packet.enable = enable; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, (const char *)&packet, 1, 95); +#endif } #endif + // MESSAGE IMAGE_TRIGGER_CONTROL UNPACKING + /** * @brief Get field enable from image_trigger_control message * @@ -86,7 +125,7 @@ static inline void mavlink_msg_image_trigger_control_send(mavlink_channel_t chan */ static inline uint8_t mavlink_msg_image_trigger_control_get_enable(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 0); } /** @@ -97,5 +136,9 @@ static inline uint8_t mavlink_msg_image_trigger_control_get_enable(const mavlink */ static inline void mavlink_msg_image_trigger_control_decode(const mavlink_message_t* msg, mavlink_image_trigger_control_t* image_trigger_control) { +#if MAVLINK_NEED_BYTE_SWAP image_trigger_control->enable = mavlink_msg_image_trigger_control_get_enable(msg); +#else + memcpy(image_trigger_control, _MAV_PAYLOAD(msg), 1); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h index 000003f3d73ba3239590a8701acc935877ea0dc2..d82abcf8ee9712944a71d2f66333026585b70cfa 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h @@ -1,24 +1,45 @@ // MESSAGE IMAGE_TRIGGERED PACKING -#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 101 +#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 152 -typedef struct __mavlink_image_triggered_t +typedef struct __mavlink_image_triggered_t { - uint64_t timestamp; ///< Timestamp - uint32_t seq; ///< IMU seq - float roll; ///< Roll angle in rad - float pitch; ///< Pitch angle in rad - float yaw; ///< Yaw angle in rad - float local_z; ///< Local frame Z coordinate (height over ground) - float lat; ///< GPS X coordinate - float lon; ///< GPS Y coordinate - float alt; ///< Global frame altitude - float ground_x; ///< Ground truth X - float ground_y; ///< Ground truth Y - float ground_z; ///< Ground truth Z - + uint64_t timestamp; ///< Timestamp + uint32_t seq; ///< IMU seq + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad + float local_z; ///< Local frame Z coordinate (height over ground) + float lat; ///< GPS X coordinate + float lon; ///< GPS Y coordinate + float alt; ///< Global frame altitude + float ground_x; ///< Ground truth X + float ground_y; ///< Ground truth Y + float ground_z; ///< Ground truth Z } mavlink_image_triggered_t; +#define MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN 52 +#define MAVLINK_MSG_ID_152_LEN 52 + + + +#define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED { \ + "IMAGE_TRIGGERED", \ + 12, \ + { { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_triggered_t, timestamp) }, \ + { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_image_triggered_t, seq) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_image_triggered_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_image_triggered_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_image_triggered_t, yaw) }, \ + { "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_image_triggered_t, local_z) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_image_triggered_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_image_triggered_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_image_triggered_t, alt) }, \ + { "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_image_triggered_t, ground_x) }, \ + { "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_image_triggered_t, ground_y) }, \ + { "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_triggered_t, ground_z) }, \ + } \ +} /** @@ -41,29 +62,49 @@ typedef struct __mavlink_image_triggered_t * @param ground_z Ground truth Z * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); - i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp - i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq - i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad - i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) - i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate - i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate - i += put_float_by_index(alt, i, msg->payload); // Global frame altitude - i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X - i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y - i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), buf, 52); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 52); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; + return mavlink_finalize_message(msg, system_id, component_id, 52, 86); } /** - * @brief Pack a image_triggered message + * @brief Pack a image_triggered 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 @@ -82,25 +123,46 @@ static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8 * @param ground_z Ground truth Z * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t timestamp,uint32_t seq,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 52); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 52); +#endif - i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp - i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq - i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad - i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) - i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate - i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate - i += put_float_by_index(alt, i, msg->payload); // Global frame altitude - i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X - i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y - i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 52, 86); } /** @@ -137,14 +199,46 @@ static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uin static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) { - mavlink_message_t msg; - mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, 52, 86); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)&packet, 52, 86); +#endif } #endif + // MESSAGE IMAGE_TRIGGERED UNPACKING + /** * @brief Get field timestamp from image_triggered message * @@ -152,16 +246,7 @@ static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint */ static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -171,12 +256,7 @@ static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_m */ static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (uint32_t)r.i; + return _MAV_RETURN_uint32_t(msg, 8); } /** @@ -186,12 +266,7 @@ static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message */ static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -201,12 +276,7 @@ static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t */ static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -216,12 +286,7 @@ static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_ */ static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -231,12 +296,7 @@ static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* */ static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -246,12 +306,7 @@ static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_messag */ static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 28); } /** @@ -261,12 +316,7 @@ static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* */ static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 32); } /** @@ -276,12 +326,7 @@ static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* */ static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 36); } /** @@ -291,12 +336,7 @@ static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* */ static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 40); } /** @@ -306,12 +346,7 @@ static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_messa */ static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 44); } /** @@ -321,12 +356,7 @@ static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_messa */ static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 48); } /** @@ -337,6 +367,7 @@ static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_messa */ static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered) { +#if MAVLINK_NEED_BYTE_SWAP image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg); image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg); image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg); @@ -349,4 +380,7 @@ static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* m image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg); image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg); image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg); +#else + memcpy(image_triggered, _MAV_PAYLOAD(msg), 52); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h index fb275534ae15fd00cd590beec1002677fc68f050..f127d5673075b0f609ced294a90e62ad33e3f618 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h @@ -1,19 +1,35 @@ // MESSAGE MARKER PACKING -#define MAVLINK_MSG_ID_MARKER 130 +#define MAVLINK_MSG_ID_MARKER 171 -typedef struct __mavlink_marker_t +typedef struct __mavlink_marker_t { - uint16_t id; ///< ID - float x; ///< x position - float y; ///< y position - float z; ///< z position - float roll; ///< roll orientation - float pitch; ///< pitch orientation - float yaw; ///< yaw orientation - + float x; ///< x position + float y; ///< y position + float z; ///< z position + float roll; ///< roll orientation + float pitch; ///< pitch orientation + float yaw; ///< yaw orientation + uint16_t id; ///< ID } mavlink_marker_t; +#define MAVLINK_MSG_ID_MARKER_LEN 26 +#define MAVLINK_MSG_ID_171_LEN 26 + + + +#define MAVLINK_MESSAGE_INFO_MARKER { \ + "MARKER", \ + 7, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_marker_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_marker_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_marker_t, z) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_marker_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_marker_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_marker_t, yaw) }, \ + { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_marker_t, id) }, \ + } \ +} /** @@ -31,24 +47,39 @@ typedef struct __mavlink_marker_t * @param yaw yaw orientation * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) +static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_MARKER; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_uint16_t(buf, 24, id); - i += put_uint16_t_by_index(id, i, msg->payload); // ID - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(roll, i, msg->payload); // roll orientation - i += put_float_by_index(pitch, i, msg->payload); // pitch orientation - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_marker_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.id = id; - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_MARKER; + return mavlink_finalize_message(msg, system_id, component_id, 26, 249); } /** - * @brief Pack a marker message + * @brief Pack a marker 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 @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t compon * @param yaw yaw orientation * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) +static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t id,float x,float y,float z,float roll,float pitch,float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_MARKER; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_uint16_t(buf, 24, id); - i += put_uint16_t_by_index(id, i, msg->payload); // ID - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(roll, i, msg->payload); // roll orientation - i += put_float_by_index(pitch, i, msg->payload); // pitch orientation - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_marker_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.id = id; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_MARKER; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 249); } /** @@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t comp static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) { - mavlink_message_t msg; - mavlink_msg_marker_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, roll, pitch, yaw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_uint16_t(buf, 24, id); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, buf, 26, 249); +#else + mavlink_marker_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.id = id; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, (const char *)&packet, 26, 249); +#endif } #endif + // MESSAGE MARKER UNPACKING + /** * @brief Get field id from marker message * @@ -122,10 +191,7 @@ static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, */ static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 24); } /** @@ -135,12 +201,7 @@ static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg) */ static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -150,12 +211,7 @@ static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg) */ static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -165,12 +221,7 @@ static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg) */ static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -180,12 +231,7 @@ static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg) */ static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -195,12 +241,7 @@ static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg) */ static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -210,12 +251,7 @@ static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg) */ static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -226,11 +262,15 @@ static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg) */ static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker) { - marker->id = mavlink_msg_marker_get_id(msg); +#if MAVLINK_NEED_BYTE_SWAP marker->x = mavlink_msg_marker_get_x(msg); marker->y = mavlink_msg_marker_get_y(msg); marker->z = mavlink_msg_marker_get_z(msg); marker->roll = mavlink_msg_marker_get_roll(msg); marker->pitch = mavlink_msg_marker_get_pitch(msg); marker->yaw = mavlink_msg_marker_get_yaw(msg); + marker->id = mavlink_msg_marker_get_id(msg); +#else + memcpy(marker, _MAV_PAYLOAD(msg), 26); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h index 1a2b46596b72bc27a50d9dae2812abf412663230..2bbc64681abb0061e2dea1abc6bc8903a168c0d2 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h @@ -1,18 +1,30 @@ // MESSAGE PATTERN_DETECTED PACKING -#define MAVLINK_MSG_ID_PATTERN_DETECTED 160 +#define MAVLINK_MSG_ID_PATTERN_DETECTED 190 -typedef struct __mavlink_pattern_detected_t +typedef struct __mavlink_pattern_detected_t { - uint8_t type; ///< 0: Pattern, 1: Letter - float confidence; ///< Confidence of detection - int8_t file[100]; ///< Pattern file name - uint8_t detected; ///< Accepted as true detection, 0 no, 1 yes - + float confidence; ///< Confidence of detection + uint8_t type; ///< 0: Pattern, 1: Letter + char file[100]; ///< Pattern file name + uint8_t detected; ///< Accepted as true detection, 0 no, 1 yes } mavlink_pattern_detected_t; +#define MAVLINK_MSG_ID_PATTERN_DETECTED_LEN 106 +#define MAVLINK_MSG_ID_190_LEN 106 + #define MAVLINK_MSG_PATTERN_DETECTED_FIELD_FILE_LEN 100 +#define MAVLINK_MESSAGE_INFO_PATTERN_DETECTED { \ + "PATTERN_DETECTED", \ + 4, \ + { { "confidence", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pattern_detected_t, confidence) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_pattern_detected_t, type) }, \ + { "file", NULL, MAVLINK_TYPE_CHAR, 100, 5, offsetof(mavlink_pattern_detected_t, file) }, \ + { "detected", NULL, MAVLINK_TYPE_UINT8_T, 0, 105, offsetof(mavlink_pattern_detected_t, detected) }, \ + } \ +} + /** * @brief Pack a pattern_detected message @@ -26,21 +38,31 @@ typedef struct __mavlink_pattern_detected_t * @param detected Accepted as true detection, 0 no, 1 yes * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_pattern_detected_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, float confidence, const int8_t* file, uint8_t detected) +static inline uint16_t mavlink_msg_pattern_detected_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, float confidence, const char *file, uint8_t detected) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; - - i += put_uint8_t_by_index(type, i, msg->payload); // 0: Pattern, 1: Letter - i += put_float_by_index(confidence, i, msg->payload); // Confidence of detection - i += put_array_by_index(file, 100, i, msg->payload); // Pattern file name - i += put_uint8_t_by_index(detected, i, msg->payload); // Accepted as true detection, 0 no, 1 yes +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[106]; + _mav_put_float(buf, 0, confidence); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 105, detected); + _mav_put_char_array(buf, 5, file, 100); + memcpy(_MAV_PAYLOAD(msg), buf, 106); +#else + mavlink_pattern_detected_t packet; + packet.confidence = confidence; + packet.type = type; + packet.detected = detected; + memcpy(packet.file, file, sizeof(char)*100); + memcpy(_MAV_PAYLOAD(msg), &packet, 106); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; + return mavlink_finalize_message(msg, system_id, component_id, 106, 90); } /** - * @brief Pack a pattern_detected message + * @brief Pack a pattern_detected 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 @@ -51,17 +73,28 @@ static inline uint16_t mavlink_msg_pattern_detected_pack(uint8_t system_id, uint * @param detected Accepted as true detection, 0 no, 1 yes * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_pattern_detected_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, float confidence, const int8_t* file, uint8_t detected) +static inline uint16_t mavlink_msg_pattern_detected_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,float confidence,const char *file,uint8_t detected) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; - - i += put_uint8_t_by_index(type, i, msg->payload); // 0: Pattern, 1: Letter - i += put_float_by_index(confidence, i, msg->payload); // Confidence of detection - i += put_array_by_index(file, 100, i, msg->payload); // Pattern file name - i += put_uint8_t_by_index(detected, i, msg->payload); // Accepted as true detection, 0 no, 1 yes +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[106]; + _mav_put_float(buf, 0, confidence); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 105, detected); + _mav_put_char_array(buf, 5, file, 100); + memcpy(_MAV_PAYLOAD(msg), buf, 106); +#else + mavlink_pattern_detected_t packet; + packet.confidence = confidence; + packet.type = type; + packet.detected = detected; + memcpy(packet.file, file, sizeof(char)*100); + memcpy(_MAV_PAYLOAD(msg), &packet, 106); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 106, 90); } /** @@ -88,16 +121,30 @@ static inline uint16_t mavlink_msg_pattern_detected_encode(uint8_t system_id, ui */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uint8_t type, float confidence, const int8_t* file, uint8_t detected) +static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uint8_t type, float confidence, const char *file, uint8_t detected) { - mavlink_message_t msg; - mavlink_msg_pattern_detected_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, confidence, file, detected); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[106]; + _mav_put_float(buf, 0, confidence); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 105, detected); + _mav_put_char_array(buf, 5, file, 100); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, buf, 106, 90); +#else + mavlink_pattern_detected_t packet; + packet.confidence = confidence; + packet.type = type; + packet.detected = detected; + memcpy(packet.file, file, sizeof(char)*100); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, (const char *)&packet, 106, 90); +#endif } #endif + // MESSAGE PATTERN_DETECTED UNPACKING + /** * @brief Get field type from pattern_detected message * @@ -105,7 +152,7 @@ static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uin */ static inline uint8_t mavlink_msg_pattern_detected_get_type(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 4); } /** @@ -115,12 +162,7 @@ static inline uint8_t mavlink_msg_pattern_detected_get_type(const mavlink_messag */ static inline float mavlink_msg_pattern_detected_get_confidence(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -128,11 +170,9 @@ static inline float mavlink_msg_pattern_detected_get_confidence(const mavlink_me * * @return Pattern file name */ -static inline uint16_t mavlink_msg_pattern_detected_get_file(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_pattern_detected_get_file(const mavlink_message_t* msg, char *file) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(float), 100); - return 100; + return _MAV_RETURN_char_array(msg, file, 100, 5); } /** @@ -142,7 +182,7 @@ static inline uint16_t mavlink_msg_pattern_detected_get_file(const mavlink_messa */ static inline uint8_t mavlink_msg_pattern_detected_get_detected(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+100)[0]; + return _MAV_RETURN_uint8_t(msg, 105); } /** @@ -153,8 +193,12 @@ static inline uint8_t mavlink_msg_pattern_detected_get_detected(const mavlink_me */ static inline void mavlink_msg_pattern_detected_decode(const mavlink_message_t* msg, mavlink_pattern_detected_t* pattern_detected) { - pattern_detected->type = mavlink_msg_pattern_detected_get_type(msg); +#if MAVLINK_NEED_BYTE_SWAP pattern_detected->confidence = mavlink_msg_pattern_detected_get_confidence(msg); + pattern_detected->type = mavlink_msg_pattern_detected_get_type(msg); mavlink_msg_pattern_detected_get_file(msg, pattern_detected->file); pattern_detected->detected = mavlink_msg_pattern_detected_get_detected(msg); +#else + memcpy(pattern_detected, _MAV_PAYLOAD(msg), 106); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h index 7e48c0fd913da62aa650594591bf7bda2faa7509..2c14d2385a832a7479797632c523f06118f059de 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h @@ -1,21 +1,37 @@ // MESSAGE POINT_OF_INTEREST PACKING -#define MAVLINK_MSG_ID_POINT_OF_INTEREST 161 +#define MAVLINK_MSG_ID_POINT_OF_INTEREST 191 -typedef struct __mavlink_point_of_interest_t +typedef struct __mavlink_point_of_interest_t { - uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - uint8_t coordinate_system; ///< 0: global, 1:local - uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds - float x; ///< X Position - float y; ///< Y Position - float z; ///< Z Position - int8_t name[25]; ///< POI name - + float x; ///< X Position + float y; ///< Y Position + float z; ///< Z Position + uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds + uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + uint8_t coordinate_system; ///< 0: global, 1:local + char name[26]; ///< POI name } mavlink_point_of_interest_t; -#define MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN 25 +#define MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN 43 +#define MAVLINK_MSG_ID_191_LEN 43 + +#define MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN 26 + +#define MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST { \ + "POINT_OF_INTEREST", \ + 8, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_point_of_interest_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_point_of_interest_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_point_of_interest_t, z) }, \ + { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_point_of_interest_t, timeout) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_point_of_interest_t, type) }, \ + { "color", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_point_of_interest_t, color) }, \ + { "coordinate_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_point_of_interest_t, coordinate_system) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 26, 17, offsetof(mavlink_point_of_interest_t, name) }, \ + } \ +} /** @@ -34,25 +50,39 @@ typedef struct __mavlink_point_of_interest_t * @param name POI name * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name) +static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const char *name) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; - - i += put_uint8_t_by_index(type, i, msg->payload); // 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - i += put_uint8_t_by_index(color, i, msg->payload); // 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - i += put_uint8_t_by_index(coordinate_system, i, msg->payload); // 0: global, 1:local - i += put_uint16_t_by_index(timeout, i, msg->payload); // 0: no timeout, >1: timeout in seconds - i += put_float_by_index(x, i, msg->payload); // X Position - i += put_float_by_index(y, i, msg->payload); // Y Position - i += put_float_by_index(z, i, msg->payload); // Z Position - i += put_array_by_index(name, 25, i, msg->payload); // POI name +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[43]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_uint16_t(buf, 12, timeout); + _mav_put_uint8_t(buf, 14, type); + _mav_put_uint8_t(buf, 15, color); + _mav_put_uint8_t(buf, 16, coordinate_system); + _mav_put_char_array(buf, 17, name, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 43); +#else + mavlink_point_of_interest_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.timeout = timeout; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + memcpy(packet.name, name, sizeof(char)*26); + memcpy(_MAV_PAYLOAD(msg), &packet, 43); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; + return mavlink_finalize_message(msg, system_id, component_id, 43, 95); } /** - * @brief Pack a point_of_interest message + * @brief Pack a point_of_interest 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 @@ -67,21 +97,36 @@ static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uin * @param name POI name * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_point_of_interest_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name) +static inline uint16_t mavlink_msg_point_of_interest_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t color,uint8_t coordinate_system,uint16_t timeout,float x,float y,float z,const char *name) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; - - i += put_uint8_t_by_index(type, i, msg->payload); // 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - i += put_uint8_t_by_index(color, i, msg->payload); // 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - i += put_uint8_t_by_index(coordinate_system, i, msg->payload); // 0: global, 1:local - i += put_uint16_t_by_index(timeout, i, msg->payload); // 0: no timeout, >1: timeout in seconds - i += put_float_by_index(x, i, msg->payload); // X Position - i += put_float_by_index(y, i, msg->payload); // Y Position - i += put_float_by_index(z, i, msg->payload); // Z Position - i += put_array_by_index(name, 25, i, msg->payload); // POI name +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[43]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_uint16_t(buf, 12, timeout); + _mav_put_uint8_t(buf, 14, type); + _mav_put_uint8_t(buf, 15, color); + _mav_put_uint8_t(buf, 16, coordinate_system); + _mav_put_char_array(buf, 17, name, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 43); +#else + mavlink_point_of_interest_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.timeout = timeout; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + memcpy(packet.name, name, sizeof(char)*26); + memcpy(_MAV_PAYLOAD(msg), &packet, 43); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 43, 95); } /** @@ -112,16 +157,38 @@ static inline uint16_t mavlink_msg_point_of_interest_encode(uint8_t system_id, u */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name) +static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const char *name) { - mavlink_message_t msg; - mavlink_msg_point_of_interest_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, color, coordinate_system, timeout, x, y, z, name); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[43]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_uint16_t(buf, 12, timeout); + _mav_put_uint8_t(buf, 14, type); + _mav_put_uint8_t(buf, 15, color); + _mav_put_uint8_t(buf, 16, coordinate_system); + _mav_put_char_array(buf, 17, name, 26); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, buf, 43, 95); +#else + mavlink_point_of_interest_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.timeout = timeout; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + memcpy(packet.name, name, sizeof(char)*26); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, (const char *)&packet, 43, 95); +#endif } #endif + // MESSAGE POINT_OF_INTEREST UNPACKING + /** * @brief Get field type from point_of_interest message * @@ -129,7 +196,7 @@ static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, ui */ static inline uint8_t mavlink_msg_point_of_interest_get_type(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 14); } /** @@ -139,7 +206,7 @@ static inline uint8_t mavlink_msg_point_of_interest_get_type(const mavlink_messa */ static inline uint8_t mavlink_msg_point_of_interest_get_color(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 15); } /** @@ -149,7 +216,7 @@ static inline uint8_t mavlink_msg_point_of_interest_get_color(const mavlink_mess */ static inline uint8_t mavlink_msg_point_of_interest_get_coordinate_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 16); } /** @@ -159,10 +226,7 @@ static inline uint8_t mavlink_msg_point_of_interest_get_coordinate_system(const */ static inline uint16_t mavlink_msg_point_of_interest_get_timeout(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 12); } /** @@ -172,12 +236,7 @@ static inline uint16_t mavlink_msg_point_of_interest_get_timeout(const mavlink_m */ static inline float mavlink_msg_point_of_interest_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -187,12 +246,7 @@ static inline float mavlink_msg_point_of_interest_get_x(const mavlink_message_t* */ static inline float mavlink_msg_point_of_interest_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -202,12 +256,7 @@ static inline float mavlink_msg_point_of_interest_get_y(const mavlink_message_t* */ static inline float mavlink_msg_point_of_interest_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -215,11 +264,9 @@ static inline float mavlink_msg_point_of_interest_get_z(const mavlink_message_t* * * @return POI name */ -static inline uint16_t mavlink_msg_point_of_interest_get_name(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_point_of_interest_get_name(const mavlink_message_t* msg, char *name) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float), 25); - return 25; + return _MAV_RETURN_char_array(msg, name, 26, 17); } /** @@ -230,12 +277,16 @@ static inline uint16_t mavlink_msg_point_of_interest_get_name(const mavlink_mess */ static inline void mavlink_msg_point_of_interest_decode(const mavlink_message_t* msg, mavlink_point_of_interest_t* point_of_interest) { - point_of_interest->type = mavlink_msg_point_of_interest_get_type(msg); - point_of_interest->color = mavlink_msg_point_of_interest_get_color(msg); - point_of_interest->coordinate_system = mavlink_msg_point_of_interest_get_coordinate_system(msg); - point_of_interest->timeout = mavlink_msg_point_of_interest_get_timeout(msg); +#if MAVLINK_NEED_BYTE_SWAP point_of_interest->x = mavlink_msg_point_of_interest_get_x(msg); point_of_interest->y = mavlink_msg_point_of_interest_get_y(msg); point_of_interest->z = mavlink_msg_point_of_interest_get_z(msg); + point_of_interest->timeout = mavlink_msg_point_of_interest_get_timeout(msg); + point_of_interest->type = mavlink_msg_point_of_interest_get_type(msg); + point_of_interest->color = mavlink_msg_point_of_interest_get_color(msg); + point_of_interest->coordinate_system = mavlink_msg_point_of_interest_get_coordinate_system(msg); mavlink_msg_point_of_interest_get_name(msg, point_of_interest->name); +#else + memcpy(point_of_interest, _MAV_PAYLOAD(msg), 43); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h index fb3051746356ba92895d6a5f5c9d3635f8325bf3..b2c89ede83cdada12dde6589d60bedb0249df9c0 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h @@ -1,24 +1,43 @@ // MESSAGE POINT_OF_INTEREST_CONNECTION PACKING -#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION 162 +#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION 192 -typedef struct __mavlink_point_of_interest_connection_t +typedef struct __mavlink_point_of_interest_connection_t { - uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - uint8_t coordinate_system; ///< 0: global, 1:local - uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds - float xp1; ///< X1 Position - float yp1; ///< Y1 Position - float zp1; ///< Z1 Position - float xp2; ///< X2 Position - float yp2; ///< Y2 Position - float zp2; ///< Z2 Position - int8_t name[25]; ///< POI connection name - + float xp1; ///< X1 Position + float yp1; ///< Y1 Position + float zp1; ///< Z1 Position + float xp2; ///< X2 Position + float yp2; ///< Y2 Position + float zp2; ///< Z2 Position + uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds + uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + uint8_t coordinate_system; ///< 0: global, 1:local + char name[26]; ///< POI connection name } mavlink_point_of_interest_connection_t; -#define MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN 25 +#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN 55 +#define MAVLINK_MSG_ID_192_LEN 55 + +#define MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN 26 + +#define MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION { \ + "POINT_OF_INTEREST_CONNECTION", \ + 11, \ + { { "xp1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_point_of_interest_connection_t, xp1) }, \ + { "yp1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_point_of_interest_connection_t, yp1) }, \ + { "zp1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_point_of_interest_connection_t, zp1) }, \ + { "xp2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_point_of_interest_connection_t, xp2) }, \ + { "yp2", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_point_of_interest_connection_t, yp2) }, \ + { "zp2", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_point_of_interest_connection_t, zp2) }, \ + { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_point_of_interest_connection_t, timeout) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_point_of_interest_connection_t, type) }, \ + { "color", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_point_of_interest_connection_t, color) }, \ + { "coordinate_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_point_of_interest_connection_t, coordinate_system) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 26, 29, offsetof(mavlink_point_of_interest_connection_t, name) }, \ + } \ +} /** @@ -40,28 +59,45 @@ typedef struct __mavlink_point_of_interest_connection_t * @param name POI connection name * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_point_of_interest_connection_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const int8_t* name) +static inline uint16_t mavlink_msg_point_of_interest_connection_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const char *name) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION; - - i += put_uint8_t_by_index(type, i, msg->payload); // 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - i += put_uint8_t_by_index(color, i, msg->payload); // 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - i += put_uint8_t_by_index(coordinate_system, i, msg->payload); // 0: global, 1:local - i += put_uint16_t_by_index(timeout, i, msg->payload); // 0: no timeout, >1: timeout in seconds - i += put_float_by_index(xp1, i, msg->payload); // X1 Position - i += put_float_by_index(yp1, i, msg->payload); // Y1 Position - i += put_float_by_index(zp1, i, msg->payload); // Z1 Position - i += put_float_by_index(xp2, i, msg->payload); // X2 Position - i += put_float_by_index(yp2, i, msg->payload); // Y2 Position - i += put_float_by_index(zp2, i, msg->payload); // Z2 Position - i += put_array_by_index(name, 25, i, msg->payload); // POI connection name +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[55]; + _mav_put_float(buf, 0, xp1); + _mav_put_float(buf, 4, yp1); + _mav_put_float(buf, 8, zp1); + _mav_put_float(buf, 12, xp2); + _mav_put_float(buf, 16, yp2); + _mav_put_float(buf, 20, zp2); + _mav_put_uint16_t(buf, 24, timeout); + _mav_put_uint8_t(buf, 26, type); + _mav_put_uint8_t(buf, 27, color); + _mav_put_uint8_t(buf, 28, coordinate_system); + _mav_put_char_array(buf, 29, name, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 55); +#else + mavlink_point_of_interest_connection_t packet; + packet.xp1 = xp1; + packet.yp1 = yp1; + packet.zp1 = zp1; + packet.xp2 = xp2; + packet.yp2 = yp2; + packet.zp2 = zp2; + packet.timeout = timeout; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + memcpy(packet.name, name, sizeof(char)*26); + memcpy(_MAV_PAYLOAD(msg), &packet, 55); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION; + return mavlink_finalize_message(msg, system_id, component_id, 55, 36); } /** - * @brief Pack a point_of_interest_connection message + * @brief Pack a point_of_interest_connection 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 @@ -79,24 +115,42 @@ static inline uint16_t mavlink_msg_point_of_interest_connection_pack(uint8_t sys * @param name POI connection name * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_point_of_interest_connection_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const int8_t* name) +static inline uint16_t mavlink_msg_point_of_interest_connection_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t color,uint8_t coordinate_system,uint16_t timeout,float xp1,float yp1,float zp1,float xp2,float yp2,float zp2,const char *name) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION; - - i += put_uint8_t_by_index(type, i, msg->payload); // 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - i += put_uint8_t_by_index(color, i, msg->payload); // 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - i += put_uint8_t_by_index(coordinate_system, i, msg->payload); // 0: global, 1:local - i += put_uint16_t_by_index(timeout, i, msg->payload); // 0: no timeout, >1: timeout in seconds - i += put_float_by_index(xp1, i, msg->payload); // X1 Position - i += put_float_by_index(yp1, i, msg->payload); // Y1 Position - i += put_float_by_index(zp1, i, msg->payload); // Z1 Position - i += put_float_by_index(xp2, i, msg->payload); // X2 Position - i += put_float_by_index(yp2, i, msg->payload); // Y2 Position - i += put_float_by_index(zp2, i, msg->payload); // Z2 Position - i += put_array_by_index(name, 25, i, msg->payload); // POI connection name +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[55]; + _mav_put_float(buf, 0, xp1); + _mav_put_float(buf, 4, yp1); + _mav_put_float(buf, 8, zp1); + _mav_put_float(buf, 12, xp2); + _mav_put_float(buf, 16, yp2); + _mav_put_float(buf, 20, zp2); + _mav_put_uint16_t(buf, 24, timeout); + _mav_put_uint8_t(buf, 26, type); + _mav_put_uint8_t(buf, 27, color); + _mav_put_uint8_t(buf, 28, coordinate_system); + _mav_put_char_array(buf, 29, name, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 55); +#else + mavlink_point_of_interest_connection_t packet; + packet.xp1 = xp1; + packet.yp1 = yp1; + packet.zp1 = zp1; + packet.xp2 = xp2; + packet.yp2 = yp2; + packet.zp2 = zp2; + packet.timeout = timeout; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + memcpy(packet.name, name, sizeof(char)*26); + memcpy(_MAV_PAYLOAD(msg), &packet, 55); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 55, 36); } /** @@ -130,16 +184,44 @@ static inline uint16_t mavlink_msg_point_of_interest_connection_encode(uint8_t s */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_point_of_interest_connection_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const int8_t* name) +static inline void mavlink_msg_point_of_interest_connection_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const char *name) { - mavlink_message_t msg; - mavlink_msg_point_of_interest_connection_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, color, coordinate_system, timeout, xp1, yp1, zp1, xp2, yp2, zp2, name); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[55]; + _mav_put_float(buf, 0, xp1); + _mav_put_float(buf, 4, yp1); + _mav_put_float(buf, 8, zp1); + _mav_put_float(buf, 12, xp2); + _mav_put_float(buf, 16, yp2); + _mav_put_float(buf, 20, zp2); + _mav_put_uint16_t(buf, 24, timeout); + _mav_put_uint8_t(buf, 26, type); + _mav_put_uint8_t(buf, 27, color); + _mav_put_uint8_t(buf, 28, coordinate_system); + _mav_put_char_array(buf, 29, name, 26); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, buf, 55, 36); +#else + mavlink_point_of_interest_connection_t packet; + packet.xp1 = xp1; + packet.yp1 = yp1; + packet.zp1 = zp1; + packet.xp2 = xp2; + packet.yp2 = yp2; + packet.zp2 = zp2; + packet.timeout = timeout; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + memcpy(packet.name, name, sizeof(char)*26); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, (const char *)&packet, 55, 36); +#endif } #endif + // MESSAGE POINT_OF_INTEREST_CONNECTION UNPACKING + /** * @brief Get field type from point_of_interest_connection message * @@ -147,7 +229,7 @@ static inline void mavlink_msg_point_of_interest_connection_send(mavlink_channel */ static inline uint8_t mavlink_msg_point_of_interest_connection_get_type(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 26); } /** @@ -157,7 +239,7 @@ static inline uint8_t mavlink_msg_point_of_interest_connection_get_type(const ma */ static inline uint8_t mavlink_msg_point_of_interest_connection_get_color(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 27); } /** @@ -167,7 +249,7 @@ static inline uint8_t mavlink_msg_point_of_interest_connection_get_color(const m */ static inline uint8_t mavlink_msg_point_of_interest_connection_get_coordinate_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 28); } /** @@ -177,10 +259,7 @@ static inline uint8_t mavlink_msg_point_of_interest_connection_get_coordinate_sy */ static inline uint16_t mavlink_msg_point_of_interest_connection_get_timeout(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 24); } /** @@ -190,12 +269,7 @@ static inline uint16_t mavlink_msg_point_of_interest_connection_get_timeout(cons */ static inline float mavlink_msg_point_of_interest_connection_get_xp1(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -205,12 +279,7 @@ static inline float mavlink_msg_point_of_interest_connection_get_xp1(const mavli */ static inline float mavlink_msg_point_of_interest_connection_get_yp1(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -220,12 +289,7 @@ static inline float mavlink_msg_point_of_interest_connection_get_yp1(const mavli */ static inline float mavlink_msg_point_of_interest_connection_get_zp1(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -235,12 +299,7 @@ static inline float mavlink_msg_point_of_interest_connection_get_zp1(const mavli */ static inline float mavlink_msg_point_of_interest_connection_get_xp2(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -250,12 +309,7 @@ static inline float mavlink_msg_point_of_interest_connection_get_xp2(const mavli */ static inline float mavlink_msg_point_of_interest_connection_get_yp2(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -265,12 +319,7 @@ static inline float mavlink_msg_point_of_interest_connection_get_yp2(const mavli */ static inline float mavlink_msg_point_of_interest_connection_get_zp2(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -278,11 +327,9 @@ static inline float mavlink_msg_point_of_interest_connection_get_zp2(const mavli * * @return POI connection name */ -static inline uint16_t mavlink_msg_point_of_interest_connection_get_name(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_point_of_interest_connection_get_name(const mavlink_message_t* msg, char *name) { - - memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float), 25); - return 25; + return _MAV_RETURN_char_array(msg, name, 26, 29); } /** @@ -293,15 +340,19 @@ static inline uint16_t mavlink_msg_point_of_interest_connection_get_name(const m */ static inline void mavlink_msg_point_of_interest_connection_decode(const mavlink_message_t* msg, mavlink_point_of_interest_connection_t* point_of_interest_connection) { - point_of_interest_connection->type = mavlink_msg_point_of_interest_connection_get_type(msg); - point_of_interest_connection->color = mavlink_msg_point_of_interest_connection_get_color(msg); - point_of_interest_connection->coordinate_system = mavlink_msg_point_of_interest_connection_get_coordinate_system(msg); - point_of_interest_connection->timeout = mavlink_msg_point_of_interest_connection_get_timeout(msg); +#if MAVLINK_NEED_BYTE_SWAP point_of_interest_connection->xp1 = mavlink_msg_point_of_interest_connection_get_xp1(msg); point_of_interest_connection->yp1 = mavlink_msg_point_of_interest_connection_get_yp1(msg); point_of_interest_connection->zp1 = mavlink_msg_point_of_interest_connection_get_zp1(msg); point_of_interest_connection->xp2 = mavlink_msg_point_of_interest_connection_get_xp2(msg); point_of_interest_connection->yp2 = mavlink_msg_point_of_interest_connection_get_yp2(msg); point_of_interest_connection->zp2 = mavlink_msg_point_of_interest_connection_get_zp2(msg); + point_of_interest_connection->timeout = mavlink_msg_point_of_interest_connection_get_timeout(msg); + point_of_interest_connection->type = mavlink_msg_point_of_interest_connection_get_type(msg); + point_of_interest_connection->color = mavlink_msg_point_of_interest_connection_get_color(msg); + point_of_interest_connection->coordinate_system = mavlink_msg_point_of_interest_connection_get_coordinate_system(msg); mavlink_msg_point_of_interest_connection_get_name(msg, point_of_interest_connection->name); +#else + memcpy(point_of_interest_connection, _MAV_PAYLOAD(msg), 55); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_offset_set.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_offset_set.h index 30f076bba896df52d847ad3b19b6b65ae4dafc7c..cdb178d0ca37cfa7f6f57e49ac074c20f27ccbe9 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_offset_set.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_offset_set.h @@ -1,18 +1,33 @@ // MESSAGE POSITION_CONTROL_OFFSET_SET PACKING -#define MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET 154 +#define MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET 160 -typedef struct __mavlink_position_control_offset_set_t +typedef struct __mavlink_position_control_offset_set_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - float x; ///< x position offset - float y; ///< y position offset - float z; ///< z position offset - float yaw; ///< yaw orientation offset in radians, 0 = NORTH - + float x; ///< x position offset + float y; ///< y position offset + float z; ///< z position offset + float yaw; ///< yaw orientation offset in radians, 0 = NORTH + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID } mavlink_position_control_offset_set_t; +#define MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET_LEN 18 +#define MAVLINK_MSG_ID_160_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_OFFSET_SET { \ + "POSITION_CONTROL_OFFSET_SET", \ + 6, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_control_offset_set_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_control_offset_set_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_control_offset_set_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_control_offset_set_t, yaw) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_position_control_offset_set_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_position_control_offset_set_t, target_component) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_position_control_offset_set_t * @param yaw yaw orientation offset in radians, 0 = NORTH * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_position_control_offset_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +static inline uint16_t mavlink_msg_position_control_offset_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(x, i, msg->payload); // x position offset - i += put_float_by_index(y, i, msg->payload); // y position offset - i += put_float_by_index(z, i, msg->payload); // z position offset - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation offset in radians, 0 = NORTH +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _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_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_position_control_offset_set_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET; + return mavlink_finalize_message(msg, system_id, component_id, 18, 244); } /** - * @brief Pack a position_control_offset_set message + * @brief Pack a position_control_offset_set 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 @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_position_control_offset_set_pack(uint8_t syst * @param yaw yaw orientation offset in radians, 0 = NORTH * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_position_control_offset_set_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, float x, float y, float z, float yaw) +static inline uint16_t mavlink_msg_position_control_offset_set_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,float x,float y,float z,float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET; - - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_float_by_index(x, i, msg->payload); // x position offset - i += put_float_by_index(y, i, msg->payload); // y position offset - i += put_float_by_index(z, i, msg->payload); // z position offset - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation offset in radians, 0 = NORTH +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _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_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_position_control_offset_set_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 244); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_position_control_offset_set_encode(uint8_t sy static inline void mavlink_msg_position_control_offset_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) { - mavlink_message_t msg; - mavlink_msg_position_control_offset_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, x, y, z, yaw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _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_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET, buf, 18, 244); +#else + mavlink_position_control_offset_set_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET, (const char *)&packet, 18, 244); +#endif } #endif + // MESSAGE POSITION_CONTROL_OFFSET_SET UNPACKING + /** * @brief Get field target_system from position_control_offset_set message * @@ -116,7 +180,7 @@ static inline void mavlink_msg_position_control_offset_set_send(mavlink_channel_ */ static inline uint8_t mavlink_msg_position_control_offset_set_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 16); } /** @@ -126,7 +190,7 @@ static inline uint8_t mavlink_msg_position_control_offset_set_get_target_system( */ static inline uint8_t mavlink_msg_position_control_offset_set_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 17); } /** @@ -136,12 +200,7 @@ static inline uint8_t mavlink_msg_position_control_offset_set_get_target_compone */ static inline float mavlink_msg_position_control_offset_set_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -151,12 +210,7 @@ static inline float mavlink_msg_position_control_offset_set_get_x(const mavlink_ */ static inline float mavlink_msg_position_control_offset_set_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -166,12 +220,7 @@ static inline float mavlink_msg_position_control_offset_set_get_y(const mavlink_ */ static inline float mavlink_msg_position_control_offset_set_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -181,12 +230,7 @@ static inline float mavlink_msg_position_control_offset_set_get_z(const mavlink_ */ static inline float mavlink_msg_position_control_offset_set_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -197,10 +241,14 @@ static inline float mavlink_msg_position_control_offset_set_get_yaw(const mavlin */ static inline void mavlink_msg_position_control_offset_set_decode(const mavlink_message_t* msg, mavlink_position_control_offset_set_t* position_control_offset_set) { - position_control_offset_set->target_system = mavlink_msg_position_control_offset_set_get_target_system(msg); - position_control_offset_set->target_component = mavlink_msg_position_control_offset_set_get_target_component(msg); +#if MAVLINK_NEED_BYTE_SWAP position_control_offset_set->x = mavlink_msg_position_control_offset_set_get_x(msg); position_control_offset_set->y = mavlink_msg_position_control_offset_set_get_y(msg); position_control_offset_set->z = mavlink_msg_position_control_offset_set_get_z(msg); position_control_offset_set->yaw = mavlink_msg_position_control_offset_set_get_yaw(msg); + position_control_offset_set->target_system = mavlink_msg_position_control_offset_set_get_target_system(msg); + position_control_offset_set->target_component = mavlink_msg_position_control_offset_set_get_target_component(msg); +#else + memcpy(position_control_offset_set, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h index 59bcb131ce5e0e1c8e08a32145f99147144ee7ba..c170fb2265dd0172e16702ce84c5004a99f04b8f 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h @@ -1,17 +1,31 @@ // MESSAGE POSITION_CONTROL_SETPOINT PACKING -#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 121 +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 170 -typedef struct __mavlink_position_control_setpoint_t +typedef struct __mavlink_position_control_setpoint_t { - uint16_t id; ///< ID of waypoint, 0 for plain position - float x; ///< x position - float y; ///< y position - float z; ///< z position - float yaw; ///< yaw orientation in radians, 0 = NORTH - + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< yaw orientation in radians, 0 = NORTH + uint16_t id; ///< ID of waypoint, 0 for plain position } mavlink_position_control_setpoint_t; +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN 18 +#define MAVLINK_MSG_ID_170_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT { \ + "POSITION_CONTROL_SETPOINT", \ + 5, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_control_setpoint_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_control_setpoint_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_control_setpoint_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_control_setpoint_t, yaw) }, \ + { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_position_control_setpoint_t, id) }, \ + } \ +} /** @@ -27,22 +41,35 @@ typedef struct __mavlink_position_control_setpoint_t * @param yaw yaw orientation in radians, 0 = NORTH * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float yaw) +static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t id, float x, float y, float z, float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; - - i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _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_put_uint16_t(buf, 16, id); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_position_control_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.id = id; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 18, 28); } /** - * @brief Pack a position_control_setpoint message + * @brief Pack a position_control_setpoint 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 @@ -54,18 +81,32 @@ static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system * @param yaw yaw orientation in radians, 0 = NORTH * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float yaw) +static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t id,float x,float y,float z,float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; - - i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _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_put_uint16_t(buf, 16, id); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_position_control_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.id = id; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 28); } /** @@ -95,14 +136,32 @@ static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t syst static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw) { - mavlink_message_t msg; - mavlink_msg_position_control_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, yaw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _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_put_uint16_t(buf, 16, id); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, 18, 28); +#else + mavlink_position_control_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.id = id; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)&packet, 18, 28); +#endif } #endif + // MESSAGE POSITION_CONTROL_SETPOINT UNPACKING + /** * @brief Get field id from position_control_setpoint message * @@ -110,10 +169,7 @@ static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t */ static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 16); } /** @@ -123,12 +179,7 @@ static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlin */ static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -138,12 +189,7 @@ static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_me */ static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -153,12 +199,7 @@ static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_me */ static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -168,12 +209,7 @@ static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_me */ static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -184,9 +220,13 @@ static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_ */ static inline void mavlink_msg_position_control_setpoint_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_t* position_control_setpoint) { - position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg); +#if MAVLINK_NEED_BYTE_SWAP position_control_setpoint->x = mavlink_msg_position_control_setpoint_get_x(msg); position_control_setpoint->y = mavlink_msg_position_control_setpoint_get_y(msg); position_control_setpoint->z = mavlink_msg_position_control_setpoint_get_z(msg); position_control_setpoint->yaw = mavlink_msg_position_control_setpoint_get_yaw(msg); + position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg); +#else + memcpy(position_control_setpoint, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h index 75150e66b9aab096b8cac43183d2996a6f8a919f..e24b347151022772d6e26e8430851d2e5ea59873 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h @@ -1,19 +1,35 @@ // MESSAGE POSITION_CONTROL_SETPOINT_SET PACKING -#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET 120 +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET 159 -typedef struct __mavlink_position_control_setpoint_set_t +typedef struct __mavlink_position_control_setpoint_set_t { - uint8_t target_system; ///< System ID - uint8_t target_component; ///< Component ID - uint16_t id; ///< ID of waypoint, 0 for plain position - float x; ///< x position - float y; ///< y position - float z; ///< z position - float yaw; ///< yaw orientation in radians, 0 = NORTH - + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< yaw orientation in radians, 0 = NORTH + uint16_t id; ///< ID of waypoint, 0 for plain position + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID } mavlink_position_control_setpoint_set_t; +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET_LEN 20 +#define MAVLINK_MSG_ID_159_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT_SET { \ + "POSITION_CONTROL_SETPOINT_SET", \ + 7, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_control_setpoint_set_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_control_setpoint_set_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_control_setpoint_set_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_control_setpoint_set_t, yaw) }, \ + { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_position_control_setpoint_set_t, id) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_position_control_setpoint_set_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_position_control_setpoint_set_t, target_component) }, \ + } \ +} /** @@ -31,24 +47,39 @@ typedef struct __mavlink_position_control_setpoint_set_t * @param yaw yaw orientation in radians, 0 = NORTH * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_position_control_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t id, float x, float y, float z, float yaw) +static inline uint16_t mavlink_msg_position_control_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t id, float x, float y, float z, float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _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_put_uint16_t(buf, 16, id); + _mav_put_uint8_t(buf, 18, target_system); + _mav_put_uint8_t(buf, 19, target_component); - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_position_control_setpoint_set_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.id = id; + packet.target_system = target_system; + packet.target_component = target_component; - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET; + return mavlink_finalize_message(msg, system_id, component_id, 20, 11); } /** - * @brief Pack a position_control_setpoint_set message + * @brief Pack a position_control_setpoint_set 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 @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_position_control_setpoint_set_pack(uint8_t sy * @param yaw yaw orientation in radians, 0 = NORTH * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_position_control_setpoint_set_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, uint16_t id, float x, float y, float z, float yaw) +static inline uint16_t mavlink_msg_position_control_setpoint_set_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,uint16_t id,float x,float y,float z,float yaw) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _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_put_uint16_t(buf, 16, id); + _mav_put_uint8_t(buf, 18, target_system); + _mav_put_uint8_t(buf, 19, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_position_control_setpoint_set_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.id = id; + packet.target_system = target_system; + packet.target_component = target_component; - i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID - i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID - i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position - i += put_float_by_index(x, i, msg->payload); // x position - i += put_float_by_index(y, i, msg->payload); // y position - i += put_float_by_index(z, i, msg->payload); // z position - i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 11); } /** @@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_position_control_setpoint_set_encode(uint8_t static inline void mavlink_msg_position_control_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t id, float x, float y, float z, float yaw) { - mavlink_message_t msg; - mavlink_msg_position_control_setpoint_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, id, x, y, z, yaw); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _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_put_uint16_t(buf, 16, id); + _mav_put_uint8_t(buf, 18, target_system); + _mav_put_uint8_t(buf, 19, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET, buf, 20, 11); +#else + mavlink_position_control_setpoint_set_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.id = id; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET, (const char *)&packet, 20, 11); +#endif } #endif + // MESSAGE POSITION_CONTROL_SETPOINT_SET UNPACKING + /** * @brief Get field target_system from position_control_setpoint_set message * @@ -122,7 +191,7 @@ static inline void mavlink_msg_position_control_setpoint_set_send(mavlink_channe */ static inline uint8_t mavlink_msg_position_control_setpoint_set_get_target_system(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 18); } /** @@ -132,7 +201,7 @@ static inline uint8_t mavlink_msg_position_control_setpoint_set_get_target_syste */ static inline uint8_t mavlink_msg_position_control_setpoint_set_get_target_component(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 19); } /** @@ -142,10 +211,7 @@ static inline uint8_t mavlink_msg_position_control_setpoint_set_get_target_compo */ static inline uint16_t mavlink_msg_position_control_setpoint_set_get_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 16); } /** @@ -155,12 +221,7 @@ static inline uint16_t mavlink_msg_position_control_setpoint_set_get_id(const ma */ static inline float mavlink_msg_position_control_setpoint_set_get_x(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -170,12 +231,7 @@ static inline float mavlink_msg_position_control_setpoint_set_get_x(const mavlin */ static inline float mavlink_msg_position_control_setpoint_set_get_y(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -185,12 +241,7 @@ static inline float mavlink_msg_position_control_setpoint_set_get_y(const mavlin */ static inline float mavlink_msg_position_control_setpoint_set_get_z(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -200,12 +251,7 @@ static inline float mavlink_msg_position_control_setpoint_set_get_z(const mavlin */ static inline float mavlink_msg_position_control_setpoint_set_get_yaw(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -216,11 +262,15 @@ static inline float mavlink_msg_position_control_setpoint_set_get_yaw(const mavl */ static inline void mavlink_msg_position_control_setpoint_set_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_set_t* position_control_setpoint_set) { - position_control_setpoint_set->target_system = mavlink_msg_position_control_setpoint_set_get_target_system(msg); - position_control_setpoint_set->target_component = mavlink_msg_position_control_setpoint_set_get_target_component(msg); - position_control_setpoint_set->id = mavlink_msg_position_control_setpoint_set_get_id(msg); +#if MAVLINK_NEED_BYTE_SWAP position_control_setpoint_set->x = mavlink_msg_position_control_setpoint_set_get_x(msg); position_control_setpoint_set->y = mavlink_msg_position_control_setpoint_set_get_y(msg); position_control_setpoint_set->z = mavlink_msg_position_control_setpoint_set_get_z(msg); position_control_setpoint_set->yaw = mavlink_msg_position_control_setpoint_set_get_yaw(msg); + position_control_setpoint_set->id = mavlink_msg_position_control_setpoint_set_get_id(msg); + position_control_setpoint_set->target_system = mavlink_msg_position_control_setpoint_set_get_target_system(msg); + position_control_setpoint_set->target_component = mavlink_msg_position_control_setpoint_set_get_target_component(msg); +#else + memcpy(position_control_setpoint_set, _MAV_PAYLOAD(msg), 20); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h index 61adee29708d3814ad5d24496170ffae4876991b..0bbf4d6220b30bbd29a663499b6992c3c53a4693 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h @@ -1,19 +1,35 @@ // MESSAGE RAW_AUX PACKING -#define MAVLINK_MSG_ID_RAW_AUX 141 +#define MAVLINK_MSG_ID_RAW_AUX 172 -typedef struct __mavlink_raw_aux_t +typedef struct __mavlink_raw_aux_t { - uint16_t adc1; ///< ADC1 (J405 ADC3, LPC2148 AD0.6) - uint16_t adc2; ///< ADC2 (J405 ADC5, LPC2148 AD0.2) - uint16_t adc3; ///< ADC3 (J405 ADC6, LPC2148 AD0.1) - uint16_t adc4; ///< ADC4 (J405 ADC7, LPC2148 AD1.3) - uint16_t vbat; ///< Battery voltage - int16_t temp; ///< Temperature (degrees celcius) - int32_t baro; ///< Barometric pressure (hecto Pascal) - + int32_t baro; ///< Barometric pressure (hecto Pascal) + uint16_t adc1; ///< ADC1 (J405 ADC3, LPC2148 AD0.6) + uint16_t adc2; ///< ADC2 (J405 ADC5, LPC2148 AD0.2) + uint16_t adc3; ///< ADC3 (J405 ADC6, LPC2148 AD0.1) + uint16_t adc4; ///< ADC4 (J405 ADC7, LPC2148 AD1.3) + uint16_t vbat; ///< Battery voltage + int16_t temp; ///< Temperature (degrees celcius) } mavlink_raw_aux_t; +#define MAVLINK_MSG_ID_RAW_AUX_LEN 16 +#define MAVLINK_MSG_ID_172_LEN 16 + + + +#define MAVLINK_MESSAGE_INFO_RAW_AUX { \ + "RAW_AUX", \ + 7, \ + { { "baro", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_raw_aux_t, baro) }, \ + { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_raw_aux_t, adc1) }, \ + { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_raw_aux_t, adc2) }, \ + { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_raw_aux_t, adc3) }, \ + { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_raw_aux_t, adc4) }, \ + { "vbat", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_raw_aux_t, vbat) }, \ + { "temp", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_aux_t, temp) }, \ + } \ +} /** @@ -31,24 +47,39 @@ typedef struct __mavlink_raw_aux_t * @param baro Barometric pressure (hecto Pascal) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro) +static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RAW_AUX; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_int32_t(buf, 0, baro); + _mav_put_uint16_t(buf, 4, adc1); + _mav_put_uint16_t(buf, 6, adc2); + _mav_put_uint16_t(buf, 8, adc3); + _mav_put_uint16_t(buf, 10, adc4); + _mav_put_uint16_t(buf, 12, vbat); + _mav_put_int16_t(buf, 14, temp); - i += put_uint16_t_by_index(adc1, i, msg->payload); // ADC1 (J405 ADC3, LPC2148 AD0.6) - i += put_uint16_t_by_index(adc2, i, msg->payload); // ADC2 (J405 ADC5, LPC2148 AD0.2) - i += put_uint16_t_by_index(adc3, i, msg->payload); // ADC3 (J405 ADC6, LPC2148 AD0.1) - i += put_uint16_t_by_index(adc4, i, msg->payload); // ADC4 (J405 ADC7, LPC2148 AD1.3) - i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage - i += put_int16_t_by_index(temp, i, msg->payload); // Temperature (degrees celcius) - i += put_int32_t_by_index(baro, i, msg->payload); // Barometric pressure (hecto Pascal) + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_raw_aux_t packet; + packet.baro = baro; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.vbat = vbat; + packet.temp = temp; - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_AUX; + return mavlink_finalize_message(msg, system_id, component_id, 16, 182); } /** - * @brief Pack a raw_aux message + * @brief Pack a raw_aux 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 @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t compo * @param baro Barometric pressure (hecto Pascal) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro) +static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t vbat,int16_t temp,int32_t baro) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RAW_AUX; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_int32_t(buf, 0, baro); + _mav_put_uint16_t(buf, 4, adc1); + _mav_put_uint16_t(buf, 6, adc2); + _mav_put_uint16_t(buf, 8, adc3); + _mav_put_uint16_t(buf, 10, adc4); + _mav_put_uint16_t(buf, 12, vbat); + _mav_put_int16_t(buf, 14, temp); - i += put_uint16_t_by_index(adc1, i, msg->payload); // ADC1 (J405 ADC3, LPC2148 AD0.6) - i += put_uint16_t_by_index(adc2, i, msg->payload); // ADC2 (J405 ADC5, LPC2148 AD0.2) - i += put_uint16_t_by_index(adc3, i, msg->payload); // ADC3 (J405 ADC6, LPC2148 AD0.1) - i += put_uint16_t_by_index(adc4, i, msg->payload); // ADC4 (J405 ADC7, LPC2148 AD1.3) - i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage - i += put_int16_t_by_index(temp, i, msg->payload); // Temperature (degrees celcius) - i += put_int32_t_by_index(baro, i, msg->payload); // Barometric pressure (hecto Pascal) + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_raw_aux_t packet; + packet.baro = baro; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.vbat = vbat; + packet.temp = temp; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_AUX; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 182); } /** @@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_raw_aux_encode(uint8_t system_id, uint8_t com static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro) { - mavlink_message_t msg; - mavlink_msg_raw_aux_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, adc1, adc2, adc3, adc4, vbat, temp, baro); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_int32_t(buf, 0, baro); + _mav_put_uint16_t(buf, 4, adc1); + _mav_put_uint16_t(buf, 6, adc2); + _mav_put_uint16_t(buf, 8, adc3); + _mav_put_uint16_t(buf, 10, adc4); + _mav_put_uint16_t(buf, 12, vbat); + _mav_put_int16_t(buf, 14, temp); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, buf, 16, 182); +#else + mavlink_raw_aux_t packet; + packet.baro = baro; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.vbat = vbat; + packet.temp = temp; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, (const char *)&packet, 16, 182); +#endif } #endif + // MESSAGE RAW_AUX UNPACKING + /** * @brief Get field adc1 from raw_aux message * @@ -122,10 +191,7 @@ static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc */ static inline uint16_t mavlink_msg_raw_aux_get_adc1(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 4); } /** @@ -135,10 +201,7 @@ static inline uint16_t mavlink_msg_raw_aux_get_adc1(const mavlink_message_t* msg */ static inline uint16_t mavlink_msg_raw_aux_get_adc2(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 6); } /** @@ -148,10 +211,7 @@ static inline uint16_t mavlink_msg_raw_aux_get_adc2(const mavlink_message_t* msg */ static inline uint16_t mavlink_msg_raw_aux_get_adc3(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -161,10 +221,7 @@ static inline uint16_t mavlink_msg_raw_aux_get_adc3(const mavlink_message_t* msg */ static inline uint16_t mavlink_msg_raw_aux_get_adc4(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 10); } /** @@ -174,10 +231,7 @@ static inline uint16_t mavlink_msg_raw_aux_get_adc4(const mavlink_message_t* msg */ static inline uint16_t mavlink_msg_raw_aux_get_vbat(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 12); } /** @@ -187,10 +241,7 @@ static inline uint16_t mavlink_msg_raw_aux_get_vbat(const mavlink_message_t* msg */ static inline int16_t mavlink_msg_raw_aux_get_temp(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 14); } /** @@ -200,12 +251,7 @@ static inline int16_t mavlink_msg_raw_aux_get_temp(const mavlink_message_t* msg) */ static inline int32_t mavlink_msg_raw_aux_get_baro(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 0); } /** @@ -216,11 +262,15 @@ static inline int32_t mavlink_msg_raw_aux_get_baro(const mavlink_message_t* msg) */ static inline void mavlink_msg_raw_aux_decode(const mavlink_message_t* msg, mavlink_raw_aux_t* raw_aux) { +#if MAVLINK_NEED_BYTE_SWAP + raw_aux->baro = mavlink_msg_raw_aux_get_baro(msg); raw_aux->adc1 = mavlink_msg_raw_aux_get_adc1(msg); raw_aux->adc2 = mavlink_msg_raw_aux_get_adc2(msg); raw_aux->adc3 = mavlink_msg_raw_aux_get_adc3(msg); raw_aux->adc4 = mavlink_msg_raw_aux_get_adc4(msg); raw_aux->vbat = mavlink_msg_raw_aux_get_vbat(msg); raw_aux->temp = mavlink_msg_raw_aux_get_temp(msg); - raw_aux->baro = mavlink_msg_raw_aux_get_baro(msg); +#else + memcpy(raw_aux, _MAV_PAYLOAD(msg), 16); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h index 6a34b7e4bd3c97d9990a32b71f5ce42a1736301b..d72dc569753a3caffc7d4ad3a09c3e3302c2926e 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h @@ -1,18 +1,33 @@ // MESSAGE SET_CAM_SHUTTER PACKING -#define MAVLINK_MSG_ID_SET_CAM_SHUTTER 100 +#define MAVLINK_MSG_ID_SET_CAM_SHUTTER 151 -typedef struct __mavlink_set_cam_shutter_t +typedef struct __mavlink_set_cam_shutter_t { - uint8_t cam_no; ///< Camera id - uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual - uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly - uint16_t interval; ///< Shutter interval, in microseconds - uint16_t exposure; ///< Exposure time, in microseconds - float gain; ///< Camera gain - + float gain; ///< Camera gain + uint16_t interval; ///< Shutter interval, in microseconds + uint16_t exposure; ///< Exposure time, in microseconds + uint8_t cam_no; ///< Camera id + uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual + uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly } mavlink_set_cam_shutter_t; +#define MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN 11 +#define MAVLINK_MSG_ID_151_LEN 11 + + + +#define MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER { \ + "SET_CAM_SHUTTER", \ + 6, \ + { { "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_cam_shutter_t, gain) }, \ + { "interval", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_set_cam_shutter_t, interval) }, \ + { "exposure", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_set_cam_shutter_t, exposure) }, \ + { "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_set_cam_shutter_t, cam_no) }, \ + { "cam_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_set_cam_shutter_t, cam_mode) }, \ + { "trigger_pin", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_set_cam_shutter_t, trigger_pin) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_set_cam_shutter_t * @param gain Camera gain * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) +static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; - - i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id - i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual - i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly - i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds - i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds - i += put_float_by_index(gain, i, msg->payload); // Camera gain +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_float(buf, 0, gain); + _mav_put_uint16_t(buf, 4, interval); + _mav_put_uint16_t(buf, 6, exposure); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint8_t(buf, 9, cam_mode); + _mav_put_uint8_t(buf, 10, trigger_pin); + + memcpy(_MAV_PAYLOAD(msg), buf, 11); +#else + mavlink_set_cam_shutter_t packet; + packet.gain = gain; + packet.interval = interval; + packet.exposure = exposure; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + + memcpy(_MAV_PAYLOAD(msg), &packet, 11); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; + return mavlink_finalize_message(msg, system_id, component_id, 11, 108); } /** - * @brief Pack a set_cam_shutter message + * @brief Pack a set_cam_shutter 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 @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8 * @param gain Camera gain * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) +static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t cam_no,uint8_t cam_mode,uint8_t trigger_pin,uint16_t interval,uint16_t exposure,float gain) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; - - i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id - i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual - i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly - i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds - i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds - i += put_float_by_index(gain, i, msg->payload); // Camera gain +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_float(buf, 0, gain); + _mav_put_uint16_t(buf, 4, interval); + _mav_put_uint16_t(buf, 6, exposure); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint8_t(buf, 9, cam_mode); + _mav_put_uint8_t(buf, 10, trigger_pin); + + memcpy(_MAV_PAYLOAD(msg), buf, 11); +#else + mavlink_set_cam_shutter_t packet; + packet.gain = gain; + packet.interval = interval; + packet.exposure = exposure; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + + memcpy(_MAV_PAYLOAD(msg), &packet, 11); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11, 108); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uin static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) { - mavlink_message_t msg; - mavlink_msg_set_cam_shutter_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_no, cam_mode, trigger_pin, interval, exposure, gain); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_float(buf, 0, gain); + _mav_put_uint16_t(buf, 4, interval); + _mav_put_uint16_t(buf, 6, exposure); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint8_t(buf, 9, cam_mode); + _mav_put_uint8_t(buf, 10, trigger_pin); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, buf, 11, 108); +#else + mavlink_set_cam_shutter_t packet; + packet.gain = gain; + packet.interval = interval; + packet.exposure = exposure; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, (const char *)&packet, 11, 108); +#endif } #endif + // MESSAGE SET_CAM_SHUTTER UNPACKING + /** * @brief Get field cam_no from set_cam_shutter message * @@ -116,7 +180,7 @@ static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint */ static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 8); } /** @@ -126,7 +190,7 @@ static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_messa */ static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 9); } /** @@ -136,7 +200,7 @@ static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_mes */ static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 10); } /** @@ -146,10 +210,7 @@ static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_ */ static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 4); } /** @@ -159,10 +220,7 @@ static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_me */ static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 6); } /** @@ -172,12 +230,7 @@ static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_me */ static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -188,10 +241,14 @@ static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t */ static inline void mavlink_msg_set_cam_shutter_decode(const mavlink_message_t* msg, mavlink_set_cam_shutter_t* set_cam_shutter) { +#if MAVLINK_NEED_BYTE_SWAP + set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg); + set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg); + set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg); set_cam_shutter->cam_no = mavlink_msg_set_cam_shutter_get_cam_no(msg); set_cam_shutter->cam_mode = mavlink_msg_set_cam_shutter_get_cam_mode(msg); set_cam_shutter->trigger_pin = mavlink_msg_set_cam_shutter_get_trigger_pin(msg); - set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg); - set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg); - set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg); +#else + memcpy(set_cam_shutter, _MAV_PAYLOAD(msg), 11); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_visual_odometry.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_visual_odometry.h deleted file mode 100644 index 0fd504c1ff9e9ea7d597ed0ac200744c8fdd9959..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_visual_odometry.h +++ /dev/null @@ -1,268 +0,0 @@ -// MESSAGE VISUAL_ODOMETRY PACKING - -#define MAVLINK_MSG_ID_VISUAL_ODOMETRY 180 - -typedef struct __mavlink_visual_odometry_t -{ - uint64_t frame1_time_us; ///< Time at which frame 1 was captured (in microseconds since unix epoch) - uint64_t frame2_time_us; ///< Time at which frame 2 was captured (in microseconds since unix epoch) - float x; ///< Relative X position - float y; ///< Relative Y position - float z; ///< Relative Z position - float roll; ///< Relative roll angle in rad - float pitch; ///< Relative pitch angle in rad - float yaw; ///< Relative yaw angle in rad - -} mavlink_visual_odometry_t; - - - -/** - * @brief Pack a visual_odometry 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 frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch) - * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch) - * @param x Relative X position - * @param y Relative Y position - * @param z Relative Z position - * @param roll Relative roll angle in rad - * @param pitch Relative pitch angle in rad - * @param yaw Relative yaw angle in rad - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_visual_odometry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY; - - i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch) - i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch) - i += put_float_by_index(x, i, msg->payload); // Relative X position - i += put_float_by_index(y, i, msg->payload); // Relative Y position - i += put_float_by_index(z, i, msg->payload); // Relative Z position - i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a visual_odometry message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch) - * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch) - * @param x Relative X position - * @param y Relative Y position - * @param z Relative Z position - * @param roll Relative roll angle in rad - * @param pitch Relative pitch angle in rad - * @param yaw Relative yaw angle in rad - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_visual_odometry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY; - - i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch) - i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch) - i += put_float_by_index(x, i, msg->payload); // Relative X position - i += put_float_by_index(y, i, msg->payload); // Relative Y position - i += put_float_by_index(z, i, msg->payload); // Relative Z position - i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad - i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad - i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a visual_odometry 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 visual_odometry C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_visual_odometry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_visual_odometry_t* visual_odometry) -{ - return mavlink_msg_visual_odometry_pack(system_id, component_id, msg, visual_odometry->frame1_time_us, visual_odometry->frame2_time_us, visual_odometry->x, visual_odometry->y, visual_odometry->z, visual_odometry->roll, visual_odometry->pitch, visual_odometry->yaw); -} - -/** - * @brief Send a visual_odometry message - * @param chan MAVLink channel to send the message - * - * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch) - * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch) - * @param x Relative X position - * @param y Relative Y position - * @param z Relative Z position - * @param roll Relative roll angle in rad - * @param pitch Relative pitch angle in rad - * @param yaw Relative yaw angle in rad - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_visual_odometry_send(mavlink_channel_t chan, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw) -{ - mavlink_message_t msg; - mavlink_msg_visual_odometry_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, frame1_time_us, frame2_time_us, x, y, z, roll, pitch, yaw); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE VISUAL_ODOMETRY UNPACKING - -/** - * @brief Get field frame1_time_us from visual_odometry message - * - * @return Time at which frame 1 was captured (in microseconds since unix epoch) - */ -static inline uint64_t mavlink_msg_visual_odometry_get_frame1_time_us(const mavlink_message_t* msg) -{ - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; -} - -/** - * @brief Get field frame2_time_us from visual_odometry message - * - * @return Time at which frame 2 was captured (in microseconds since unix epoch) - */ -static inline uint64_t mavlink_msg_visual_odometry_get_frame2_time_us(const mavlink_message_t* msg) -{ - generic_64bit r; - r.b[7] = (msg->payload+sizeof(uint64_t))[0]; - r.b[6] = (msg->payload+sizeof(uint64_t))[1]; - r.b[5] = (msg->payload+sizeof(uint64_t))[2]; - r.b[4] = (msg->payload+sizeof(uint64_t))[3]; - r.b[3] = (msg->payload+sizeof(uint64_t))[4]; - r.b[2] = (msg->payload+sizeof(uint64_t))[5]; - r.b[1] = (msg->payload+sizeof(uint64_t))[6]; - r.b[0] = (msg->payload+sizeof(uint64_t))[7]; - return (uint64_t)r.ll; -} - -/** - * @brief Get field x from visual_odometry message - * - * @return Relative X position - */ -static inline float mavlink_msg_visual_odometry_get_x(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[3]; - return (float)r.f; -} - -/** - * @brief Get field y from visual_odometry message - * - * @return Relative Y position - */ -static inline float mavlink_msg_visual_odometry_get_y(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field z from visual_odometry message - * - * @return Relative Z position - */ -static inline float mavlink_msg_visual_odometry_get_z(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field roll from visual_odometry message - * - * @return Relative roll angle in rad - */ -static inline float mavlink_msg_visual_odometry_get_roll(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field pitch from visual_odometry message - * - * @return Relative pitch angle in rad - */ -static inline float mavlink_msg_visual_odometry_get_pitch(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Get field yaw from visual_odometry message - * - * @return Relative yaw angle in rad - */ -static inline float mavlink_msg_visual_odometry_get_yaw(const mavlink_message_t* msg) -{ - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; -} - -/** - * @brief Decode a visual_odometry message into a struct - * - * @param msg The message to decode - * @param visual_odometry C-struct to decode the message contents into - */ -static inline void mavlink_msg_visual_odometry_decode(const mavlink_message_t* msg, mavlink_visual_odometry_t* visual_odometry) -{ - visual_odometry->frame1_time_us = mavlink_msg_visual_odometry_get_frame1_time_us(msg); - visual_odometry->frame2_time_us = mavlink_msg_visual_odometry_get_frame2_time_us(msg); - visual_odometry->x = mavlink_msg_visual_odometry_get_x(msg); - visual_odometry->y = mavlink_msg_visual_odometry_get_y(msg); - visual_odometry->z = mavlink_msg_visual_odometry_get_z(msg); - visual_odometry->roll = mavlink_msg_visual_odometry_get_roll(msg); - visual_odometry->pitch = mavlink_msg_visual_odometry_get_pitch(msg); - visual_odometry->yaw = mavlink_msg_visual_odometry_get_yaw(msg); -} diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h index 25ea0f5f1de38eca19fb1da9b67d7ed4d3ba4596..1936f005150e9503db8745fb968fa914e6c19113 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h @@ -1,16 +1,29 @@ // MESSAGE WATCHDOG_COMMAND PACKING -#define MAVLINK_MSG_ID_WATCHDOG_COMMAND 153 +#define MAVLINK_MSG_ID_WATCHDOG_COMMAND 183 -typedef struct __mavlink_watchdog_command_t +typedef struct __mavlink_watchdog_command_t { - uint8_t target_system_id; ///< Target system ID - uint16_t watchdog_id; ///< Watchdog ID - uint16_t process_id; ///< Process ID - uint8_t command_id; ///< Command ID - + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_id; ///< Process ID + uint8_t target_system_id; ///< Target system ID + uint8_t command_id; ///< Command ID } mavlink_watchdog_command_t; +#define MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN 6 +#define MAVLINK_MSG_ID_183_LEN 6 + + + +#define MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND { \ + "WATCHDOG_COMMAND", \ + 4, \ + { { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_command_t, watchdog_id) }, \ + { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_command_t, process_id) }, \ + { "target_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_watchdog_command_t, target_system_id) }, \ + { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_watchdog_command_t, command_id) }, \ + } \ +} /** @@ -25,21 +38,33 @@ typedef struct __mavlink_watchdog_command_t * @param command_id Command ID * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) +static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; - - i += put_uint8_t_by_index(target_system_id, i, msg->payload); // Target system ID - i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID - i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID - i += put_uint8_t_by_index(command_id, i, msg->payload); // Command ID +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_uint8_t(buf, 4, target_system_id); + _mav_put_uint8_t(buf, 5, command_id); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_watchdog_command_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.target_system_id = target_system_id; + packet.command_id = command_id; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; + return mavlink_finalize_message(msg, system_id, component_id, 6, 162); } /** - * @brief Pack a watchdog_command message + * @brief Pack a watchdog_command 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 @@ -50,17 +75,30 @@ static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint * @param command_id Command ID * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_watchdog_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) +static inline uint16_t mavlink_msg_watchdog_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system_id,uint16_t watchdog_id,uint16_t process_id,uint8_t command_id) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; - - i += put_uint8_t_by_index(target_system_id, i, msg->payload); // Target system ID - i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID - i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID - i += put_uint8_t_by_index(command_id, i, msg->payload); // Command ID +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_uint8_t(buf, 4, target_system_id); + _mav_put_uint8_t(buf, 5, command_id); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_watchdog_command_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.target_system_id = target_system_id; + packet.command_id = command_id; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 162); } /** @@ -89,14 +127,30 @@ static inline uint16_t mavlink_msg_watchdog_command_encode(uint8_t system_id, ui static inline void mavlink_msg_watchdog_command_send(mavlink_channel_t chan, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) { - mavlink_message_t msg; - mavlink_msg_watchdog_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system_id, watchdog_id, process_id, command_id); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_uint8_t(buf, 4, target_system_id); + _mav_put_uint8_t(buf, 5, command_id); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, buf, 6, 162); +#else + mavlink_watchdog_command_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.target_system_id = target_system_id; + packet.command_id = command_id; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, (const char *)&packet, 6, 162); +#endif } #endif + // MESSAGE WATCHDOG_COMMAND UNPACKING + /** * @brief Get field target_system_id from watchdog_command message * @@ -104,7 +158,7 @@ static inline void mavlink_msg_watchdog_command_send(mavlink_channel_t chan, uin */ static inline uint8_t mavlink_msg_watchdog_command_get_target_system_id(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 4); } /** @@ -114,10 +168,7 @@ static inline uint8_t mavlink_msg_watchdog_command_get_target_system_id(const ma */ static inline uint16_t mavlink_msg_watchdog_command_get_watchdog_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -127,10 +178,7 @@ static inline uint16_t mavlink_msg_watchdog_command_get_watchdog_id(const mavlin */ static inline uint16_t mavlink_msg_watchdog_command_get_process_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 2); } /** @@ -140,7 +188,7 @@ static inline uint16_t mavlink_msg_watchdog_command_get_process_id(const mavlink */ static inline uint8_t mavlink_msg_watchdog_command_get_command_id(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; + return _MAV_RETURN_uint8_t(msg, 5); } /** @@ -151,8 +199,12 @@ static inline uint8_t mavlink_msg_watchdog_command_get_command_id(const mavlink_ */ static inline void mavlink_msg_watchdog_command_decode(const mavlink_message_t* msg, mavlink_watchdog_command_t* watchdog_command) { - watchdog_command->target_system_id = mavlink_msg_watchdog_command_get_target_system_id(msg); +#if MAVLINK_NEED_BYTE_SWAP watchdog_command->watchdog_id = mavlink_msg_watchdog_command_get_watchdog_id(msg); watchdog_command->process_id = mavlink_msg_watchdog_command_get_process_id(msg); + watchdog_command->target_system_id = mavlink_msg_watchdog_command_get_target_system_id(msg); watchdog_command->command_id = mavlink_msg_watchdog_command_get_command_id(msg); +#else + memcpy(watchdog_command, _MAV_PAYLOAD(msg), 6); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h index db693bc554069e8fa22624b64e8c5bb4e35aef2d..6c3dc333d263ce2452557393aa212af6e1aae85a 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h @@ -1,14 +1,25 @@ // MESSAGE WATCHDOG_HEARTBEAT PACKING -#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT 150 +#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT 180 -typedef struct __mavlink_watchdog_heartbeat_t +typedef struct __mavlink_watchdog_heartbeat_t { - uint16_t watchdog_id; ///< Watchdog ID - uint16_t process_count; ///< Number of processes - + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_count; ///< Number of processes } mavlink_watchdog_heartbeat_t; +#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN 4 +#define MAVLINK_MSG_ID_180_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT { \ + "WATCHDOG_HEARTBEAT", \ + 2, \ + { { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_heartbeat_t, watchdog_id) }, \ + { "process_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_heartbeat_t, process_count) }, \ + } \ +} /** @@ -21,19 +32,29 @@ typedef struct __mavlink_watchdog_heartbeat_t * @param process_count Number of processes * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_count) +static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t watchdog_id, uint16_t process_count) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; - - i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID - i += put_uint16_t_by_index(process_count, i, msg->payload); // Number of processes +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; + return mavlink_finalize_message(msg, system_id, component_id, 4, 153); } /** - * @brief Pack a watchdog_heartbeat message + * @brief Pack a watchdog_heartbeat 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 @@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, ui * @param process_count Number of processes * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_count) +static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t watchdog_id,uint16_t process_count) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; - - i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID - i += put_uint16_t_by_index(process_count, i, msg->payload); // Number of processes +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 153); } /** @@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id, static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count) { - mavlink_message_t msg; - mavlink_msg_watchdog_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_count); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, 4, 153); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)&packet, 4, 153); +#endif } #endif + // MESSAGE WATCHDOG_HEARTBEAT UNPACKING + /** * @brief Get field watchdog_id from watchdog_heartbeat message * @@ -92,10 +136,7 @@ static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, u */ static inline uint16_t mavlink_msg_watchdog_heartbeat_get_watchdog_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -105,10 +146,7 @@ static inline uint16_t mavlink_msg_watchdog_heartbeat_get_watchdog_id(const mavl */ static inline uint16_t mavlink_msg_watchdog_heartbeat_get_process_count(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 2); } /** @@ -119,6 +157,10 @@ static inline uint16_t mavlink_msg_watchdog_heartbeat_get_process_count(const ma */ static inline void mavlink_msg_watchdog_heartbeat_decode(const mavlink_message_t* msg, mavlink_watchdog_heartbeat_t* watchdog_heartbeat) { +#if MAVLINK_NEED_BYTE_SWAP watchdog_heartbeat->watchdog_id = mavlink_msg_watchdog_heartbeat_get_watchdog_id(msg); watchdog_heartbeat->process_count = mavlink_msg_watchdog_heartbeat_get_process_count(msg); +#else + memcpy(watchdog_heartbeat, _MAV_PAYLOAD(msg), 4); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h index a312a14679fb7589f6eaa81c19df0922bf3d9444..59b0d3048c6b9b60fe8952241942ba6f0555b688 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h @@ -1,20 +1,33 @@ // MESSAGE WATCHDOG_PROCESS_INFO PACKING -#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO 151 +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO 181 -typedef struct __mavlink_watchdog_process_info_t +typedef struct __mavlink_watchdog_process_info_t { - uint16_t watchdog_id; ///< Watchdog ID - uint16_t process_id; ///< Process ID - int8_t name[100]; ///< Process name - int8_t arguments[147]; ///< Process arguments - int32_t timeout; ///< Timeout (seconds) - + int32_t timeout; ///< Timeout (seconds) + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_id; ///< Process ID + char name[100]; ///< Process name + char arguments[147]; ///< Process arguments } mavlink_watchdog_process_info_t; +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN 255 +#define MAVLINK_MSG_ID_181_LEN 255 + #define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_NAME_LEN 100 #define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_ARGUMENTS_LEN 147 +#define MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO { \ + "WATCHDOG_PROCESS_INFO", \ + 5, \ + { { "timeout", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_watchdog_process_info_t, timeout) }, \ + { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_watchdog_process_info_t, watchdog_id) }, \ + { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_watchdog_process_info_t, process_id) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 100, 8, offsetof(mavlink_watchdog_process_info_t, name) }, \ + { "arguments", NULL, MAVLINK_TYPE_CHAR, 147, 108, offsetof(mavlink_watchdog_process_info_t, arguments) }, \ + } \ +} + /** * @brief Pack a watchdog_process_info message @@ -29,22 +42,33 @@ typedef struct __mavlink_watchdog_process_info_t * @param timeout Timeout (seconds) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout) +static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t watchdog_id, uint16_t process_id, const char *name, const char *arguments, int32_t timeout) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; - - i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID - i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID - i += put_array_by_index(name, 100, i, msg->payload); // Process name - i += put_array_by_index(arguments, 147, i, msg->payload); // Process arguments - i += put_int32_t_by_index(timeout, i, msg->payload); // Timeout (seconds) +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_int32_t(buf, 0, timeout); + _mav_put_uint16_t(buf, 4, watchdog_id); + _mav_put_uint16_t(buf, 6, process_id); + _mav_put_char_array(buf, 8, name, 100); + _mav_put_char_array(buf, 108, arguments, 147); + memcpy(_MAV_PAYLOAD(msg), buf, 255); +#else + mavlink_watchdog_process_info_t packet; + packet.timeout = timeout; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + memcpy(packet.name, name, sizeof(char)*100); + memcpy(packet.arguments, arguments, sizeof(char)*147); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; + return mavlink_finalize_message(msg, system_id, component_id, 255, 16); } /** - * @brief Pack a watchdog_process_info message + * @brief Pack a watchdog_process_info 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 @@ -56,18 +80,30 @@ static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, * @param timeout Timeout (seconds) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_watchdog_process_info_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout) +static inline uint16_t mavlink_msg_watchdog_process_info_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t watchdog_id,uint16_t process_id,const char *name,const char *arguments,int32_t timeout) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; - - i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID - i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID - i += put_array_by_index(name, 100, i, msg->payload); // Process name - i += put_array_by_index(arguments, 147, i, msg->payload); // Process arguments - i += put_int32_t_by_index(timeout, i, msg->payload); // Timeout (seconds) +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_int32_t(buf, 0, timeout); + _mav_put_uint16_t(buf, 4, watchdog_id); + _mav_put_uint16_t(buf, 6, process_id); + _mav_put_char_array(buf, 8, name, 100); + _mav_put_char_array(buf, 108, arguments, 147); + memcpy(_MAV_PAYLOAD(msg), buf, 255); +#else + mavlink_watchdog_process_info_t packet; + packet.timeout = timeout; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + memcpy(packet.name, name, sizeof(char)*100); + memcpy(packet.arguments, arguments, sizeof(char)*147); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 255, 16); } /** @@ -95,16 +131,32 @@ static inline uint16_t mavlink_msg_watchdog_process_info_encode(uint8_t system_i */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout) +static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, const char *name, const char *arguments, int32_t timeout) { - mavlink_message_t msg; - mavlink_msg_watchdog_process_info_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_id, name, arguments, timeout); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_int32_t(buf, 0, timeout); + _mav_put_uint16_t(buf, 4, watchdog_id); + _mav_put_uint16_t(buf, 6, process_id); + _mav_put_char_array(buf, 8, name, 100); + _mav_put_char_array(buf, 108, arguments, 147); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, buf, 255, 16); +#else + mavlink_watchdog_process_info_t packet; + packet.timeout = timeout; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + memcpy(packet.name, name, sizeof(char)*100); + memcpy(packet.arguments, arguments, sizeof(char)*147); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, (const char *)&packet, 255, 16); +#endif } #endif + // MESSAGE WATCHDOG_PROCESS_INFO UNPACKING + /** * @brief Get field watchdog_id from watchdog_process_info message * @@ -112,10 +164,7 @@ static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan */ static inline uint16_t mavlink_msg_watchdog_process_info_get_watchdog_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 4); } /** @@ -125,10 +174,7 @@ static inline uint16_t mavlink_msg_watchdog_process_info_get_watchdog_id(const m */ static inline uint16_t mavlink_msg_watchdog_process_info_get_process_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 6); } /** @@ -136,11 +182,9 @@ static inline uint16_t mavlink_msg_watchdog_process_info_get_process_id(const ma * * @return Process name */ -static inline uint16_t mavlink_msg_watchdog_process_info_get_name(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_watchdog_process_info_get_name(const mavlink_message_t* msg, char *name) { - - memcpy(r_data, msg->payload+sizeof(uint16_t)+sizeof(uint16_t), 100); - return 100; + return _MAV_RETURN_char_array(msg, name, 100, 8); } /** @@ -148,11 +192,9 @@ static inline uint16_t mavlink_msg_watchdog_process_info_get_name(const mavlink_ * * @return Process arguments */ -static inline uint16_t mavlink_msg_watchdog_process_info_get_arguments(const mavlink_message_t* msg, int8_t* r_data) +static inline uint16_t mavlink_msg_watchdog_process_info_get_arguments(const mavlink_message_t* msg, char *arguments) { - - memcpy(r_data, msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100, 147); - return 147; + return _MAV_RETURN_char_array(msg, arguments, 147, 108); } /** @@ -162,12 +204,7 @@ static inline uint16_t mavlink_msg_watchdog_process_info_get_arguments(const mav */ static inline int32_t mavlink_msg_watchdog_process_info_get_timeout(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 0); } /** @@ -178,9 +215,13 @@ static inline int32_t mavlink_msg_watchdog_process_info_get_timeout(const mavlin */ static inline void mavlink_msg_watchdog_process_info_decode(const mavlink_message_t* msg, mavlink_watchdog_process_info_t* watchdog_process_info) { +#if MAVLINK_NEED_BYTE_SWAP + watchdog_process_info->timeout = mavlink_msg_watchdog_process_info_get_timeout(msg); watchdog_process_info->watchdog_id = mavlink_msg_watchdog_process_info_get_watchdog_id(msg); watchdog_process_info->process_id = mavlink_msg_watchdog_process_info_get_process_id(msg); mavlink_msg_watchdog_process_info_get_name(msg, watchdog_process_info->name); mavlink_msg_watchdog_process_info_get_arguments(msg, watchdog_process_info->arguments); - watchdog_process_info->timeout = mavlink_msg_watchdog_process_info_get_timeout(msg); +#else + memcpy(watchdog_process_info, _MAV_PAYLOAD(msg), 255); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h index 9afa6ca14af95e685c5aa606eb47c6b11c708ace..6fb26e573528a85284bcbefcdf24e6c1984b0595 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h @@ -1,18 +1,33 @@ // MESSAGE WATCHDOG_PROCESS_STATUS PACKING -#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS 152 +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS 182 -typedef struct __mavlink_watchdog_process_status_t +typedef struct __mavlink_watchdog_process_status_t { - uint16_t watchdog_id; ///< Watchdog ID - uint16_t process_id; ///< Process ID - uint8_t state; ///< Is running / finished / suspended / crashed - uint8_t muted; ///< Is muted - int32_t pid; ///< PID - uint16_t crashes; ///< Number of crashes - + int32_t pid; ///< PID + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_id; ///< Process ID + uint16_t crashes; ///< Number of crashes + uint8_t state; ///< Is running / finished / suspended / crashed + uint8_t muted; ///< Is muted } mavlink_watchdog_process_status_t; +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN 12 +#define MAVLINK_MSG_ID_182_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS { \ + "WATCHDOG_PROCESS_STATUS", \ + 6, \ + { { "pid", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_watchdog_process_status_t, pid) }, \ + { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_watchdog_process_status_t, watchdog_id) }, \ + { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_watchdog_process_status_t, process_id) }, \ + { "crashes", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_watchdog_process_status_t, crashes) }, \ + { "state", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_watchdog_process_status_t, state) }, \ + { "muted", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_watchdog_process_status_t, muted) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_watchdog_process_status_t * @param crashes Number of crashes * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) +static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; - - i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID - i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID - i += put_uint8_t_by_index(state, i, msg->payload); // Is running / finished / suspended / crashed - i += put_uint8_t_by_index(muted, i, msg->payload); // Is muted - i += put_int32_t_by_index(pid, i, msg->payload); // PID - i += put_uint16_t_by_index(crashes, i, msg->payload); // Number of crashes +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, pid); + _mav_put_uint16_t(buf, 4, watchdog_id); + _mav_put_uint16_t(buf, 6, process_id); + _mav_put_uint16_t(buf, 8, crashes); + _mav_put_uint8_t(buf, 10, state); + _mav_put_uint8_t(buf, 11, muted); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_watchdog_process_status_t packet; + packet.pid = pid; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.crashes = crashes; + packet.state = state; + packet.muted = muted; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 12, 29); } /** - * @brief Pack a watchdog_process_status message + * @brief Pack a watchdog_process_status 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 @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_i * @param crashes Number of crashes * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_watchdog_process_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) +static inline uint16_t mavlink_msg_watchdog_process_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t watchdog_id,uint16_t process_id,uint8_t state,uint8_t muted,int32_t pid,uint16_t crashes) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; - - i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID - i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID - i += put_uint8_t_by_index(state, i, msg->payload); // Is running / finished / suspended / crashed - i += put_uint8_t_by_index(muted, i, msg->payload); // Is muted - i += put_int32_t_by_index(pid, i, msg->payload); // PID - i += put_uint16_t_by_index(crashes, i, msg->payload); // Number of crashes +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, pid); + _mav_put_uint16_t(buf, 4, watchdog_id); + _mav_put_uint16_t(buf, 6, process_id); + _mav_put_uint16_t(buf, 8, crashes); + _mav_put_uint8_t(buf, 10, state); + _mav_put_uint8_t(buf, 11, muted); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_watchdog_process_status_t packet; + packet.pid = pid; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.crashes = crashes; + packet.state = state; + packet.muted = muted; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 29); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_watchdog_process_status_encode(uint8_t system static inline void mavlink_msg_watchdog_process_status_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) { - mavlink_message_t msg; - mavlink_msg_watchdog_process_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_id, state, muted, pid, crashes); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, pid); + _mav_put_uint16_t(buf, 4, watchdog_id); + _mav_put_uint16_t(buf, 6, process_id); + _mav_put_uint16_t(buf, 8, crashes); + _mav_put_uint8_t(buf, 10, state); + _mav_put_uint8_t(buf, 11, muted); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, buf, 12, 29); +#else + mavlink_watchdog_process_status_t packet; + packet.pid = pid; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.crashes = crashes; + packet.state = state; + packet.muted = muted; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, (const char *)&packet, 12, 29); +#endif } #endif + // MESSAGE WATCHDOG_PROCESS_STATUS UNPACKING + /** * @brief Get field watchdog_id from watchdog_process_status message * @@ -116,10 +180,7 @@ static inline void mavlink_msg_watchdog_process_status_send(mavlink_channel_t ch */ static inline uint16_t mavlink_msg_watchdog_process_status_get_watchdog_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload)[0]; - r.b[0] = (msg->payload)[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 4); } /** @@ -129,10 +190,7 @@ static inline uint16_t mavlink_msg_watchdog_process_status_get_watchdog_id(const */ static inline uint16_t mavlink_msg_watchdog_process_status_get_process_id(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 6); } /** @@ -142,7 +200,7 @@ static inline uint16_t mavlink_msg_watchdog_process_status_get_process_id(const */ static inline uint8_t mavlink_msg_watchdog_process_status_get_state(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0]; + return _MAV_RETURN_uint8_t(msg, 10); } /** @@ -152,7 +210,7 @@ static inline uint8_t mavlink_msg_watchdog_process_status_get_state(const mavlin */ static inline uint8_t mavlink_msg_watchdog_process_status_get_muted(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 11); } /** @@ -162,12 +220,7 @@ static inline uint8_t mavlink_msg_watchdog_process_status_get_muted(const mavlin */ static inline int32_t mavlink_msg_watchdog_process_status_get_pid(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; - return (int32_t)r.i; + return _MAV_RETURN_int32_t(msg, 0); } /** @@ -177,10 +230,7 @@ static inline int32_t mavlink_msg_watchdog_process_status_get_pid(const mavlink_ */ static inline uint16_t mavlink_msg_watchdog_process_status_get_crashes(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[0]; - r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -191,10 +241,14 @@ static inline uint16_t mavlink_msg_watchdog_process_status_get_crashes(const mav */ static inline void mavlink_msg_watchdog_process_status_decode(const mavlink_message_t* msg, mavlink_watchdog_process_status_t* watchdog_process_status) { +#if MAVLINK_NEED_BYTE_SWAP + watchdog_process_status->pid = mavlink_msg_watchdog_process_status_get_pid(msg); watchdog_process_status->watchdog_id = mavlink_msg_watchdog_process_status_get_watchdog_id(msg); watchdog_process_status->process_id = mavlink_msg_watchdog_process_status_get_process_id(msg); + watchdog_process_status->crashes = mavlink_msg_watchdog_process_status_get_crashes(msg); watchdog_process_status->state = mavlink_msg_watchdog_process_status_get_state(msg); watchdog_process_status->muted = mavlink_msg_watchdog_process_status_get_muted(msg); - watchdog_process_status->pid = mavlink_msg_watchdog_process_status_get_pid(msg); - watchdog_process_status->crashes = mavlink_msg_watchdog_process_status_get_crashes(msg); +#else + memcpy(watchdog_process_status, _MAV_PAYLOAD(msg), 12); +#endif } diff --git a/thirdParty/mavlink/include/pixhawk/pixhawk.h b/thirdParty/mavlink/include/pixhawk/pixhawk.h index 5907478c2bbd9a1aa449f72da46b39ab44ae1d13..398ff0c58a2ace541e1a531c4f3da9789845c74a 100644 --- a/thirdParty/mavlink/include/pixhawk/pixhawk.h +++ b/thirdParty/mavlink/include/pixhawk/pixhawk.h @@ -1,7 +1,6 @@ /** @file - * @brief MAVLink comm protocol. + * @brief MAVLink comm protocol generated from pixhawk.xml * @see http://qgroundcontrol.org/mavlink/ - * Generated on Wednesday, August 17 2011, 06:03 UTC */ #ifndef PIXHAWK_H #define PIXHAWK_H @@ -10,52 +9,59 @@ extern "C" { #endif +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 0, 28, 22, 22, 21, 0, 36, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 20, 32, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 8, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 197, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 0, 104, 244, 237, 222, 0, 158, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 160, 168, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 11, 244, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 148, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, {NULL}, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_SHORT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {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}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT_SET, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_OFFSET_SET, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {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}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE} +#endif #include "../protocol.h" #define MAVLINK_ENABLED_PIXHAWK - #include "../common/common.h" + // MAVLINK VERSION #ifndef MAVLINK_VERSION -#define MAVLINK_VERSION 0 +#define MAVLINK_VERSION 2 #endif #if (MAVLINK_VERSION == 0) #undef MAVLINK_VERSION -#define MAVLINK_VERSION 0 +#define MAVLINK_VERSION 2 #endif // ENUM DEFINITIONS -/** @brief Content Types for data transmission handshake */ + +/** @brief Content Types for data transmission handshake */ enum DATA_TYPES { - DATA_TYPE_JPEG_IMAGE=1, - DATA_TYPE_RAW_IMAGE=2, - DATA_TYPE_KINECT=3, - DATA_TYPES_ENUM_END + DATA_TYPE_JPEG_IMAGE=1, /* | */ + DATA_TYPE_RAW_IMAGE=2, /* | */ + DATA_TYPE_KINECT=3, /* | */ + DATA_TYPES_ENUM_END=4, /* | */ }; - // MESSAGE DEFINITIONS - -#include "./mavlink_msg_attitude_control.h" #include "./mavlink_msg_set_cam_shutter.h" #include "./mavlink_msg_image_triggered.h" #include "./mavlink_msg_image_trigger_control.h" #include "./mavlink_msg_image_available.h" -#include "./mavlink_msg_vision_position_estimate.h" -#include "./mavlink_msg_vicon_position_estimate.h" -#include "./mavlink_msg_vision_speed_estimate.h" #include "./mavlink_msg_position_control_setpoint_set.h" #include "./mavlink_msg_position_control_offset_set.h" #include "./mavlink_msg_position_control_setpoint.h" #include "./mavlink_msg_marker.h" #include "./mavlink_msg_raw_aux.h" -#include "./mavlink_msg_aux_status.h" #include "./mavlink_msg_watchdog_heartbeat.h" #include "./mavlink_msg_watchdog_process_info.h" #include "./mavlink_msg_watchdog_process_status.h" @@ -66,15 +72,9 @@ enum DATA_TYPES #include "./mavlink_msg_data_transmission_handshake.h" #include "./mavlink_msg_encapsulated_data.h" #include "./mavlink_msg_brief_feature.h" -#include "./mavlink_msg_visual_odometry.h" - - -// MESSAGE LENGTHS - -#undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 42, 54, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 } +#include "./mavlink_msg_attitude_control.h" #ifdef __cplusplus } -#endif -#endif +#endif // __cplusplus +#endif // PIXHAWK_H diff --git a/thirdParty/mavlink/include/pixhawk/testsuite.h b/thirdParty/mavlink/include/pixhawk/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..ef2f0273b74e27a6320f4f889de95f5ce4a21aeb --- /dev/null +++ b/thirdParty/mavlink/include/pixhawk/testsuite.h @@ -0,0 +1,1150 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from pixhawk.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef PIXHAWK_TESTSUITE_H +#define PIXHAWK_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_pixhawk(uint8_t, uint8_t, mavlink_message_t *last_msg); + +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, last_msg); + mavlink_test_pixhawk(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_set_cam_shutter(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_cam_shutter_t packet_in = { + 17.0, + 17443, + 17547, + 29, + 96, + 163, + }; + mavlink_set_cam_shutter_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.gain = packet_in.gain; + packet1.interval = packet_in.interval; + packet1.exposure = packet_in.exposure; + packet1.cam_no = packet_in.cam_no; + packet1.cam_mode = packet_in.cam_mode; + packet1.trigger_pin = packet_in.trigger_pin; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_cam_shutter_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_set_cam_shutter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_cam_shutter_pack(system_id, component_id, &msg , packet1.cam_no , packet1.cam_mode , packet1.trigger_pin , packet1.interval , packet1.exposure , packet1.gain ); + mavlink_msg_set_cam_shutter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_cam_shutter_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.cam_no , packet1.cam_mode , packet1.trigger_pin , packet1.interval , packet1.exposure , packet1.gain ); + mavlink_msg_set_cam_shutter_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; iparse_state <= MAVLINK_PARSE_STATE_UNINIT) || (initStatus->parse_state > MAVLINK_PARSE_STATE_GOT_CRC1)) - { - initStatus->ck_a = 0; - initStatus->ck_b = 0; - initStatus->msg_received = 0; - initStatus->buffer_overrun = 0; - initStatus->parse_error = 0; - initStatus->parse_state = MAVLINK_PARSE_STATE_UNINIT; - initStatus->packet_idx = 0; - initStatus->packet_rx_drop_count = 0; - initStatus->packet_rx_success_count = 0; - initStatus->current_rx_seq = 0; - initStatus->current_tx_seq = 0; - } -} - -static inline mavlink_status_t* mavlink_get_channel_status(uint8_t chan) -{ - static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_status[chan]; -} +#ifndef MAVLINK_STACK_BUFFER +#define MAVLINK_STACK_BUFFER 0 +#endif -/** - * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel - * - * This function calculates the checksum and sets length and aircraft id correctly. - * It assumes that the message id and the payload are already correctly set. - * - * @warning This function implicitely assumes the message is sent over channel zero. - * if the message is sent over a different channel it will reach the receiver - * without error, BUT the sequence number might be wrong due to the wrong - * channel sequence counter. This will result is wrongly reported excessive - * packet loss. Please use @see mavlink_{pack|encode}_headerless and then - * @see mavlink_finalize_message_chan before sending for a correct channel - * assignment. Please note that the mavlink_msg_xxx_pack and encode functions - * assign channel zero as default and thus induce possible loss counter errors.\ - * They have been left to ensure code compatibility. - * - * @see mavlink_finalize_message_chan - * @param msg Message to finalize - * @param system_id Id of the sending (this) system, 1-127 - * @param length Message length, usually just the counter incremented while packing the message - */ -static inline uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint16_t length) -{ - // This code part is the same for all messages; - uint16_t checksum; - msg->len = length; - msg->sysid = system_id; - msg->compid = component_id; - // One sequence number per component - msg->seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq; - mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq+1; - checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN); - msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte - msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte +#ifndef MAVLINK_AVOID_GCC_STACK_BUG +# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__) +#endif - return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES; -} +#ifndef MAVLINK_ASSERT +#define MAVLINK_ASSERT(x) +#endif -/** - * @brief Finalize a MAVLink message with channel assignment - * - * This function calculates the checksum and sets length and aircraft id correctly. - * It assumes that the message id and the payload are already correctly set. This function - * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack - * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead. - * - * @param msg Message to finalize - * @param system_id Id of the sending (this) system, 1-127 - * @param length Message length, usually just the counter incremented while packing the message - */ -static inline uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint16_t length) -{ - // This code part is the same for all messages; - uint16_t checksum; - msg->len = length; - msg->sysid = system_id; - msg->compid = component_id; - // One sequence number per component - msg->seq = mavlink_get_channel_status(chan)->current_tx_seq; - mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1; - checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN); - msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte - msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte +#ifndef MAVLINK_START_UART_SEND +#define MAVLINK_START_UART_SEND(chan, length) +#endif - return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES; -} +#ifndef MAVLINK_END_UART_SEND +#define MAVLINK_END_UART_SEND(chan, length) +#endif -/** - * @brief Pack a message to send it over a serial byte stream - */ -static inline uint16_t mavlink_msg_to_send_buffer(uint8_t* buffer, const mavlink_message_t* msg) -{ - *(buffer+0) = MAVLINK_STX; ///< Start transmit - memcpy((buffer+1), msg, msg->len + MAVLINK_CORE_HEADER_LEN); ///< Core header plus payload - *(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 1) = msg->ck_a; - *(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 2) = msg->ck_b; - return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; - return 0; -} +#ifdef MAVLINK_SEPARATE_HELPERS +#define MAVLINK_HELPER +#else +#define MAVLINK_HELPER static inline +#include "mavlink_helpers.h" +#endif // MAVLINK_SEPARATE_HELPERS + +/* always include the prototypes to ensure we don't get out of sync */ +MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan); +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length, uint8_t crc_extra); +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length, uint8_t crc_extra); +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, + uint8_t length, uint8_t crc_extra); +#endif +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length); +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length); +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length); +#endif // MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg); +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg); +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c); +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status); +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, + uint8_t* r_bit_index, uint8_t* buffer); +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); +#endif /** * @brief Get the required buffer size for this message @@ -126,857 +77,248 @@ static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_ return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; } -union checksum_ { - uint16_t s; - uint8_t c[2]; -}; - -union __mavlink_bitfield { - uint8_t uint8; - int8_t int8; - uint16_t uint16; - int16_t int16; - uint32_t uint32; - int32_t int32; -}; - - -static inline void mavlink_start_checksum(mavlink_message_t* msg) -{ - union checksum_ ck; - crc_init(&(ck.s)); - msg->ck_a = ck.c[0]; - msg->ck_b = ck.c[1]; -} - -static inline void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) -{ - union checksum_ ck; - ck.c[0] = msg->ck_a; - ck.c[1] = msg->ck_b; - crc_accumulate(c, &(ck.s)); - msg->ck_a = ck.c[0]; - msg->ck_b = ck.c[1]; -} - -/** - * This is a convenience function which handles the complete MAVLink parsing. - * the function will parse one byte at a time and return the complete packet once - * it could be successfully decoded. Checksum and other failures will be silently - * ignored. - * - * @param chan ID of the current channel. This allows to parse different channels with this function. - * a channel is not a physical message channel like a serial port, but a logic partition of - * the communication streams in this case. COMM_NB is the limit for the number of channels - * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows - * @param c The char to barse - * - * @param returnMsg NULL if no message could be decoded, the message data else - * @return 0 if no message could be decoded, 1 else - * - * A typical use scenario of this function call is: - * - * @code - * #include // For fixed-width uint8_t type - * - * mavlink_message_t msg; - * int chan = 0; - * - * - * while(serial.bytesAvailable > 0) - * { - * uint8_t byte = serial.getNextByte(); - * if (mavlink_parse_char(chan, byte, &msg)) - * { - * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); - * } - * } - * - * - * @endcode - */ -static inline uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) -{ - static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; - - // Initializes only once, values keep unchanged after first initialization - mavlink_parse_state_initialize(mavlink_get_channel_status(chan)); - - mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message - mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status - int bufferIndex = 0; - - status->msg_received = 0; - - switch (status->parse_state) - { - case MAVLINK_PARSE_STATE_UNINIT: - case MAVLINK_PARSE_STATE_IDLE: - if (c == MAVLINK_STX) - { - status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; - mavlink_start_checksum(rxmsg); - } - break; - - case MAVLINK_PARSE_STATE_GOT_STX: - if (status->msg_received) - { - status->buffer_overrun++; - status->parse_error++; - status->msg_received = 0; - status->parse_state = MAVLINK_PARSE_STATE_IDLE; - } - else - { - // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 - rxmsg->len = c; - status->packet_idx = 0; - mavlink_update_checksum(rxmsg, c); - status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; - } - break; - - case MAVLINK_PARSE_STATE_GOT_LENGTH: - rxmsg->seq = c; - mavlink_update_checksum(rxmsg, c); - status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; - break; - - case MAVLINK_PARSE_STATE_GOT_SEQ: - rxmsg->sysid = c; - mavlink_update_checksum(rxmsg, c); - status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; - break; - - case MAVLINK_PARSE_STATE_GOT_SYSID: - rxmsg->compid = c; - mavlink_update_checksum(rxmsg, c); - status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; - break; - - case MAVLINK_PARSE_STATE_GOT_COMPID: - rxmsg->msgid = c; - mavlink_update_checksum(rxmsg, c); - if (rxmsg->len == 0) - { - status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; - } - else - { - status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID; - } - break; - - case MAVLINK_PARSE_STATE_GOT_MSGID: - rxmsg->payload[status->packet_idx++] = c; - mavlink_update_checksum(rxmsg, c); - if (status->packet_idx == rxmsg->len) - { - status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; - } - break; - - case MAVLINK_PARSE_STATE_GOT_PAYLOAD: - if (c != rxmsg->ck_a) - { - // Check first checksum byte - status->parse_error++; - status->msg_received = 0; - status->parse_state = MAVLINK_PARSE_STATE_IDLE; - if (c == MAVLINK_STX) - { - status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; - mavlink_start_checksum(rxmsg); - } - } - else - { - status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; - } - break; - - case MAVLINK_PARSE_STATE_GOT_CRC1: - if (c != rxmsg->ck_b) - {// Check second checksum byte - status->parse_error++; - status->msg_received = 0; - status->parse_state = MAVLINK_PARSE_STATE_IDLE; - if (c == MAVLINK_STX) - { - status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; - mavlink_start_checksum(rxmsg); - } - } - else - { - // Successfully got message - status->msg_received = 1; - status->parse_state = MAVLINK_PARSE_STATE_IDLE; - memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); - } - break; - } - - bufferIndex++; - // If a message has been sucessfully decoded, check index - if (status->msg_received == 1) - { - //while(status->current_seq != rxmsg->seq) - //{ - // status->packet_rx_drop_count++; - // status->current_seq++; - //} - status->current_rx_seq = rxmsg->seq; - // Initial condition: If no packet has been received so far, drop count is undefined - if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; - // Count this packet as received - status->packet_rx_success_count++; - } - - r_mavlink_status->current_rx_seq = status->current_rx_seq+1; - r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; - r_mavlink_status->packet_rx_drop_count = status->parse_error; - status->parse_error = 0; - return status->msg_received; -} - - -/** - * This is a convenience function which handles the complete MAVLink parsing. - * the function will parse one byte at a time and return the complete packet once - * it could be successfully decoded. Checksum and other failures will be silently - * ignored. - * - * @param chan ID of the current channel. This allows to parse different channels with this function. - * a channel is not a physical message channel like a serial port, but a logic partition of - * the communication streams in this case. COMM_NB is the limit for the number of channels - * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows - * @param c The char to barse - * - * @param returnMsg NULL if no message could be decoded, the message data else - * @return 0 if no message could be decoded, 1 else - * - * A typical use scenario of this function call is: - * - * @code - * #include // For fixed-width uint8_t type - * - * mavlink_message_t msg; - * int chan = 0; - * - * - * while(serial.bytesAvailable > 0) - * { - * uint8_t byte = serial.getNextByte(); - * if (mavlink_parse_char(chan, byte, &msg)) - * { - * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); - * } - * } - * - * - * @endcode - */ - -#define MAVLINK_PACKET_START_CANDIDATES 50 -/* -static inline uint8_t mavlink_parse_char_new(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) -{ - static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; - static uint8_t m_msgbuf[MAVLINK_COMM_NUM_BUFFERS][MAVLINK_MAX_PACKET_LEN * 2]; - static uint8_t m_msgbuf_index[MAVLINK_COMM_NUM_BUFFERS]; - static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; - static uint8_t m_packet_start[MAVLINK_COMM_NUM_BUFFERS][MAVLINK_PACKET_START_CANDIDATES]; - static uint8_t m_packet_start_index_read[MAVLINK_COMM_NUM_BUFFERS]; - static uint8_t m_packet_start_index_write[MAVLINK_COMM_NUM_BUFFERS]; - - // Set a packet start candidate index if sign is start sign - if (c == MAVLINK_STX) - { - m_packet_start[chan][++(m_packet_start_index_write[chan]) % MAVLINK_PACKET_START_CANDIDATES] = m_msgbuf_index[chan]; - } - - // Parse normally, if a CRC mismatch occurs retry with the next packet index -} -// static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; -// static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; -//// Initializes only once, values keep unchanged after first initialization -// mavlink_parse_state_initialize(&m_mavlink_status[chan]); -// -//mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message -//mavlink_status_t* status = &m_mavlink_status[chan]; ///< The current decode status -//int bufferIndex = 0; -// -//status->msg_received = 0; -// -//switch (status->parse_state) -//{ -//case MAVLINK_PARSE_STATE_UNINIT: -//case MAVLINK_PARSE_STATE_IDLE: -// if (c == MAVLINK_STX) -// { -// status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; -// mavlink_start_checksum(rxmsg); -// } -// break; -// -//case MAVLINK_PARSE_STATE_GOT_STX: -// if (status->msg_received) -// { -// status->buffer_overrun++; -// status->parse_error++; -// status->msg_received = 0; -// status->parse_state = MAVLINK_PARSE_STATE_IDLE; -// } -// else -// { -// // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 -// rxmsg->len = c; -// status->packet_idx = 0; -// mavlink_update_checksum(rxmsg, c); -// status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; -// } -// break; -// -//case MAVLINK_PARSE_STATE_GOT_LENGTH: -// rxmsg->seq = c; -// mavlink_update_checksum(rxmsg, c); -// status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; -// break; -// -//case MAVLINK_PARSE_STATE_GOT_SEQ: -// rxmsg->sysid = c; -// mavlink_update_checksum(rxmsg, c); -// status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; -// break; -// -//case MAVLINK_PARSE_STATE_GOT_SYSID: -// rxmsg->compid = c; -// mavlink_update_checksum(rxmsg, c); -// status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; -// break; -// -//case MAVLINK_PARSE_STATE_GOT_COMPID: -// rxmsg->msgid = c; -// mavlink_update_checksum(rxmsg, c); -// if (rxmsg->len == 0) -// { -// status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; -// } -// else -// { -// status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID; -// } -// break; -// -//case MAVLINK_PARSE_STATE_GOT_MSGID: -// rxmsg->payload[status->packet_idx++] = c; -// mavlink_update_checksum(rxmsg, c); -// if (status->packet_idx == rxmsg->len) -// { -// status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; -// } -// break; -// -//case MAVLINK_PARSE_STATE_GOT_PAYLOAD: -// if (c != rxmsg->ck_a) -// { -// // Check first checksum byte -// status->parse_error++; -// status->msg_received = 0; -// status->parse_state = MAVLINK_PARSE_STATE_IDLE; -// } -// else -// { -// status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; -// } -// break; -// -//case MAVLINK_PARSE_STATE_GOT_CRC1: -// if (c != rxmsg->ck_b) -// {// Check second checksum byte -// status->parse_error++; -// status->msg_received = 0; -// status->parse_state = MAVLINK_PARSE_STATE_IDLE; -// } -// else -// { -// // Successfully got message -// status->msg_received = 1; -// status->parse_state = MAVLINK_PARSE_STATE_IDLE; -// memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); -// } -// break; -//} - -bufferIndex++; -// If a message has been sucessfully decoded, check index -if (status->msg_received == 1) -{ - //while(status->current_seq != rxmsg->seq) - //{ - // status->packet_rx_drop_count++; - // status->current_seq++; - //} - status->current_seq = rxmsg->seq; - // Initial condition: If no packet has been received so far, drop count is undefined - if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; - // Count this packet as received - status->packet_rx_success_count++; -} - -r_mavlink_status->current_seq = status->current_seq+1; -r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; -r_mavlink_status->packet_rx_drop_count = status->parse_error; -return status->msg_received; -} - */ - - -typedef union __generic_16bit -{ - uint8_t b[2]; - int16_t s; -} generic_16bit; - -typedef union __generic_32bit -{ - uint8_t b[4]; - float f; - int32_t i; - int16_t s; -} generic_32bit; - -typedef union __generic_64bit -{ - uint8_t b[8]; - int64_t ll; ///< Long long (64 bit) - double d; ///< IEEE-754 double precision floating point -} generic_64bit; - -/** - * @brief Place an unsigned byte into the buffer - * - * @param b the byte to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_uint8_t_by_index(uint8_t b, uint8_t bindex, uint8_t* buffer) -{ - *(buffer + bindex) = b; - return sizeof(b); -} - -/** - * @brief Place a signed byte into the buffer - * - * @param b the byte to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_int8_t_by_index(int8_t b, int8_t bindex, uint8_t* buffer) +#if MAVLINK_NEED_BYTE_SWAP +static inline void byte_swap_2(char *dst, const char *src) { - *(buffer + bindex) = (uint8_t)b; - return sizeof(b); + dst[0] = src[1]; + dst[1] = src[0]; } - -/** - * @brief Place two unsigned bytes into the buffer - * - * @param b the bytes to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_uint16_t_by_index(uint16_t b, const uint8_t bindex, uint8_t* buffer) -{ - buffer[bindex] = (b>>8)&0xff; - buffer[bindex+1] = (b & 0xff); - return sizeof(b); -} - -/** - * @brief Place two signed bytes into the buffer - * - * @param b the bytes to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_int16_t_by_index(int16_t b, uint8_t bindex, uint8_t* buffer) +static inline void byte_swap_4(char *dst, const char *src) { - return put_uint16_t_by_index(b, bindex, buffer); + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; } - -/** - * @brief Place four unsigned bytes into the buffer - * - * @param b the bytes to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_uint32_t_by_index(uint32_t b, const uint8_t bindex, uint8_t* buffer) +static inline void byte_swap_8(char *dst, const char *src) { - buffer[bindex] = (b>>24)&0xff; - buffer[bindex+1] = (b>>16)&0xff; - buffer[bindex+2] = (b>>8)&0xff; - buffer[bindex+3] = (b & 0xff); - return sizeof(b); + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; } - -/** - * @brief Place four signed bytes into the buffer - * - * @param b the bytes to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_int32_t_by_index(int32_t b, uint8_t bindex, uint8_t* buffer) +#elif !MAVLINK_ALIGNED_FIELDS +static inline void byte_copy_2(char *dst, const char *src) { - buffer[bindex] = (b>>24)&0xff; - buffer[bindex+1] = (b>>16)&0xff; - buffer[bindex+2] = (b>>8)&0xff; - buffer[bindex+3] = (b & 0xff); - return sizeof(b); + dst[0] = src[0]; + dst[1] = src[1]; } - -/** - * @brief Place four unsigned bytes into the buffer - * - * @param b the bytes to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_uint64_t_by_index(uint64_t b, const uint8_t bindex, uint8_t* buffer) +static inline void byte_copy_4(char *dst, const char *src) { - buffer[bindex] = (b>>56)&0xff; - buffer[bindex+1] = (b>>48)&0xff; - buffer[bindex+2] = (b>>40)&0xff; - buffer[bindex+3] = (b>>32)&0xff; - buffer[bindex+4] = (b>>24)&0xff; - buffer[bindex+5] = (b>>16)&0xff; - buffer[bindex+6] = (b>>8)&0xff; - buffer[bindex+7] = (b & 0xff); - return sizeof(b); + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; } - -/** - * @brief Place four signed bytes into the buffer - * - * @param b the bytes to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_int64_t_by_index(int64_t b, uint8_t bindex, uint8_t* buffer) +static inline void byte_copy_8(char *dst, const char *src) { - return put_uint64_t_by_index(b, bindex, buffer); + memcpy(dst, src, 8); } +#endif -/** - * @brief Place a float into the buffer - * - * @param b the float to add - * @param bindex the position in the packet - * @param buffer the packet buffer - * @return the new position of the last used byte in the buffer - */ -static inline uint8_t put_float_by_index(float b, uint8_t bindex, uint8_t* buffer) -{ - generic_32bit g; - g.f = b; - return put_int32_t_by_index(g.i, bindex, buffer); -} +#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b +#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b +#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b + +#if MAVLINK_NEED_BYTE_SWAP +#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#elif !MAVLINK_ALIGNED_FIELDS +#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#else +#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b +#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b +#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b +#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b +#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b +#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b +#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b +#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b +#endif -/** - * @brief Place an array into the buffer - * - * @param b the array to add - * @param length size of the array (for strings: length WITH '\0' char) - * @param bindex the position in the packet - * @param buffer packet buffer - * @return new position of the last used byte in the buffer - */ -static inline uint8_t put_array_by_index(const int8_t* b, uint8_t length, uint8_t bindex, uint8_t* buffer) -{ - memcpy(buffer+bindex, b, length); - return length; -} -/** - * @brief Place a string into the buffer - * - * @param b the string to add - * @param maxlength size of the array (for strings: length WITHOUT '\0' char) - * @param bindex the position in the packet - * @param buffer packet buffer - * @return new position of the last used byte in the buffer +/* + * Place a char array into a buffer */ -static inline uint8_t put_string_by_index(const char* b, uint8_t maxlength, uint8_t bindex, uint8_t* buffer) +static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length) { - uint16_t length = 0; - // Copy string into buffer, ensuring not to exceed the buffer size - int i; - for (i = 1; i < maxlength; i++) - { - length++; - // String characters - if (i < (maxlength - 1)) - { - buffer[bindex+i] = b[i]; - // Stop at null character - if (b[i] == '\0') - { - break; - } - } - // Enforce null termination at end of buffer - else if (i == (maxlength - 1)) - { - buffer[i] = '\0'; - } + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); } - // Write length into first field - put_uint8_t_by_index(length, bindex, buffer); - return length; } -/** - * @brief Put a bitfield of length 1-32 bit into the buffer - * - * @param b the value to add, will be encoded in the bitfield - * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc. - * @param packet_index the position in the packet (the index of the first byte to use) - * @param bit_index the position in the byte (the index of the first bit to use) - * @param buffer packet buffer to write into - * @return new position of the last used byte in the buffer +/* + * Place a uint8_t array into a buffer */ -static inline uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer) +static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length) { - uint16_t bits_remain = bits; - // Transform number into network order - generic_32bit bin; - generic_32bit bout; - uint8_t i_bit_index, i_byte_index, curr_bits_n; - bin.i = b; - bout.b[0] = bin.b[3]; - bout.b[1] = bin.b[2]; - bout.b[2] = bin.b[1]; - bout.b[3] = bin.b[0]; - - // buffer in - // 01100000 01000000 00000000 11110001 - // buffer out - // 11110001 00000000 01000000 01100000 - - // Existing partly filled byte (four free slots) - // 0111xxxx - - // Mask n free bits - // 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1 - // = ((uint32_t)(1 << n)) - 1; // = 2^n - 1 - - // Shift n bits into the right position - // out = in >> n; - - // Mask and shift bytes - i_bit_index = bit_index; - i_byte_index = packet_index; - if (bit_index > 0) - { - // If bits were available at start, they were available - // in the byte before the current index - i_byte_index--; + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); } - - // While bits have not been packed yet - while (bits_remain > 0) - { - // Bits still have to be packed - // there can be more than 8 bits, so - // we might have to pack them into more than one byte - - // First pack everything we can into the current 'open' byte - //curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8 - //FIXME - if (bits_remain <= (8 - i_bit_index)) - { - // Enough space - curr_bits_n = bits_remain; - } - else - { - curr_bits_n = (8 - i_bit_index); - } - - // Pack these n bits into the current byte - // Mask out whatever was at that position with ones (xxx11111) - buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n)); - // Put content to this position, by masking out the non-used part - buffer[i_byte_index] |= ((0x00 << curr_bits_n) & bout.i); - - // Increment the bit index - i_bit_index += curr_bits_n; - - // Now proceed to the next byte, if necessary - bits_remain -= curr_bits_n; - if (bits_remain > 0) - { - // Offer another 8 bits / one byte - i_byte_index++; - i_bit_index = 0; - } - } - - *r_bit_index = i_bit_index; - // If a partly filled byte is present, mark this as consumed - if (i_bit_index != 7) i_byte_index++; - return i_byte_index - packet_index; } -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -// To make MAVLink work on your MCU, define a similar function - /* - -#include "mavlink_types.h" - -void comm_send_ch(mavlink_channel_t chan, uint8_t ch) -{ - if (chan == MAVLINK_COMM_0) - { - uart0_transmit(ch); - } - if (chan == MAVLINK_COMM_1) - { - uart1_transmit(ch); - } -} + * Place a int8_t array into a buffer */ - -static inline void mavlink_send_uart_uint8_t(mavlink_channel_t chan, uint8_t b, uint16_t* checksum) -{ - crc_accumulate(b, checksum); - comm_send_ch(chan, b); -} - -static inline void mavlink_send_uart_int8_t(mavlink_channel_t chan, int8_t b, uint16_t* checksum) -{ - crc_accumulate(b, checksum); - comm_send_ch(chan, b); -} - -static inline void mavlink_send_uart_uint16_t(mavlink_channel_t chan, uint16_t b, uint16_t* checksum) -{ - char s; - s = (b>>8)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b & 0xff); - comm_send_ch(chan, s); - crc_accumulate(s, checksum); -} - -static inline void mavlink_send_uart_int16_t(mavlink_channel_t chan, int16_t b, uint16_t* checksum) +static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length) { - mavlink_send_uart_uint16_t(chan, b, checksum); -} - -static inline void mavlink_send_uart_uint32_t(mavlink_channel_t chan, uint32_t b, uint16_t* checksum) -{ - char s; - s = (b>>24)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b>>16)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b>>8)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b & 0xff); - comm_send_ch(chan, s); - crc_accumulate(s, checksum); -} - -static inline void mavlink_send_uart_int32_t(mavlink_channel_t chan, int32_t b, uint16_t* checksum) -{ - mavlink_send_uart_uint32_t(chan, b, checksum); -} - -static inline void mavlink_send_uart_uint64_t(mavlink_channel_t chan, uint64_t b, uint16_t* checksum) -{ - char s; - s = (b>>56)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b>>48)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b>>40)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b>>32)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b>>24)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b>>16)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b>>8)&0xff; - comm_send_ch(chan, s); - crc_accumulate(s, checksum); - s = (b & 0xff); - comm_send_ch(chan, s); - crc_accumulate(s, checksum); -} - -static inline void mavlink_send_uart_int64_t(mavlink_channel_t chan, int64_t b, uint16_t* checksum) -{ - mavlink_send_uart_uint64_t(chan, b, checksum); -} - -static inline void mavlink_send_uart_float(mavlink_channel_t chan, float b, uint16_t* checksum) -{ - generic_32bit g; - g.f = b; - mavlink_send_uart_uint32_t(chan, g.i, checksum); + if (b == NULL) { + memset(&buf[wire_offset], 0, array_length); + } else { + memcpy(&buf[wire_offset], b, array_length); + } } -static inline void mavlink_send_uart_double(mavlink_channel_t chan, double b, uint16_t* checksum) -{ - generic_64bit g; - g.d = b; - mavlink_send_uart_uint32_t(chan, g.ll, checksum); +#if MAVLINK_NEED_BYTE_SWAP +#define _MAV_PUT_ARRAY(TYPE, V) \ +static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ +{ \ + if (b == NULL) { \ + memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \ + } else { \ + uint16_t i; \ + for (i=0; ilen); - comm_send_ch(chan, msg->seq); - comm_send_ch(chan, msg->sysid); - comm_send_ch(chan, msg->compid); - comm_send_ch(chan, msg->msgid); - for(uint16_t i = 0; i < msg->len; i++) - { - comm_send_ch(chan, msg->payload[i]); - } - comm_send_ch(chan, msg->ck_a); - comm_send_ch(chan, msg->ck_b); +_MAV_PUT_ARRAY(uint16_t, u16) +_MAV_PUT_ARRAY(uint32_t, u32) +_MAV_PUT_ARRAY(uint64_t, u64) +_MAV_PUT_ARRAY(int16_t, i16) +_MAV_PUT_ARRAY(int32_t, i32) +_MAV_PUT_ARRAY(int64_t, i64) +_MAV_PUT_ARRAY(float, f) +_MAV_PUT_ARRAY(double, d) + +#define _MAV_RETURN_char(msg, wire_offset) _MAV_PAYLOAD(msg)[wire_offset] +#define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset] +#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset] + +#if MAVLINK_NEED_BYTE_SWAP +#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \ +static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ +{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; } + +_MAV_MSG_RETURN_TYPE(uint16_t, 2) +_MAV_MSG_RETURN_TYPE(int16_t, 2) +_MAV_MSG_RETURN_TYPE(uint32_t, 4) +_MAV_MSG_RETURN_TYPE(int32_t, 4) +_MAV_MSG_RETURN_TYPE(uint64_t, 8) +_MAV_MSG_RETURN_TYPE(int64_t, 8) +_MAV_MSG_RETURN_TYPE(float, 4) +_MAV_MSG_RETURN_TYPE(double, 8) + +#elif !MAVLINK_ALIGNED_FIELDS +#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \ +static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ +{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; } + +_MAV_MSG_RETURN_TYPE(uint16_t, 2) +_MAV_MSG_RETURN_TYPE(int16_t, 2) +_MAV_MSG_RETURN_TYPE(uint32_t, 4) +_MAV_MSG_RETURN_TYPE(int32_t, 4) +_MAV_MSG_RETURN_TYPE(uint64_t, 8) +_MAV_MSG_RETURN_TYPE(int64_t, 8) +_MAV_MSG_RETURN_TYPE(float, 4) +_MAV_MSG_RETURN_TYPE(double, 8) +#else // nicely aligned, no swap +#define _MAV_MSG_RETURN_TYPE(TYPE) \ +static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ +{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);} + +_MAV_MSG_RETURN_TYPE(uint16_t) +_MAV_MSG_RETURN_TYPE(int16_t) +_MAV_MSG_RETURN_TYPE(uint32_t) +_MAV_MSG_RETURN_TYPE(int32_t) +_MAV_MSG_RETURN_TYPE(uint64_t) +_MAV_MSG_RETURN_TYPE(int64_t) +_MAV_MSG_RETURN_TYPE(float) +_MAV_MSG_RETURN_TYPE(double) +#endif // MAVLINK_NEED_BYTE_SWAP + +static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, + uint8_t array_length, uint8_t wire_offset) +{ + memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); + return array_length; +} + +static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, + uint8_t array_length, uint8_t wire_offset) +{ + memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); + return array_length; +} + +static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, + uint8_t array_length, uint8_t wire_offset) +{ + memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); + return array_length; +} + +#if MAVLINK_NEED_BYTE_SWAP +#define _MAV_RETURN_ARRAY(TYPE, V) \ +static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \ + uint8_t array_length, uint8_t wire_offset) \ +{ \ + uint16_t i; \ + for (i=0; imsgid = MAVLINK_MSG_ID_AIR_DATA; - - i += put_float_by_index(dynamicPressure, i, msg->payload); // Dynamic pressure (Pa) - i += put_float_by_index(staticPressure, i, msg->payload); // Static pressure (Pa) - i += put_uint16_t_by_index(temperature, i, msg->payload); // Board temperature +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[10]; + _mav_put_float(buf, 0, dynamicPressure); + _mav_put_float(buf, 4, staticPressure); + _mav_put_uint16_t(buf, 8, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 10); +#else + mavlink_air_data_t packet; + packet.dynamicPressure = dynamicPressure; + packet.staticPressure = staticPressure; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 10); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_AIR_DATA; + return mavlink_finalize_message(msg, system_id, component_id, 10, 232); } /** - * @brief Pack a air_data message + * @brief Pack a air_data 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 @@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_air_data_pack(uint8_t system_id, uint8_t comp * @param temperature Board temperature * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_air_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float dynamicPressure, float staticPressure, uint16_t temperature) +static inline uint16_t mavlink_msg_air_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float dynamicPressure,float staticPressure,uint16_t temperature) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_AIR_DATA; - - i += put_float_by_index(dynamicPressure, i, msg->payload); // Dynamic pressure (Pa) - i += put_float_by_index(staticPressure, i, msg->payload); // Static pressure (Pa) - i += put_uint16_t_by_index(temperature, i, msg->payload); // Board temperature +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[10]; + _mav_put_float(buf, 0, dynamicPressure); + _mav_put_float(buf, 4, staticPressure); + _mav_put_uint16_t(buf, 8, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 10); +#else + mavlink_air_data_t packet; + packet.dynamicPressure = dynamicPressure; + packet.staticPressure = staticPressure; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 10); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_AIR_DATA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 10, 232); } /** @@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_air_data_encode(uint8_t system_id, uint8_t co static inline void mavlink_msg_air_data_send(mavlink_channel_t chan, float dynamicPressure, float staticPressure, uint16_t temperature) { - mavlink_message_t msg; - mavlink_msg_air_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, dynamicPressure, staticPressure, temperature); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[10]; + _mav_put_float(buf, 0, dynamicPressure); + _mav_put_float(buf, 4, staticPressure); + _mav_put_uint16_t(buf, 8, temperature); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIR_DATA, buf, 10, 232); +#else + mavlink_air_data_t packet; + packet.dynamicPressure = dynamicPressure; + packet.staticPressure = staticPressure; + packet.temperature = temperature; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIR_DATA, (const char *)&packet, 10, 232); +#endif } #endif + // MESSAGE AIR_DATA UNPACKING + /** * @brief Get field dynamicPressure from air_data message * @@ -98,12 +147,7 @@ static inline void mavlink_msg_air_data_send(mavlink_channel_t chan, float dynam */ static inline float mavlink_msg_air_data_get_dynamicPressure(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -113,12 +157,7 @@ static inline float mavlink_msg_air_data_get_dynamicPressure(const mavlink_messa */ static inline float mavlink_msg_air_data_get_staticPressure(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -128,10 +167,7 @@ static inline float mavlink_msg_air_data_get_staticPressure(const mavlink_messag */ static inline uint16_t mavlink_msg_air_data_get_temperature(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -142,7 +178,11 @@ static inline uint16_t mavlink_msg_air_data_get_temperature(const mavlink_messag */ static inline void mavlink_msg_air_data_decode(const mavlink_message_t* msg, mavlink_air_data_t* air_data) { +#if MAVLINK_NEED_BYTE_SWAP air_data->dynamicPressure = mavlink_msg_air_data_get_dynamicPressure(msg); air_data->staticPressure = mavlink_msg_air_data_get_staticPressure(msg); air_data->temperature = mavlink_msg_air_data_get_temperature(msg); +#else + memcpy(air_data, _MAV_PAYLOAD(msg), 10); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h b/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h index 265aa3fceeacaa25645b0196e7a078ff7ea38d6b..af9e03d37b2e6a7d126e5f74142ab0e76a8c5476 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h @@ -2,14 +2,26 @@ #define MAVLINK_MSG_ID_CPU_LOAD 170 -typedef struct __mavlink_cpu_load_t +typedef struct __mavlink_cpu_load_t { - uint8_t sensLoad; ///< Sensor DSC Load - uint8_t ctrlLoad; ///< Control DSC Load - uint16_t batVolt; ///< Battery Voltage in millivolts - + uint16_t batVolt; ///< Battery Voltage in millivolts + uint8_t sensLoad; ///< Sensor DSC Load + uint8_t ctrlLoad; ///< Control DSC Load } mavlink_cpu_load_t; +#define MAVLINK_MSG_ID_CPU_LOAD_LEN 4 +#define MAVLINK_MSG_ID_170_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_CPU_LOAD { \ + "CPU_LOAD", \ + 3, \ + { { "batVolt", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_cpu_load_t, batVolt) }, \ + { "sensLoad", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_cpu_load_t, sensLoad) }, \ + { "ctrlLoad", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_cpu_load_t, ctrlLoad) }, \ + } \ +} /** @@ -23,20 +35,31 @@ typedef struct __mavlink_cpu_load_t * @param batVolt Battery Voltage in millivolts * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_cpu_load_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) +static inline uint16_t mavlink_msg_cpu_load_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; - - i += put_uint8_t_by_index(sensLoad, i, msg->payload); // Sensor DSC Load - i += put_uint8_t_by_index(ctrlLoad, i, msg->payload); // Control DSC Load - i += put_uint16_t_by_index(batVolt, i, msg->payload); // Battery Voltage in millivolts +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, batVolt); + _mav_put_uint8_t(buf, 2, sensLoad); + _mav_put_uint8_t(buf, 3, ctrlLoad); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_cpu_load_t packet; + packet.batVolt = batVolt; + packet.sensLoad = sensLoad; + packet.ctrlLoad = ctrlLoad; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; + return mavlink_finalize_message(msg, system_id, component_id, 4, 75); } /** - * @brief Pack a cpu_load message + * @brief Pack a cpu_load 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 @@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_cpu_load_pack(uint8_t system_id, uint8_t comp * @param batVolt Battery Voltage in millivolts * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_cpu_load_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) +static inline uint16_t mavlink_msg_cpu_load_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t sensLoad,uint8_t ctrlLoad,uint16_t batVolt) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; - - i += put_uint8_t_by_index(sensLoad, i, msg->payload); // Sensor DSC Load - i += put_uint8_t_by_index(ctrlLoad, i, msg->payload); // Control DSC Load - i += put_uint16_t_by_index(batVolt, i, msg->payload); // Battery Voltage in millivolts +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, batVolt); + _mav_put_uint8_t(buf, 2, sensLoad); + _mav_put_uint8_t(buf, 3, ctrlLoad); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_cpu_load_t packet; + packet.batVolt = batVolt; + packet.sensLoad = sensLoad; + packet.ctrlLoad = ctrlLoad; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 75); } /** @@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_cpu_load_encode(uint8_t system_id, uint8_t co static inline void mavlink_msg_cpu_load_send(mavlink_channel_t chan, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) { - mavlink_message_t msg; - mavlink_msg_cpu_load_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, sensLoad, ctrlLoad, batVolt); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, batVolt); + _mav_put_uint8_t(buf, 2, sensLoad); + _mav_put_uint8_t(buf, 3, ctrlLoad); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CPU_LOAD, buf, 4, 75); +#else + mavlink_cpu_load_t packet; + packet.batVolt = batVolt; + packet.sensLoad = sensLoad; + packet.ctrlLoad = ctrlLoad; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CPU_LOAD, (const char *)&packet, 4, 75); +#endif } #endif + // MESSAGE CPU_LOAD UNPACKING + /** * @brief Get field sensLoad from cpu_load message * @@ -98,7 +147,7 @@ static inline void mavlink_msg_cpu_load_send(mavlink_channel_t chan, uint8_t sen */ static inline uint8_t mavlink_msg_cpu_load_get_sensLoad(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_cpu_load_get_sensLoad(const mavlink_message_t* */ static inline uint8_t mavlink_msg_cpu_load_get_ctrlLoad(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 3); } /** @@ -118,10 +167,7 @@ static inline uint8_t mavlink_msg_cpu_load_get_ctrlLoad(const mavlink_message_t* */ static inline uint16_t mavlink_msg_cpu_load_get_batVolt(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -132,7 +178,11 @@ static inline uint16_t mavlink_msg_cpu_load_get_batVolt(const mavlink_message_t* */ static inline void mavlink_msg_cpu_load_decode(const mavlink_message_t* msg, mavlink_cpu_load_t* cpu_load) { +#if MAVLINK_NEED_BYTE_SWAP + cpu_load->batVolt = mavlink_msg_cpu_load_get_batVolt(msg); cpu_load->sensLoad = mavlink_msg_cpu_load_get_sensLoad(msg); cpu_load->ctrlLoad = mavlink_msg_cpu_load_get_ctrlLoad(msg); - cpu_load->batVolt = mavlink_msg_cpu_load_get_batVolt(msg); +#else + memcpy(cpu_load, _MAV_PAYLOAD(msg), 4); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h b/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h index 9221dc4f00d1032d7b9b05a30501fbc5a716a7d3..dc445e1989298e4dbf5038ba8ed9ba09ddf477d6 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h @@ -2,13 +2,24 @@ #define MAVLINK_MSG_ID_CTRL_SRFC_PT 181 -typedef struct __mavlink_ctrl_srfc_pt_t +typedef struct __mavlink_ctrl_srfc_pt_t { - uint8_t target; ///< The system setting the commands - uint16_t bitfieldPt; ///< Bitfield containing the PT configuration - + uint16_t bitfieldPt; ///< Bitfield containing the PT configuration + uint8_t target; ///< The system setting the commands } mavlink_ctrl_srfc_pt_t; +#define MAVLINK_MSG_ID_CTRL_SRFC_PT_LEN 3 +#define MAVLINK_MSG_ID_181_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_CTRL_SRFC_PT { \ + "CTRL_SRFC_PT", \ + 2, \ + { { "bitfieldPt", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ctrl_srfc_pt_t, bitfieldPt) }, \ + { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_ctrl_srfc_pt_t, target) }, \ + } \ +} /** @@ -21,19 +32,29 @@ typedef struct __mavlink_ctrl_srfc_pt_t * @param bitfieldPt Bitfield containing the PT configuration * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint16_t bitfieldPt) +static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, uint16_t bitfieldPt) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands - i += put_uint16_t_by_index(bitfieldPt, i, msg->payload); // Bitfield containing the PT configuration +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint16_t(buf, 0, bitfieldPt); + _mav_put_uint8_t(buf, 2, target); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_ctrl_srfc_pt_t packet; + packet.bitfieldPt = bitfieldPt; + packet.target = target; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; + return mavlink_finalize_message(msg, system_id, component_id, 3, 104); } /** - * @brief Pack a ctrl_srfc_pt message + * @brief Pack a ctrl_srfc_pt 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 @@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack(uint8_t system_id, uint8_t * @param bitfieldPt Bitfield containing the PT configuration * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint16_t bitfieldPt) +static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,uint16_t bitfieldPt) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands - i += put_uint16_t_by_index(bitfieldPt, i, msg->payload); // Bitfield containing the PT configuration +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint16_t(buf, 0, bitfieldPt); + _mav_put_uint8_t(buf, 2, target); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_ctrl_srfc_pt_t packet; + packet.bitfieldPt = bitfieldPt; + packet.target = target; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 104); } /** @@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_ctrl_srfc_pt_encode(uint8_t system_id, uint8_ static inline void mavlink_msg_ctrl_srfc_pt_send(mavlink_channel_t chan, uint8_t target, uint16_t bitfieldPt) { - mavlink_message_t msg; - mavlink_msg_ctrl_srfc_pt_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, bitfieldPt); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint16_t(buf, 0, bitfieldPt); + _mav_put_uint8_t(buf, 2, target); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CTRL_SRFC_PT, buf, 3, 104); +#else + mavlink_ctrl_srfc_pt_t packet; + packet.bitfieldPt = bitfieldPt; + packet.target = target; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CTRL_SRFC_PT, (const char *)&packet, 3, 104); +#endif } #endif + // MESSAGE CTRL_SRFC_PT UNPACKING + /** * @brief Get field target from ctrl_srfc_pt message * @@ -92,7 +136,7 @@ static inline void mavlink_msg_ctrl_srfc_pt_send(mavlink_channel_t chan, uint8_t */ static inline uint8_t mavlink_msg_ctrl_srfc_pt_get_target(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -102,10 +146,7 @@ static inline uint8_t mavlink_msg_ctrl_srfc_pt_get_target(const mavlink_message_ */ static inline uint16_t mavlink_msg_ctrl_srfc_pt_get_bitfieldPt(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -116,6 +157,10 @@ static inline uint16_t mavlink_msg_ctrl_srfc_pt_get_bitfieldPt(const mavlink_mes */ static inline void mavlink_msg_ctrl_srfc_pt_decode(const mavlink_message_t* msg, mavlink_ctrl_srfc_pt_t* ctrl_srfc_pt) { - ctrl_srfc_pt->target = mavlink_msg_ctrl_srfc_pt_get_target(msg); +#if MAVLINK_NEED_BYTE_SWAP ctrl_srfc_pt->bitfieldPt = mavlink_msg_ctrl_srfc_pt_get_bitfieldPt(msg); + ctrl_srfc_pt->target = mavlink_msg_ctrl_srfc_pt_get_target(msg); +#else + memcpy(ctrl_srfc_pt, _MAV_PAYLOAD(msg), 3); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h b/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h index cbcc0daba3804ba35822e4bc6f2b429cdeaba783..e852684e181fae39e7c8100540e2186a24a131fc 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h @@ -2,17 +2,32 @@ #define MAVLINK_MSG_ID_DATA_LOG 177 -typedef struct __mavlink_data_log_t +typedef struct __mavlink_data_log_t { - float fl_1; ///< Log value 1 - float fl_2; ///< Log value 2 - float fl_3; ///< Log value 3 - float fl_4; ///< Log value 4 - float fl_5; ///< Log value 5 - float fl_6; ///< Log value 6 - + float fl_1; ///< Log value 1 + float fl_2; ///< Log value 2 + float fl_3; ///< Log value 3 + float fl_4; ///< Log value 4 + float fl_5; ///< Log value 5 + float fl_6; ///< Log value 6 } mavlink_data_log_t; +#define MAVLINK_MSG_ID_DATA_LOG_LEN 24 +#define MAVLINK_MSG_ID_177_LEN 24 + + + +#define MAVLINK_MESSAGE_INFO_DATA_LOG { \ + "DATA_LOG", \ + 6, \ + { { "fl_1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_data_log_t, fl_1) }, \ + { "fl_2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_data_log_t, fl_2) }, \ + { "fl_3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_data_log_t, fl_3) }, \ + { "fl_4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_data_log_t, fl_4) }, \ + { "fl_5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_data_log_t, fl_5) }, \ + { "fl_6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_data_log_t, fl_6) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_data_log_t * @param fl_6 Log value 6 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) +static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DATA_LOG; - - i += put_float_by_index(fl_1, i, msg->payload); // Log value 1 - i += put_float_by_index(fl_2, i, msg->payload); // Log value 2 - i += put_float_by_index(fl_3, i, msg->payload); // Log value 3 - i += put_float_by_index(fl_4, i, msg->payload); // Log value 4 - i += put_float_by_index(fl_5, i, msg->payload); // Log value 5 - i += put_float_by_index(fl_6, i, msg->payload); // Log value 6 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, fl_1); + _mav_put_float(buf, 4, fl_2); + _mav_put_float(buf, 8, fl_3); + _mav_put_float(buf, 12, fl_4); + _mav_put_float(buf, 16, fl_5); + _mav_put_float(buf, 20, fl_6); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_data_log_t packet; + packet.fl_1 = fl_1; + packet.fl_2 = fl_2; + packet.fl_3 = fl_3; + packet.fl_4 = fl_4; + packet.fl_5 = fl_5; + packet.fl_6 = fl_6; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_DATA_LOG; + return mavlink_finalize_message(msg, system_id, component_id, 24, 167); } /** - * @brief Pack a data_log message + * @brief Pack a data_log 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 @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t comp * @param fl_6 Log value 6 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_data_log_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) +static inline uint16_t mavlink_msg_data_log_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float fl_1,float fl_2,float fl_3,float fl_4,float fl_5,float fl_6) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DATA_LOG; - - i += put_float_by_index(fl_1, i, msg->payload); // Log value 1 - i += put_float_by_index(fl_2, i, msg->payload); // Log value 2 - i += put_float_by_index(fl_3, i, msg->payload); // Log value 3 - i += put_float_by_index(fl_4, i, msg->payload); // Log value 4 - i += put_float_by_index(fl_5, i, msg->payload); // Log value 5 - i += put_float_by_index(fl_6, i, msg->payload); // Log value 6 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, fl_1); + _mav_put_float(buf, 4, fl_2); + _mav_put_float(buf, 8, fl_3); + _mav_put_float(buf, 12, fl_4); + _mav_put_float(buf, 16, fl_5); + _mav_put_float(buf, 20, fl_6); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_data_log_t packet; + packet.fl_1 = fl_1; + packet.fl_2 = fl_2; + packet.fl_3 = fl_3; + packet.fl_4 = fl_4; + packet.fl_5 = fl_5; + packet.fl_6 = fl_6; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_DATA_LOG; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 167); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_data_log_encode(uint8_t system_id, uint8_t co static inline void mavlink_msg_data_log_send(mavlink_channel_t chan, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) { - mavlink_message_t msg; - mavlink_msg_data_log_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, fl_1, fl_2, fl_3, fl_4, fl_5, fl_6); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, fl_1); + _mav_put_float(buf, 4, fl_2); + _mav_put_float(buf, 8, fl_3); + _mav_put_float(buf, 12, fl_4); + _mav_put_float(buf, 16, fl_5); + _mav_put_float(buf, 20, fl_6); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_LOG, buf, 24, 167); +#else + mavlink_data_log_t packet; + packet.fl_1 = fl_1; + packet.fl_2 = fl_2; + packet.fl_3 = fl_3; + packet.fl_4 = fl_4; + packet.fl_5 = fl_5; + packet.fl_6 = fl_6; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_LOG, (const char *)&packet, 24, 167); +#endif } #endif + // MESSAGE DATA_LOG UNPACKING + /** * @brief Get field fl_1 from data_log message * @@ -116,12 +180,7 @@ static inline void mavlink_msg_data_log_send(mavlink_channel_t chan, float fl_1, */ static inline float mavlink_msg_data_log_get_fl_1(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -131,12 +190,7 @@ static inline float mavlink_msg_data_log_get_fl_1(const mavlink_message_t* msg) */ static inline float mavlink_msg_data_log_get_fl_2(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -146,12 +200,7 @@ static inline float mavlink_msg_data_log_get_fl_2(const mavlink_message_t* msg) */ static inline float mavlink_msg_data_log_get_fl_3(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -161,12 +210,7 @@ static inline float mavlink_msg_data_log_get_fl_3(const mavlink_message_t* msg) */ static inline float mavlink_msg_data_log_get_fl_4(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -176,12 +220,7 @@ static inline float mavlink_msg_data_log_get_fl_4(const mavlink_message_t* msg) */ static inline float mavlink_msg_data_log_get_fl_5(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -191,12 +230,7 @@ static inline float mavlink_msg_data_log_get_fl_5(const mavlink_message_t* msg) */ static inline float mavlink_msg_data_log_get_fl_6(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -207,10 +241,14 @@ static inline float mavlink_msg_data_log_get_fl_6(const mavlink_message_t* msg) */ static inline void mavlink_msg_data_log_decode(const mavlink_message_t* msg, mavlink_data_log_t* data_log) { +#if MAVLINK_NEED_BYTE_SWAP data_log->fl_1 = mavlink_msg_data_log_get_fl_1(msg); data_log->fl_2 = mavlink_msg_data_log_get_fl_2(msg); data_log->fl_3 = mavlink_msg_data_log_get_fl_3(msg); data_log->fl_4 = mavlink_msg_data_log_get_fl_4(msg); data_log->fl_5 = mavlink_msg_data_log_get_fl_5(msg); data_log->fl_6 = mavlink_msg_data_log_get_fl_6(msg); +#else + memcpy(data_log, _MAV_PAYLOAD(msg), 24); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h b/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h index f3798f59bb869b8c74a4611507c8abcffb2c13db..90f64dedd0c8ee65ab4b4aa50178daff647bb781 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h @@ -2,17 +2,32 @@ #define MAVLINK_MSG_ID_DIAGNOSTIC 173 -typedef struct __mavlink_diagnostic_t +typedef struct __mavlink_diagnostic_t { - float diagFl1; ///< Diagnostic float 1 - float diagFl2; ///< Diagnostic float 2 - float diagFl3; ///< Diagnostic float 3 - int16_t diagSh1; ///< Diagnostic short 1 - int16_t diagSh2; ///< Diagnostic short 2 - int16_t diagSh3; ///< Diagnostic short 3 - + float diagFl1; ///< Diagnostic float 1 + float diagFl2; ///< Diagnostic float 2 + float diagFl3; ///< Diagnostic float 3 + int16_t diagSh1; ///< Diagnostic short 1 + int16_t diagSh2; ///< Diagnostic short 2 + int16_t diagSh3; ///< Diagnostic short 3 } mavlink_diagnostic_t; +#define MAVLINK_MSG_ID_DIAGNOSTIC_LEN 18 +#define MAVLINK_MSG_ID_173_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_DIAGNOSTIC { \ + "DIAGNOSTIC", \ + 6, \ + { { "diagFl1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_diagnostic_t, diagFl1) }, \ + { "diagFl2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_diagnostic_t, diagFl2) }, \ + { "diagFl3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_diagnostic_t, diagFl3) }, \ + { "diagSh1", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_diagnostic_t, diagSh1) }, \ + { "diagSh2", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_diagnostic_t, diagSh2) }, \ + { "diagSh3", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_diagnostic_t, diagSh3) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_diagnostic_t * @param diagSh3 Diagnostic short 3 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) +static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; - - i += put_float_by_index(diagFl1, i, msg->payload); // Diagnostic float 1 - i += put_float_by_index(diagFl2, i, msg->payload); // Diagnostic float 2 - i += put_float_by_index(diagFl3, i, msg->payload); // Diagnostic float 3 - i += put_int16_t_by_index(diagSh1, i, msg->payload); // Diagnostic short 1 - i += put_int16_t_by_index(diagSh2, i, msg->payload); // Diagnostic short 2 - i += put_int16_t_by_index(diagSh3, i, msg->payload); // Diagnostic short 3 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, diagFl1); + _mav_put_float(buf, 4, diagFl2); + _mav_put_float(buf, 8, diagFl3); + _mav_put_int16_t(buf, 12, diagSh1); + _mav_put_int16_t(buf, 14, diagSh2); + _mav_put_int16_t(buf, 16, diagSh3); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_diagnostic_t packet; + packet.diagFl1 = diagFl1; + packet.diagFl2 = diagFl2; + packet.diagFl3 = diagFl3; + packet.diagSh1 = diagSh1; + packet.diagSh2 = diagSh2; + packet.diagSh3 = diagSh3; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; + return mavlink_finalize_message(msg, system_id, component_id, 18, 2); } /** - * @brief Pack a diagnostic message + * @brief Pack a diagnostic 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 @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t co * @param diagSh3 Diagnostic short 3 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_diagnostic_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) +static inline uint16_t mavlink_msg_diagnostic_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float diagFl1,float diagFl2,float diagFl3,int16_t diagSh1,int16_t diagSh2,int16_t diagSh3) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; - - i += put_float_by_index(diagFl1, i, msg->payload); // Diagnostic float 1 - i += put_float_by_index(diagFl2, i, msg->payload); // Diagnostic float 2 - i += put_float_by_index(diagFl3, i, msg->payload); // Diagnostic float 3 - i += put_int16_t_by_index(diagSh1, i, msg->payload); // Diagnostic short 1 - i += put_int16_t_by_index(diagSh2, i, msg->payload); // Diagnostic short 2 - i += put_int16_t_by_index(diagSh3, i, msg->payload); // Diagnostic short 3 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, diagFl1); + _mav_put_float(buf, 4, diagFl2); + _mav_put_float(buf, 8, diagFl3); + _mav_put_int16_t(buf, 12, diagSh1); + _mav_put_int16_t(buf, 14, diagSh2); + _mav_put_int16_t(buf, 16, diagSh3); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_diagnostic_t packet; + packet.diagFl1 = diagFl1; + packet.diagFl2 = diagFl2; + packet.diagFl3 = diagFl3; + packet.diagSh1 = diagSh1; + packet.diagSh2 = diagSh2; + packet.diagSh3 = diagSh3; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 2); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_diagnostic_encode(uint8_t system_id, uint8_t static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) { - mavlink_message_t msg; - mavlink_msg_diagnostic_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, diagFl1, diagFl2, diagFl3, diagSh1, diagSh2, diagSh3); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, diagFl1); + _mav_put_float(buf, 4, diagFl2); + _mav_put_float(buf, 8, diagFl3); + _mav_put_int16_t(buf, 12, diagSh1); + _mav_put_int16_t(buf, 14, diagSh2); + _mav_put_int16_t(buf, 16, diagSh3); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, buf, 18, 2); +#else + mavlink_diagnostic_t packet; + packet.diagFl1 = diagFl1; + packet.diagFl2 = diagFl2; + packet.diagFl3 = diagFl3; + packet.diagSh1 = diagSh1; + packet.diagSh2 = diagSh2; + packet.diagSh3 = diagSh3; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, (const char *)&packet, 18, 2); +#endif } #endif + // MESSAGE DIAGNOSTIC UNPACKING + /** * @brief Get field diagFl1 from diagnostic message * @@ -116,12 +180,7 @@ static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, float dia */ static inline float mavlink_msg_diagnostic_get_diagFl1(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -131,12 +190,7 @@ static inline float mavlink_msg_diagnostic_get_diagFl1(const mavlink_message_t* */ static inline float mavlink_msg_diagnostic_get_diagFl2(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -146,12 +200,7 @@ static inline float mavlink_msg_diagnostic_get_diagFl2(const mavlink_message_t* */ static inline float mavlink_msg_diagnostic_get_diagFl3(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -161,10 +210,7 @@ static inline float mavlink_msg_diagnostic_get_diagFl3(const mavlink_message_t* */ static inline int16_t mavlink_msg_diagnostic_get_diagSh1(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 12); } /** @@ -174,10 +220,7 @@ static inline int16_t mavlink_msg_diagnostic_get_diagSh1(const mavlink_message_t */ static inline int16_t mavlink_msg_diagnostic_get_diagSh2(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 14); } /** @@ -187,10 +230,7 @@ static inline int16_t mavlink_msg_diagnostic_get_diagSh2(const mavlink_message_t */ static inline int16_t mavlink_msg_diagnostic_get_diagSh3(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1]; - return (int16_t)r.s; + return _MAV_RETURN_int16_t(msg, 16); } /** @@ -201,10 +241,14 @@ static inline int16_t mavlink_msg_diagnostic_get_diagSh3(const mavlink_message_t */ static inline void mavlink_msg_diagnostic_decode(const mavlink_message_t* msg, mavlink_diagnostic_t* diagnostic) { +#if MAVLINK_NEED_BYTE_SWAP diagnostic->diagFl1 = mavlink_msg_diagnostic_get_diagFl1(msg); diagnostic->diagFl2 = mavlink_msg_diagnostic_get_diagFl2(msg); diagnostic->diagFl3 = mavlink_msg_diagnostic_get_diagFl3(msg); diagnostic->diagSh1 = mavlink_msg_diagnostic_get_diagSh1(msg); diagnostic->diagSh2 = mavlink_msg_diagnostic_get_diagSh2(msg); diagnostic->diagSh3 = mavlink_msg_diagnostic_get_diagSh3(msg); +#else + memcpy(diagnostic, _MAV_PAYLOAD(msg), 18); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h b/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h index 199cbb9ec264f0e8a15920aedb42fdcd373763d5..d4fb12bf87e15046e28ccd7cdf55cf76ffaaabd3 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h @@ -2,18 +2,34 @@ #define MAVLINK_MSG_ID_GPS_DATE_TIME 179 -typedef struct __mavlink_gps_date_time_t +typedef struct __mavlink_gps_date_time_t { - uint8_t year; ///< Year reported by Gps - uint8_t month; ///< Month reported by Gps - uint8_t day; ///< Day reported by Gps - uint8_t hour; ///< Hour reported by Gps - uint8_t min; ///< Min reported by Gps - uint8_t sec; ///< Sec reported by Gps - uint8_t visSat; ///< Visible sattelites reported by Gps - + uint8_t year; ///< Year reported by Gps + uint8_t month; ///< Month reported by Gps + uint8_t day; ///< Day reported by Gps + uint8_t hour; ///< Hour reported by Gps + uint8_t min; ///< Min reported by Gps + uint8_t sec; ///< Sec reported by Gps + uint8_t visSat; ///< Visible sattelites reported by Gps } mavlink_gps_date_time_t; +#define MAVLINK_MSG_ID_GPS_DATE_TIME_LEN 7 +#define MAVLINK_MSG_ID_179_LEN 7 + + + +#define MAVLINK_MESSAGE_INFO_GPS_DATE_TIME { \ + "GPS_DATE_TIME", \ + 7, \ + { { "year", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_date_time_t, year) }, \ + { "month", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_date_time_t, month) }, \ + { "day", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_gps_date_time_t, day) }, \ + { "hour", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_gps_date_time_t, hour) }, \ + { "min", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_gps_date_time_t, min) }, \ + { "sec", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_gps_date_time_t, sec) }, \ + { "visSat", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_gps_date_time_t, visSat) }, \ + } \ +} /** @@ -31,24 +47,39 @@ typedef struct __mavlink_gps_date_time_t * @param visSat Visible sattelites reported by Gps * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_gps_date_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec, uint8_t visSat) +static inline uint16_t mavlink_msg_gps_date_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec, uint8_t visSat) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_DATE_TIME; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[7]; + _mav_put_uint8_t(buf, 0, year); + _mav_put_uint8_t(buf, 1, month); + _mav_put_uint8_t(buf, 2, day); + _mav_put_uint8_t(buf, 3, hour); + _mav_put_uint8_t(buf, 4, min); + _mav_put_uint8_t(buf, 5, sec); + _mav_put_uint8_t(buf, 6, visSat); + + memcpy(_MAV_PAYLOAD(msg), buf, 7); +#else + mavlink_gps_date_time_t packet; + packet.year = year; + packet.month = month; + packet.day = day; + packet.hour = hour; + packet.min = min; + packet.sec = sec; + packet.visSat = visSat; - i += put_uint8_t_by_index(year, i, msg->payload); // Year reported by Gps - i += put_uint8_t_by_index(month, i, msg->payload); // Month reported by Gps - i += put_uint8_t_by_index(day, i, msg->payload); // Day reported by Gps - i += put_uint8_t_by_index(hour, i, msg->payload); // Hour reported by Gps - i += put_uint8_t_by_index(min, i, msg->payload); // Min reported by Gps - i += put_uint8_t_by_index(sec, i, msg->payload); // Sec reported by Gps - i += put_uint8_t_by_index(visSat, i, msg->payload); // Visible sattelites reported by Gps + memcpy(_MAV_PAYLOAD(msg), &packet, 7); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_GPS_DATE_TIME; + return mavlink_finalize_message(msg, system_id, component_id, 7, 16); } /** - * @brief Pack a gps_date_time message + * @brief Pack a gps_date_time 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 @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_gps_date_time_pack(uint8_t system_id, uint8_t * @param visSat Visible sattelites reported by Gps * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_gps_date_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec, uint8_t visSat) +static inline uint16_t mavlink_msg_gps_date_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t year,uint8_t month,uint8_t day,uint8_t hour,uint8_t min,uint8_t sec,uint8_t visSat) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_GPS_DATE_TIME; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[7]; + _mav_put_uint8_t(buf, 0, year); + _mav_put_uint8_t(buf, 1, month); + _mav_put_uint8_t(buf, 2, day); + _mav_put_uint8_t(buf, 3, hour); + _mav_put_uint8_t(buf, 4, min); + _mav_put_uint8_t(buf, 5, sec); + _mav_put_uint8_t(buf, 6, visSat); + + memcpy(_MAV_PAYLOAD(msg), buf, 7); +#else + mavlink_gps_date_time_t packet; + packet.year = year; + packet.month = month; + packet.day = day; + packet.hour = hour; + packet.min = min; + packet.sec = sec; + packet.visSat = visSat; - i += put_uint8_t_by_index(year, i, msg->payload); // Year reported by Gps - i += put_uint8_t_by_index(month, i, msg->payload); // Month reported by Gps - i += put_uint8_t_by_index(day, i, msg->payload); // Day reported by Gps - i += put_uint8_t_by_index(hour, i, msg->payload); // Hour reported by Gps - i += put_uint8_t_by_index(min, i, msg->payload); // Min reported by Gps - i += put_uint8_t_by_index(sec, i, msg->payload); // Sec reported by Gps - i += put_uint8_t_by_index(visSat, i, msg->payload); // Visible sattelites reported by Gps + memcpy(_MAV_PAYLOAD(msg), &packet, 7); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_GPS_DATE_TIME; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 7, 16); } /** @@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_gps_date_time_encode(uint8_t system_id, uint8 static inline void mavlink_msg_gps_date_time_send(mavlink_channel_t chan, uint8_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec, uint8_t visSat) { - mavlink_message_t msg; - mavlink_msg_gps_date_time_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, year, month, day, hour, min, sec, visSat); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[7]; + _mav_put_uint8_t(buf, 0, year); + _mav_put_uint8_t(buf, 1, month); + _mav_put_uint8_t(buf, 2, day); + _mav_put_uint8_t(buf, 3, hour); + _mav_put_uint8_t(buf, 4, min); + _mav_put_uint8_t(buf, 5, sec); + _mav_put_uint8_t(buf, 6, visSat); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_DATE_TIME, buf, 7, 16); +#else + mavlink_gps_date_time_t packet; + packet.year = year; + packet.month = month; + packet.day = day; + packet.hour = hour; + packet.min = min; + packet.sec = sec; + packet.visSat = visSat; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_DATE_TIME, (const char *)&packet, 7, 16); +#endif } #endif + // MESSAGE GPS_DATE_TIME UNPACKING + /** * @brief Get field year from gps_date_time message * @@ -122,7 +191,7 @@ static inline void mavlink_msg_gps_date_time_send(mavlink_channel_t chan, uint8_ */ static inline uint8_t mavlink_msg_gps_date_time_get_year(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 0); } /** @@ -132,7 +201,7 @@ static inline uint8_t mavlink_msg_gps_date_time_get_year(const mavlink_message_t */ static inline uint8_t mavlink_msg_gps_date_time_get_month(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 1); } /** @@ -142,7 +211,7 @@ static inline uint8_t mavlink_msg_gps_date_time_get_month(const mavlink_message_ */ static inline uint8_t mavlink_msg_gps_date_time_get_day(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -152,7 +221,7 @@ static inline uint8_t mavlink_msg_gps_date_time_get_day(const mavlink_message_t* */ static inline uint8_t mavlink_msg_gps_date_time_get_hour(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 3); } /** @@ -162,7 +231,7 @@ static inline uint8_t mavlink_msg_gps_date_time_get_hour(const mavlink_message_t */ static inline uint8_t mavlink_msg_gps_date_time_get_min(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 4); } /** @@ -172,7 +241,7 @@ static inline uint8_t mavlink_msg_gps_date_time_get_min(const mavlink_message_t* */ static inline uint8_t mavlink_msg_gps_date_time_get_sec(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 5); } /** @@ -182,7 +251,7 @@ static inline uint8_t mavlink_msg_gps_date_time_get_sec(const mavlink_message_t* */ static inline uint8_t mavlink_msg_gps_date_time_get_visSat(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 6); } /** @@ -193,6 +262,7 @@ static inline uint8_t mavlink_msg_gps_date_time_get_visSat(const mavlink_message */ static inline void mavlink_msg_gps_date_time_decode(const mavlink_message_t* msg, mavlink_gps_date_time_t* gps_date_time) { +#if MAVLINK_NEED_BYTE_SWAP gps_date_time->year = mavlink_msg_gps_date_time_get_year(msg); gps_date_time->month = mavlink_msg_gps_date_time_get_month(msg); gps_date_time->day = mavlink_msg_gps_date_time_get_day(msg); @@ -200,4 +270,7 @@ static inline void mavlink_msg_gps_date_time_decode(const mavlink_message_t* msg gps_date_time->min = mavlink_msg_gps_date_time_get_min(msg); gps_date_time->sec = mavlink_msg_gps_date_time_get_sec(msg); gps_date_time->visSat = mavlink_msg_gps_date_time_get_visSat(msg); +#else + memcpy(gps_date_time, _MAV_PAYLOAD(msg), 7); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h b/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h index a0d78b1ceb9e627377ed4af66808d0c8838172dd..59e4012b120b8e83b6becce5cddec4e81b12dab0 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h @@ -2,15 +2,28 @@ #define MAVLINK_MSG_ID_MID_LVL_CMDS 180 -typedef struct __mavlink_mid_lvl_cmds_t +typedef struct __mavlink_mid_lvl_cmds_t { - uint8_t target; ///< The system setting the commands - float hCommand; ///< Commanded Airspeed - float uCommand; ///< Log value 2 - float rCommand; ///< Log value 3 - + float hCommand; ///< Commanded Airspeed + float uCommand; ///< Log value 2 + float rCommand; ///< Log value 3 + uint8_t target; ///< The system setting the commands } mavlink_mid_lvl_cmds_t; +#define MAVLINK_MSG_ID_MID_LVL_CMDS_LEN 13 +#define MAVLINK_MSG_ID_180_LEN 13 + + + +#define MAVLINK_MESSAGE_INFO_MID_LVL_CMDS { \ + "MID_LVL_CMDS", \ + 4, \ + { { "hCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mid_lvl_cmds_t, hCommand) }, \ + { "uCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mid_lvl_cmds_t, uCommand) }, \ + { "rCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mid_lvl_cmds_t, rCommand) }, \ + { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mid_lvl_cmds_t, target) }, \ + } \ +} /** @@ -25,21 +38,33 @@ typedef struct __mavlink_mid_lvl_cmds_t * @param rCommand Log value 3 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float hCommand, float uCommand, float rCommand) +static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, float hCommand, float uCommand, float rCommand) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands - i += put_float_by_index(hCommand, i, msg->payload); // Commanded Airspeed - i += put_float_by_index(uCommand, i, msg->payload); // Log value 2 - i += put_float_by_index(rCommand, i, msg->payload); // Log value 3 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_float(buf, 0, hCommand); + _mav_put_float(buf, 4, uCommand); + _mav_put_float(buf, 8, rCommand); + _mav_put_uint8_t(buf, 12, target); + + memcpy(_MAV_PAYLOAD(msg), buf, 13); +#else + mavlink_mid_lvl_cmds_t packet; + packet.hCommand = hCommand; + packet.uCommand = uCommand; + packet.rCommand = rCommand; + packet.target = target; + + memcpy(_MAV_PAYLOAD(msg), &packet, 13); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; + return mavlink_finalize_message(msg, system_id, component_id, 13, 146); } /** - * @brief Pack a mid_lvl_cmds message + * @brief Pack a mid_lvl_cmds 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 @@ -50,17 +75,30 @@ static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t * @param rCommand Log value 3 * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float hCommand, float uCommand, float rCommand) +static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,float hCommand,float uCommand,float rCommand) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands - i += put_float_by_index(hCommand, i, msg->payload); // Commanded Airspeed - i += put_float_by_index(uCommand, i, msg->payload); // Log value 2 - i += put_float_by_index(rCommand, i, msg->payload); // Log value 3 +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_float(buf, 0, hCommand); + _mav_put_float(buf, 4, uCommand); + _mav_put_float(buf, 8, rCommand); + _mav_put_uint8_t(buf, 12, target); + + memcpy(_MAV_PAYLOAD(msg), buf, 13); +#else + mavlink_mid_lvl_cmds_t packet; + packet.hCommand = hCommand; + packet.uCommand = uCommand; + packet.rCommand = rCommand; + packet.target = target; + + memcpy(_MAV_PAYLOAD(msg), &packet, 13); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 13, 146); } /** @@ -89,14 +127,30 @@ static inline uint16_t mavlink_msg_mid_lvl_cmds_encode(uint8_t system_id, uint8_ static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand) { - mavlink_message_t msg; - mavlink_msg_mid_lvl_cmds_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, hCommand, uCommand, rCommand); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_float(buf, 0, hCommand); + _mav_put_float(buf, 4, uCommand); + _mav_put_float(buf, 8, rCommand); + _mav_put_uint8_t(buf, 12, target); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, buf, 13, 146); +#else + mavlink_mid_lvl_cmds_t packet; + packet.hCommand = hCommand; + packet.uCommand = uCommand; + packet.rCommand = rCommand; + packet.target = target; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, (const char *)&packet, 13, 146); +#endif } #endif + // MESSAGE MID_LVL_CMDS UNPACKING + /** * @brief Get field target from mid_lvl_cmds message * @@ -104,7 +158,7 @@ static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t */ static inline uint8_t mavlink_msg_mid_lvl_cmds_get_target(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 12); } /** @@ -114,12 +168,7 @@ static inline uint8_t mavlink_msg_mid_lvl_cmds_get_target(const mavlink_message_ */ static inline float mavlink_msg_mid_lvl_cmds_get_hCommand(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -129,12 +178,7 @@ static inline float mavlink_msg_mid_lvl_cmds_get_hCommand(const mavlink_message_ */ static inline float mavlink_msg_mid_lvl_cmds_get_uCommand(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -144,12 +188,7 @@ static inline float mavlink_msg_mid_lvl_cmds_get_uCommand(const mavlink_message_ */ static inline float mavlink_msg_mid_lvl_cmds_get_rCommand(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -160,8 +199,12 @@ static inline float mavlink_msg_mid_lvl_cmds_get_rCommand(const mavlink_message_ */ static inline void mavlink_msg_mid_lvl_cmds_decode(const mavlink_message_t* msg, mavlink_mid_lvl_cmds_t* mid_lvl_cmds) { - mid_lvl_cmds->target = mavlink_msg_mid_lvl_cmds_get_target(msg); +#if MAVLINK_NEED_BYTE_SWAP mid_lvl_cmds->hCommand = mavlink_msg_mid_lvl_cmds_get_hCommand(msg); mid_lvl_cmds->uCommand = mavlink_msg_mid_lvl_cmds_get_uCommand(msg); mid_lvl_cmds->rCommand = mavlink_msg_mid_lvl_cmds_get_rCommand(msg); + mid_lvl_cmds->target = mavlink_msg_mid_lvl_cmds_get_target(msg); +#else + memcpy(mid_lvl_cmds, _MAV_PAYLOAD(msg), 13); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h b/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h index 8b40bdd67a774b6275904f2e4897370f2e69fb33..3bf6803a605756cc21638ec3785f0ef40665d504 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h @@ -2,17 +2,32 @@ #define MAVLINK_MSG_ID_SENSOR_BIAS 172 -typedef struct __mavlink_sensor_bias_t +typedef struct __mavlink_sensor_bias_t { - float axBias; ///< Accelerometer X bias (m/s) - float ayBias; ///< Accelerometer Y bias (m/s) - float azBias; ///< Accelerometer Z bias (m/s) - float gxBias; ///< Gyro X bias (rad/s) - float gyBias; ///< Gyro Y bias (rad/s) - float gzBias; ///< Gyro Z bias (rad/s) - + float axBias; ///< Accelerometer X bias (m/s) + float ayBias; ///< Accelerometer Y bias (m/s) + float azBias; ///< Accelerometer Z bias (m/s) + float gxBias; ///< Gyro X bias (rad/s) + float gyBias; ///< Gyro Y bias (rad/s) + float gzBias; ///< Gyro Z bias (rad/s) } mavlink_sensor_bias_t; +#define MAVLINK_MSG_ID_SENSOR_BIAS_LEN 24 +#define MAVLINK_MSG_ID_172_LEN 24 + + + +#define MAVLINK_MESSAGE_INFO_SENSOR_BIAS { \ + "SENSOR_BIAS", \ + 6, \ + { { "axBias", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_bias_t, axBias) }, \ + { "ayBias", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sensor_bias_t, ayBias) }, \ + { "azBias", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sensor_bias_t, azBias) }, \ + { "gxBias", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_bias_t, gxBias) }, \ + { "gyBias", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_bias_t, gyBias) }, \ + { "gzBias", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_bias_t, gzBias) }, \ + } \ +} /** @@ -29,23 +44,37 @@ typedef struct __mavlink_sensor_bias_t * @param gzBias Gyro Z bias (rad/s) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) +static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; - - i += put_float_by_index(axBias, i, msg->payload); // Accelerometer X bias (m/s) - i += put_float_by_index(ayBias, i, msg->payload); // Accelerometer Y bias (m/s) - i += put_float_by_index(azBias, i, msg->payload); // Accelerometer Z bias (m/s) - i += put_float_by_index(gxBias, i, msg->payload); // Gyro X bias (rad/s) - i += put_float_by_index(gyBias, i, msg->payload); // Gyro Y bias (rad/s) - i += put_float_by_index(gzBias, i, msg->payload); // Gyro Z bias (rad/s) +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; + return mavlink_finalize_message(msg, system_id, component_id, 24, 168); } /** - * @brief Pack a sensor_bias message + * @brief Pack a sensor_bias message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over @@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t c * @param gzBias Gyro Z bias (rad/s) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) +static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float axBias,float ayBias,float azBias,float gxBias,float gyBias,float gzBias) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; - - i += put_float_by_index(axBias, i, msg->payload); // Accelerometer X bias (m/s) - i += put_float_by_index(ayBias, i, msg->payload); // Accelerometer Y bias (m/s) - i += put_float_by_index(azBias, i, msg->payload); // Accelerometer Z bias (m/s) - i += put_float_by_index(gxBias, i, msg->payload); // Gyro X bias (rad/s) - i += put_float_by_index(gyBias, i, msg->payload); // Gyro Y bias (rad/s) - i += put_float_by_index(gzBias, i, msg->payload); // Gyro Z bias (rad/s) +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 168); } /** @@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) { - mavlink_message_t msg; - mavlink_msg_sensor_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, axBias, ayBias, azBias, gxBias, gyBias, gzBias); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, buf, 24, 168); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, (const char *)&packet, 24, 168); +#endif } #endif + // MESSAGE SENSOR_BIAS UNPACKING + /** * @brief Get field axBias from sensor_bias message * @@ -116,12 +180,7 @@ static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float ax */ static inline float mavlink_msg_sensor_bias_get_axBias(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -131,12 +190,7 @@ static inline float mavlink_msg_sensor_bias_get_axBias(const mavlink_message_t* */ static inline float mavlink_msg_sensor_bias_get_ayBias(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -146,12 +200,7 @@ static inline float mavlink_msg_sensor_bias_get_ayBias(const mavlink_message_t* */ static inline float mavlink_msg_sensor_bias_get_azBias(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -161,12 +210,7 @@ static inline float mavlink_msg_sensor_bias_get_azBias(const mavlink_message_t* */ static inline float mavlink_msg_sensor_bias_get_gxBias(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -176,12 +220,7 @@ static inline float mavlink_msg_sensor_bias_get_gxBias(const mavlink_message_t* */ static inline float mavlink_msg_sensor_bias_get_gyBias(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -191,12 +230,7 @@ static inline float mavlink_msg_sensor_bias_get_gyBias(const mavlink_message_t* */ static inline float mavlink_msg_sensor_bias_get_gzBias(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -207,10 +241,14 @@ static inline float mavlink_msg_sensor_bias_get_gzBias(const mavlink_message_t* */ static inline void mavlink_msg_sensor_bias_decode(const mavlink_message_t* msg, mavlink_sensor_bias_t* sensor_bias) { +#if MAVLINK_NEED_BYTE_SWAP sensor_bias->axBias = mavlink_msg_sensor_bias_get_axBias(msg); sensor_bias->ayBias = mavlink_msg_sensor_bias_get_ayBias(msg); sensor_bias->azBias = mavlink_msg_sensor_bias_get_azBias(msg); sensor_bias->gxBias = mavlink_msg_sensor_bias_get_gxBias(msg); sensor_bias->gyBias = mavlink_msg_sensor_bias_get_gyBias(msg); sensor_bias->gzBias = mavlink_msg_sensor_bias_get_gzBias(msg); +#else + memcpy(sensor_bias, _MAV_PAYLOAD(msg), 24); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h b/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h index 0664166567d84db5b432fcb1e852bb3207ba47c3..2382a17c47fd4497b6ebe01b3dca15a88466db33 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h @@ -2,14 +2,26 @@ #define MAVLINK_MSG_ID_SLUGS_ACTION 183 -typedef struct __mavlink_slugs_action_t +typedef struct __mavlink_slugs_action_t { - uint8_t target; ///< The system reporting the action - uint8_t actionId; ///< Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names - uint16_t actionVal; ///< Value associated with the action - + uint16_t actionVal; ///< Value associated with the action + uint8_t target; ///< The system reporting the action + uint8_t actionId; ///< Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names } mavlink_slugs_action_t; +#define MAVLINK_MSG_ID_SLUGS_ACTION_LEN 4 +#define MAVLINK_MSG_ID_183_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_SLUGS_ACTION { \ + "SLUGS_ACTION", \ + 3, \ + { { "actionVal", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_slugs_action_t, actionVal) }, \ + { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_slugs_action_t, target) }, \ + { "actionId", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_slugs_action_t, actionId) }, \ + } \ +} /** @@ -23,20 +35,31 @@ typedef struct __mavlink_slugs_action_t * @param actionVal Value associated with the action * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_slugs_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t actionId, uint16_t actionVal) +static inline uint16_t mavlink_msg_slugs_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, uint8_t actionId, uint16_t actionVal) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system reporting the action - i += put_uint8_t_by_index(actionId, i, msg->payload); // Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names - i += put_uint16_t_by_index(actionVal, i, msg->payload); // Value associated with the action +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, actionVal); + _mav_put_uint8_t(buf, 2, target); + _mav_put_uint8_t(buf, 3, actionId); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_slugs_action_t packet; + packet.actionVal = actionVal; + packet.target = target; + packet.actionId = actionId; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; + return mavlink_finalize_message(msg, system_id, component_id, 4, 65); } /** - * @brief Pack a slugs_action message + * @brief Pack a slugs_action 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 @@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_slugs_action_pack(uint8_t system_id, uint8_t * @param actionVal Value associated with the action * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_slugs_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t actionId, uint16_t actionVal) +static inline uint16_t mavlink_msg_slugs_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,uint8_t actionId,uint16_t actionVal) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; - - i += put_uint8_t_by_index(target, i, msg->payload); // The system reporting the action - i += put_uint8_t_by_index(actionId, i, msg->payload); // Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names - i += put_uint16_t_by_index(actionVal, i, msg->payload); // Value associated with the action +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, actionVal); + _mav_put_uint8_t(buf, 2, target); + _mav_put_uint8_t(buf, 3, actionId); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_slugs_action_t packet; + packet.actionVal = actionVal; + packet.target = target; + packet.actionId = actionId; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 65); } /** @@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_slugs_action_encode(uint8_t system_id, uint8_ static inline void mavlink_msg_slugs_action_send(mavlink_channel_t chan, uint8_t target, uint8_t actionId, uint16_t actionVal) { - mavlink_message_t msg; - mavlink_msg_slugs_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, actionId, actionVal); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, actionVal); + _mav_put_uint8_t(buf, 2, target); + _mav_put_uint8_t(buf, 3, actionId); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_ACTION, buf, 4, 65); +#else + mavlink_slugs_action_t packet; + packet.actionVal = actionVal; + packet.target = target; + packet.actionId = actionId; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_ACTION, (const char *)&packet, 4, 65); +#endif } #endif + // MESSAGE SLUGS_ACTION UNPACKING + /** * @brief Get field target from slugs_action message * @@ -98,7 +147,7 @@ static inline void mavlink_msg_slugs_action_send(mavlink_channel_t chan, uint8_t */ static inline uint8_t mavlink_msg_slugs_action_get_target(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_slugs_action_get_target(const mavlink_message_ */ static inline uint8_t mavlink_msg_slugs_action_get_actionId(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 3); } /** @@ -118,10 +167,7 @@ static inline uint8_t mavlink_msg_slugs_action_get_actionId(const mavlink_messag */ static inline uint16_t mavlink_msg_slugs_action_get_actionVal(const mavlink_message_t* msg) { - generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; - r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; - return (uint16_t)r.s; + return _MAV_RETURN_uint16_t(msg, 0); } /** @@ -132,7 +178,11 @@ static inline uint16_t mavlink_msg_slugs_action_get_actionVal(const mavlink_mess */ static inline void mavlink_msg_slugs_action_decode(const mavlink_message_t* msg, mavlink_slugs_action_t* slugs_action) { +#if MAVLINK_NEED_BYTE_SWAP + slugs_action->actionVal = mavlink_msg_slugs_action_get_actionVal(msg); slugs_action->target = mavlink_msg_slugs_action_get_target(msg); slugs_action->actionId = mavlink_msg_slugs_action_get_actionId(msg); - slugs_action->actionVal = mavlink_msg_slugs_action_get_actionVal(msg); +#else + memcpy(slugs_action, _MAV_PAYLOAD(msg), 4); +#endif } diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h b/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h index f1a54cb3e4408d52ec2531e22429cb567bc95a7c..a0253a84839f6f693227b7fb23cf22d098f10ee3 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h @@ -2,20 +2,38 @@ #define MAVLINK_MSG_ID_SLUGS_NAVIGATION 176 -typedef struct __mavlink_slugs_navigation_t +typedef struct __mavlink_slugs_navigation_t { - float u_m; ///< Measured Airspeed prior to the Nav Filter - float phi_c; ///< Commanded Roll - float theta_c; ///< Commanded Pitch - float psiDot_c; ///< Commanded Turn rate - float ay_body; ///< Y component of the body acceleration - float totalDist; ///< Total Distance to Run on this leg of Navigation - float dist2Go; ///< Remaining distance to Run on this leg of Navigation - uint8_t fromWP; ///< Origin WP - uint8_t toWP; ///< Destination WP - + float u_m; ///< Measured Airspeed prior to the Nav Filter + float phi_c; ///< Commanded Roll + float theta_c; ///< Commanded Pitch + float psiDot_c; ///< Commanded Turn rate + float ay_body; ///< Y component of the body acceleration + float totalDist; ///< Total Distance to Run on this leg of Navigation + float dist2Go; ///< Remaining distance to Run on this leg of Navigation + uint8_t fromWP; ///< Origin WP + uint8_t toWP; ///< Destination WP } mavlink_slugs_navigation_t; +#define MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN 30 +#define MAVLINK_MSG_ID_176_LEN 30 + + + +#define MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION { \ + "SLUGS_NAVIGATION", \ + 9, \ + { { "u_m", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_slugs_navigation_t, u_m) }, \ + { "phi_c", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_slugs_navigation_t, phi_c) }, \ + { "theta_c", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_slugs_navigation_t, theta_c) }, \ + { "psiDot_c", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_slugs_navigation_t, psiDot_c) }, \ + { "ay_body", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_slugs_navigation_t, ay_body) }, \ + { "totalDist", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_slugs_navigation_t, totalDist) }, \ + { "dist2Go", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_slugs_navigation_t, dist2Go) }, \ + { "fromWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_slugs_navigation_t, fromWP) }, \ + { "toWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_slugs_navigation_t, toWP) }, \ + } \ +} /** @@ -35,26 +53,43 @@ typedef struct __mavlink_slugs_navigation_t * @param toWP Destination WP * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) +static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_float(buf, 0, u_m); + _mav_put_float(buf, 4, phi_c); + _mav_put_float(buf, 8, theta_c); + _mav_put_float(buf, 12, psiDot_c); + _mav_put_float(buf, 16, ay_body); + _mav_put_float(buf, 20, totalDist); + _mav_put_float(buf, 24, dist2Go); + _mav_put_uint8_t(buf, 28, fromWP); + _mav_put_uint8_t(buf, 29, toWP); - i += put_float_by_index(u_m, i, msg->payload); // Measured Airspeed prior to the Nav Filter - i += put_float_by_index(phi_c, i, msg->payload); // Commanded Roll - i += put_float_by_index(theta_c, i, msg->payload); // Commanded Pitch - i += put_float_by_index(psiDot_c, i, msg->payload); // Commanded Turn rate - i += put_float_by_index(ay_body, i, msg->payload); // Y component of the body acceleration - i += put_float_by_index(totalDist, i, msg->payload); // Total Distance to Run on this leg of Navigation - i += put_float_by_index(dist2Go, i, msg->payload); // Remaining distance to Run on this leg of Navigation - i += put_uint8_t_by_index(fromWP, i, msg->payload); // Origin WP - i += put_uint8_t_by_index(toWP, i, msg->payload); // Destination WP - - return mavlink_finalize_message(msg, system_id, component_id, i); + memcpy(_MAV_PAYLOAD(msg), buf, 30); +#else + mavlink_slugs_navigation_t packet; + packet.u_m = u_m; + packet.phi_c = phi_c; + packet.theta_c = theta_c; + packet.psiDot_c = psiDot_c; + packet.ay_body = ay_body; + packet.totalDist = totalDist; + packet.dist2Go = dist2Go; + packet.fromWP = fromWP; + packet.toWP = toWP; + + memcpy(_MAV_PAYLOAD(msg), &packet, 30); +#endif + + msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; + return mavlink_finalize_message(msg, system_id, component_id, 30, 120); } /** - * @brief Pack a slugs_navigation message + * @brief Pack a slugs_navigation 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 @@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint * @param toWP Destination WP * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) +static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float u_m,float phi_c,float theta_c,float psiDot_c,float ay_body,float totalDist,float dist2Go,uint8_t fromWP,uint8_t toWP) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_float(buf, 0, u_m); + _mav_put_float(buf, 4, phi_c); + _mav_put_float(buf, 8, theta_c); + _mav_put_float(buf, 12, psiDot_c); + _mav_put_float(buf, 16, ay_body); + _mav_put_float(buf, 20, totalDist); + _mav_put_float(buf, 24, dist2Go); + _mav_put_uint8_t(buf, 28, fromWP); + _mav_put_uint8_t(buf, 29, toWP); + + memcpy(_MAV_PAYLOAD(msg), buf, 30); +#else + mavlink_slugs_navigation_t packet; + packet.u_m = u_m; + packet.phi_c = phi_c; + packet.theta_c = theta_c; + packet.psiDot_c = psiDot_c; + packet.ay_body = ay_body; + packet.totalDist = totalDist; + packet.dist2Go = dist2Go; + packet.fromWP = fromWP; + packet.toWP = toWP; + + memcpy(_MAV_PAYLOAD(msg), &packet, 30); +#endif - i += put_float_by_index(u_m, i, msg->payload); // Measured Airspeed prior to the Nav Filter - i += put_float_by_index(phi_c, i, msg->payload); // Commanded Roll - i += put_float_by_index(theta_c, i, msg->payload); // Commanded Pitch - i += put_float_by_index(psiDot_c, i, msg->payload); // Commanded Turn rate - i += put_float_by_index(ay_body, i, msg->payload); // Y component of the body acceleration - i += put_float_by_index(totalDist, i, msg->payload); // Total Distance to Run on this leg of Navigation - i += put_float_by_index(dist2Go, i, msg->payload); // Remaining distance to Run on this leg of Navigation - i += put_uint8_t_by_index(fromWP, i, msg->payload); // Origin WP - i += put_uint8_t_by_index(toWP, i, msg->payload); // Destination WP - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 120); } /** @@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_slugs_navigation_encode(uint8_t system_id, ui static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) { - mavlink_message_t msg; - mavlink_msg_slugs_navigation_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, u_m, phi_c, theta_c, psiDot_c, ay_body, totalDist, dist2Go, fromWP, toWP); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_float(buf, 0, u_m); + _mav_put_float(buf, 4, phi_c); + _mav_put_float(buf, 8, theta_c); + _mav_put_float(buf, 12, psiDot_c); + _mav_put_float(buf, 16, ay_body); + _mav_put_float(buf, 20, totalDist); + _mav_put_float(buf, 24, dist2Go); + _mav_put_uint8_t(buf, 28, fromWP); + _mav_put_uint8_t(buf, 29, toWP); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, buf, 30, 120); +#else + mavlink_slugs_navigation_t packet; + packet.u_m = u_m; + packet.phi_c = phi_c; + packet.theta_c = theta_c; + packet.psiDot_c = psiDot_c; + packet.ay_body = ay_body; + packet.totalDist = totalDist; + packet.dist2Go = dist2Go; + packet.fromWP = fromWP; + packet.toWP = toWP; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)&packet, 30, 120); +#endif } #endif + // MESSAGE SLUGS_NAVIGATION UNPACKING + /** * @brief Get field u_m from slugs_navigation message * @@ -134,12 +213,7 @@ static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, flo */ static inline float mavlink_msg_slugs_navigation_get_u_m(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload)[0]; - r.b[2] = (msg->payload)[1]; - r.b[1] = (msg->payload)[2]; - r.b[0] = (msg->payload)[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 0); } /** @@ -149,12 +223,7 @@ static inline float mavlink_msg_slugs_navigation_get_u_m(const mavlink_message_t */ static inline float mavlink_msg_slugs_navigation_get_phi_c(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 4); } /** @@ -164,12 +233,7 @@ static inline float mavlink_msg_slugs_navigation_get_phi_c(const mavlink_message */ static inline float mavlink_msg_slugs_navigation_get_theta_c(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -179,12 +243,7 @@ static inline float mavlink_msg_slugs_navigation_get_theta_c(const mavlink_messa */ static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -194,12 +253,7 @@ static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_mess */ static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -209,12 +263,7 @@ static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_messa */ static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -224,12 +273,7 @@ static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_mes */ static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -239,7 +283,7 @@ static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_messa */ static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + return _MAV_RETURN_uint8_t(msg, 28); } /** @@ -249,7 +293,7 @@ static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_mess */ static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 29); } /** @@ -260,6 +304,7 @@ static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_messag */ static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* msg, mavlink_slugs_navigation_t* slugs_navigation) { +#if MAVLINK_NEED_BYTE_SWAP slugs_navigation->u_m = mavlink_msg_slugs_navigation_get_u_m(msg); slugs_navigation->phi_c = mavlink_msg_slugs_navigation_get_phi_c(msg); slugs_navigation->theta_c = mavlink_msg_slugs_navigation_get_theta_c(msg); @@ -269,4 +314,7 @@ static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* slugs_navigation->dist2Go = mavlink_msg_slugs_navigation_get_dist2Go(msg); slugs_navigation->fromWP = mavlink_msg_slugs_navigation_get_fromWP(msg); slugs_navigation->toWP = mavlink_msg_slugs_navigation_get_toWP(msg); +#else + memcpy(slugs_navigation, _MAV_PAYLOAD(msg), 30); +#endif } diff --git a/thirdParty/mavlink/include/slugs/slugs.h b/thirdParty/mavlink/include/slugs/slugs.h index b04cb7922f08e9aa1733bbd5f934f9be18496b6f..3838ddb21e82cbb9855afc1b8ed8078075a7809b 100644 --- a/thirdParty/mavlink/include/slugs/slugs.h +++ b/thirdParty/mavlink/include/slugs/slugs.h @@ -1,7 +1,6 @@ /** @file - * @brief MAVLink comm protocol. + * @brief MAVLink comm protocol generated from slugs.xml * @see http://qgroundcontrol.org/mavlink/ - * Generated on Friday, August 5 2011, 07:37 UTC */ #ifndef SLUGS_H #define SLUGS_H @@ -10,29 +9,42 @@ extern "C" { #endif +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 0, 28, 22, 22, 21, 0, 36, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 10, 24, 18, 0, 0, 30, 24, 0, 7, 13, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 197, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 0, 104, 244, 237, 222, 0, 158, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 160, 168, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 75, 232, 168, 2, 0, 0, 120, 167, 0, 16, 146, 104, 0, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, {NULL}, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_SHORT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {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}, MAVLINK_MESSAGE_INFO_CPU_LOAD, MAVLINK_MESSAGE_INFO_AIR_DATA, MAVLINK_MESSAGE_INFO_SENSOR_BIAS, MAVLINK_MESSAGE_INFO_DIAGNOSTIC, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION, MAVLINK_MESSAGE_INFO_DATA_LOG, {NULL}, MAVLINK_MESSAGE_INFO_GPS_DATE_TIME, MAVLINK_MESSAGE_INFO_MID_LVL_CMDS, MAVLINK_MESSAGE_INFO_CTRL_SRFC_PT, {NULL}, MAVLINK_MESSAGE_INFO_SLUGS_ACTION, {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}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE} +#endif #include "../protocol.h" #define MAVLINK_ENABLED_SLUGS - #include "../common/common.h" + // MAVLINK VERSION #ifndef MAVLINK_VERSION -#define MAVLINK_VERSION 0 +#define MAVLINK_VERSION 2 #endif #if (MAVLINK_VERSION == 0) #undef MAVLINK_VERSION -#define MAVLINK_VERSION 0 +#define MAVLINK_VERSION 2 #endif // ENUM DEFINITIONS -// MESSAGE DEFINITIONS +// MESSAGE DEFINITIONS #include "./mavlink_msg_cpu_load.h" #include "./mavlink_msg_air_data.h" #include "./mavlink_msg_sensor_bias.h" @@ -44,13 +56,7 @@ extern "C" { #include "./mavlink_msg_ctrl_srfc_pt.h" #include "./mavlink_msg_slugs_action.h" - -// MESSAGE LENGTHS - -#undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 14, 14, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 10, 24, 18, 0, 0, 30, 24, 0, 7, 13, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 } - #ifdef __cplusplus } -#endif -#endif +#endif // __cplusplus +#endif // SLUGS_H diff --git a/thirdParty/mavlink/include/slugs/testsuite.h b/thirdParty/mavlink/include/slugs/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..4593235a4a936810a6651b4141cee84140d556c2 --- /dev/null +++ b/thirdParty/mavlink/include/slugs/testsuite.h @@ -0,0 +1,552 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from slugs.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef SLUGS_TESTSUITE_H +#define SLUGS_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_slugs(uint8_t, uint8_t, mavlink_message_t *last_msg); + +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, last_msg); + mavlink_test_slugs(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_cpu_load(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_cpu_load_t packet_in = { + 17235, + 139, + 206, + }; + mavlink_cpu_load_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.batVolt = packet_in.batVolt; + packet1.sensLoad = packet_in.sensLoad; + packet1.ctrlLoad = packet_in.ctrlLoad; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_cpu_load_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_cpu_load_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_cpu_load_pack(system_id, component_id, &msg , packet1.sensLoad , packet1.ctrlLoad , packet1.batVolt ); + mavlink_msg_cpu_load_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_cpu_load_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sensLoad , packet1.ctrlLoad , packet1.batVolt ); + mavlink_msg_cpu_load_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; imsgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, accel_0); + _mav_put_float(buf, 12, accel_1); + _mav_put_float(buf, 16, accel_2); + _mav_put_float(buf, 20, gyro_0); + _mav_put_float(buf, 24, gyro_1); + _mav_put_float(buf, 28, gyro_2); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_nav_filter_bias_t packet; + packet.usec = usec; + packet.accel_0 = accel_0; + packet.accel_1 = accel_1; + packet.accel_2 = accel_2; + packet.gyro_0 = gyro_0; + packet.gyro_1 = gyro_1; + packet.gyro_2 = gyro_2; - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds) - i += put_float_by_index(accel_0, i, msg->payload); // b_f[0] - i += put_float_by_index(accel_1, i, msg->payload); // b_f[1] - i += put_float_by_index(accel_2, i, msg->payload); // b_f[2] - i += put_float_by_index(gyro_0, i, msg->payload); // b_f[0] - i += put_float_by_index(gyro_1, i, msg->payload); // b_f[1] - i += put_float_by_index(gyro_2, i, msg->payload); // b_f[2] + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; + return mavlink_finalize_message(msg, system_id, component_id, 32, 34); } /** - * @brief Pack a nav_filter_bias message + * @brief Pack a nav_filter_bias message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over @@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_nav_filter_bias_pack(uint8_t system_id, uint8 * @param gyro_2 b_f[2] * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) +static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float accel_0,float accel_1,float accel_2,float gyro_0,float gyro_1,float gyro_2) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, accel_0); + _mav_put_float(buf, 12, accel_1); + _mav_put_float(buf, 16, accel_2); + _mav_put_float(buf, 20, gyro_0); + _mav_put_float(buf, 24, gyro_1); + _mav_put_float(buf, 28, gyro_2); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_nav_filter_bias_t packet; + packet.usec = usec; + packet.accel_0 = accel_0; + packet.accel_1 = accel_1; + packet.accel_2 = accel_2; + packet.gyro_0 = gyro_0; + packet.gyro_1 = gyro_1; + packet.gyro_2 = gyro_2; - i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds) - i += put_float_by_index(accel_0, i, msg->payload); // b_f[0] - i += put_float_by_index(accel_1, i, msg->payload); // b_f[1] - i += put_float_by_index(accel_2, i, msg->payload); // b_f[2] - i += put_float_by_index(gyro_0, i, msg->payload); // b_f[0] - i += put_float_by_index(gyro_1, i, msg->payload); // b_f[1] - i += put_float_by_index(gyro_2, i, msg->payload); // b_f[2] + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 34); } /** @@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_nav_filter_bias_encode(uint8_t system_id, uin static inline void mavlink_msg_nav_filter_bias_send(mavlink_channel_t chan, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) { - mavlink_message_t msg; - mavlink_msg_nav_filter_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, accel_0, accel_1, accel_2, gyro_0, gyro_1, gyro_2); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, accel_0); + _mav_put_float(buf, 12, accel_1); + _mav_put_float(buf, 16, accel_2); + _mav_put_float(buf, 20, gyro_0); + _mav_put_float(buf, 24, gyro_1); + _mav_put_float(buf, 28, gyro_2); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_FILTER_BIAS, buf, 32, 34); +#else + mavlink_nav_filter_bias_t packet; + packet.usec = usec; + packet.accel_0 = accel_0; + packet.accel_1 = accel_1; + packet.accel_2 = accel_2; + packet.gyro_0 = gyro_0; + packet.gyro_1 = gyro_1; + packet.gyro_2 = gyro_2; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_FILTER_BIAS, (const char *)&packet, 32, 34); +#endif } #endif + // MESSAGE NAV_FILTER_BIAS UNPACKING + /** * @brief Get field usec from nav_filter_bias message * @@ -122,16 +191,7 @@ static inline void mavlink_msg_nav_filter_bias_send(mavlink_channel_t chan, uint */ static inline uint64_t mavlink_msg_nav_filter_bias_get_usec(const mavlink_message_t* msg) { - generic_64bit r; - r.b[7] = (msg->payload)[0]; - r.b[6] = (msg->payload)[1]; - r.b[5] = (msg->payload)[2]; - r.b[4] = (msg->payload)[3]; - r.b[3] = (msg->payload)[4]; - r.b[2] = (msg->payload)[5]; - r.b[1] = (msg->payload)[6]; - r.b[0] = (msg->payload)[7]; - return (uint64_t)r.ll; + return _MAV_RETURN_uint64_t(msg, 0); } /** @@ -141,12 +201,7 @@ static inline uint64_t mavlink_msg_nav_filter_bias_get_usec(const mavlink_messag */ static inline float mavlink_msg_nav_filter_bias_get_accel_0(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 8); } /** @@ -156,12 +211,7 @@ static inline float mavlink_msg_nav_filter_bias_get_accel_0(const mavlink_messag */ static inline float mavlink_msg_nav_filter_bias_get_accel_1(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 12); } /** @@ -171,12 +221,7 @@ static inline float mavlink_msg_nav_filter_bias_get_accel_1(const mavlink_messag */ static inline float mavlink_msg_nav_filter_bias_get_accel_2(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 16); } /** @@ -186,12 +231,7 @@ static inline float mavlink_msg_nav_filter_bias_get_accel_2(const mavlink_messag */ static inline float mavlink_msg_nav_filter_bias_get_gyro_0(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 20); } /** @@ -201,12 +241,7 @@ static inline float mavlink_msg_nav_filter_bias_get_gyro_0(const mavlink_message */ static inline float mavlink_msg_nav_filter_bias_get_gyro_1(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 24); } /** @@ -216,12 +251,7 @@ static inline float mavlink_msg_nav_filter_bias_get_gyro_1(const mavlink_message */ static inline float mavlink_msg_nav_filter_bias_get_gyro_2(const mavlink_message_t* msg) { - generic_32bit r; - r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; - r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; - return (float)r.f; + return _MAV_RETURN_float(msg, 28); } /** @@ -232,6 +262,7 @@ static inline float mavlink_msg_nav_filter_bias_get_gyro_2(const mavlink_message */ static inline void mavlink_msg_nav_filter_bias_decode(const mavlink_message_t* msg, mavlink_nav_filter_bias_t* nav_filter_bias) { +#if MAVLINK_NEED_BYTE_SWAP nav_filter_bias->usec = mavlink_msg_nav_filter_bias_get_usec(msg); nav_filter_bias->accel_0 = mavlink_msg_nav_filter_bias_get_accel_0(msg); nav_filter_bias->accel_1 = mavlink_msg_nav_filter_bias_get_accel_1(msg); @@ -239,4 +270,7 @@ static inline void mavlink_msg_nav_filter_bias_decode(const mavlink_message_t* m nav_filter_bias->gyro_0 = mavlink_msg_nav_filter_bias_get_gyro_0(msg); nav_filter_bias->gyro_1 = mavlink_msg_nav_filter_bias_get_gyro_1(msg); nav_filter_bias->gyro_2 = mavlink_msg_nav_filter_bias_get_gyro_2(msg); +#else + memcpy(nav_filter_bias, _MAV_PAYLOAD(msg), 32); +#endif } diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h b/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h index 5907aba95bce713210549cfd6e452da1346c20fc..ffe2b748568a6977709046c3f5d27c1d0ae2def6 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h +++ b/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h @@ -2,17 +2,19 @@ #define MAVLINK_MSG_ID_RADIO_CALIBRATION 221 -typedef struct __mavlink_radio_calibration_t +typedef struct __mavlink_radio_calibration_t { - uint16_t aileron[3]; ///< Aileron setpoints: left, center, right - uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up - uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right - uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode - uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%) - uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%) - + uint16_t aileron[3]; ///< Aileron setpoints: left, center, right + uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up + uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right + uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode + uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%) + uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%) } mavlink_radio_calibration_t; +#define MAVLINK_MSG_ID_RADIO_CALIBRATION_LEN 42 +#define MAVLINK_MSG_ID_221_LEN 42 + #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN 3 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN 3 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN 3 @@ -20,6 +22,18 @@ typedef struct __mavlink_radio_calibration_t #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN 5 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN 5 +#define MAVLINK_MESSAGE_INFO_RADIO_CALIBRATION { \ + "RADIO_CALIBRATION", \ + 6, \ + { { "aileron", NULL, MAVLINK_TYPE_UINT16_T, 3, 0, offsetof(mavlink_radio_calibration_t, aileron) }, \ + { "elevator", NULL, MAVLINK_TYPE_UINT16_T, 3, 6, offsetof(mavlink_radio_calibration_t, elevator) }, \ + { "rudder", NULL, MAVLINK_TYPE_UINT16_T, 3, 12, offsetof(mavlink_radio_calibration_t, rudder) }, \ + { "gyro", NULL, MAVLINK_TYPE_UINT16_T, 2, 18, offsetof(mavlink_radio_calibration_t, gyro) }, \ + { "pitch", NULL, MAVLINK_TYPE_UINT16_T, 5, 22, offsetof(mavlink_radio_calibration_t, pitch) }, \ + { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 5, 32, offsetof(mavlink_radio_calibration_t, throttle) }, \ + } \ +} + /** * @brief Pack a radio_calibration message @@ -35,23 +49,37 @@ typedef struct __mavlink_radio_calibration_t * @param throttle Throttle curve setpoints (every 25%) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) +static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const uint16_t *aileron, const uint16_t *elevator, const uint16_t *rudder, const uint16_t *gyro, const uint16_t *pitch, const uint16_t *throttle) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + + _mav_put_uint16_t_array(buf, 0, aileron, 3); + _mav_put_uint16_t_array(buf, 6, elevator, 3); + _mav_put_uint16_t_array(buf, 12, rudder, 3); + _mav_put_uint16_t_array(buf, 18, gyro, 2); + _mav_put_uint16_t_array(buf, 22, pitch, 5); + _mav_put_uint16_t_array(buf, 32, throttle, 5); + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_radio_calibration_t packet; - i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right - i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up - i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right - i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode - i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%) - i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%) + memcpy(packet.aileron, aileron, sizeof(uint16_t)*3); + memcpy(packet.elevator, elevator, sizeof(uint16_t)*3); + memcpy(packet.rudder, rudder, sizeof(uint16_t)*3); + memcpy(packet.gyro, gyro, sizeof(uint16_t)*2); + memcpy(packet.pitch, pitch, sizeof(uint16_t)*5); + memcpy(packet.throttle, throttle, sizeof(uint16_t)*5); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; + return mavlink_finalize_message(msg, system_id, component_id, 42, 71); } /** - * @brief Pack a radio_calibration message + * @brief Pack a radio_calibration 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 @@ -64,19 +92,34 @@ static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uin * @param throttle Throttle curve setpoints (every 25%) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) +static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const uint16_t *aileron,const uint16_t *elevator,const uint16_t *rudder,const uint16_t *gyro,const uint16_t *pitch,const uint16_t *throttle) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; - i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right - i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up - i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right - i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode - i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%) - i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%) + _mav_put_uint16_t_array(buf, 0, aileron, 3); + _mav_put_uint16_t_array(buf, 6, elevator, 3); + _mav_put_uint16_t_array(buf, 12, rudder, 3); + _mav_put_uint16_t_array(buf, 18, gyro, 2); + _mav_put_uint16_t_array(buf, 22, pitch, 5); + _mav_put_uint16_t_array(buf, 32, throttle, 5); + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_radio_calibration_t packet; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + memcpy(packet.aileron, aileron, sizeof(uint16_t)*3); + memcpy(packet.elevator, elevator, sizeof(uint16_t)*3); + memcpy(packet.rudder, rudder, sizeof(uint16_t)*3); + memcpy(packet.gyro, gyro, sizeof(uint16_t)*2); + memcpy(packet.pitch, pitch, sizeof(uint16_t)*5); + memcpy(packet.throttle, throttle, sizeof(uint16_t)*5); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif + + msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 71); } /** @@ -105,26 +148,44 @@ static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, u */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) +static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t *aileron, const uint16_t *elevator, const uint16_t *rudder, const uint16_t *gyro, const uint16_t *pitch, const uint16_t *throttle) { - mavlink_message_t msg; - mavlink_msg_radio_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, aileron, elevator, rudder, gyro, pitch, throttle); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + + _mav_put_uint16_t_array(buf, 0, aileron, 3); + _mav_put_uint16_t_array(buf, 6, elevator, 3); + _mav_put_uint16_t_array(buf, 12, rudder, 3); + _mav_put_uint16_t_array(buf, 18, gyro, 2); + _mav_put_uint16_t_array(buf, 22, pitch, 5); + _mav_put_uint16_t_array(buf, 32, throttle, 5); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_CALIBRATION, buf, 42, 71); +#else + mavlink_radio_calibration_t packet; + + memcpy(packet.aileron, aileron, sizeof(uint16_t)*3); + memcpy(packet.elevator, elevator, sizeof(uint16_t)*3); + memcpy(packet.rudder, rudder, sizeof(uint16_t)*3); + memcpy(packet.gyro, gyro, sizeof(uint16_t)*2); + memcpy(packet.pitch, pitch, sizeof(uint16_t)*5); + memcpy(packet.throttle, throttle, sizeof(uint16_t)*5); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_CALIBRATION, (const char *)&packet, 42, 71); +#endif } #endif + // MESSAGE RADIO_CALIBRATION UNPACKING + /** * @brief Get field aileron from radio_calibration message * * @return Aileron setpoints: left, center, right */ -static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t *aileron) { - - memcpy(r_data, msg->payload, sizeof(uint16_t)*3); - return sizeof(uint16_t)*3; + return _MAV_RETURN_uint16_t_array(msg, aileron, 3, 0); } /** @@ -132,11 +193,9 @@ static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_m * * @return Elevator setpoints: nose down, center, nose up */ -static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t *elevator) { - - memcpy(r_data, msg->payload+sizeof(uint16_t)*3, sizeof(uint16_t)*3); - return sizeof(uint16_t)*3; + return _MAV_RETURN_uint16_t_array(msg, elevator, 3, 6); } /** @@ -144,11 +203,9 @@ static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_ * * @return Rudder setpoints: nose left, center, nose right */ -static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t *rudder) { - - memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*3); - return sizeof(uint16_t)*3; + return _MAV_RETURN_uint16_t_array(msg, rudder, 3, 12); } /** @@ -156,11 +213,9 @@ static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_me * * @return Tail gyro mode/gain setpoints: heading hold, rate mode */ -static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t *gyro) { - - memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*2); - return sizeof(uint16_t)*2; + return _MAV_RETURN_uint16_t_array(msg, gyro, 2, 18); } /** @@ -168,11 +223,9 @@ static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_mess * * @return Pitch curve setpoints (every 25%) */ -static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t *pitch) { - - memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2, sizeof(uint16_t)*5); - return sizeof(uint16_t)*5; + return _MAV_RETURN_uint16_t_array(msg, pitch, 5, 22); } /** @@ -180,11 +233,9 @@ static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_mes * * @return Throttle curve setpoints (every 25%) */ -static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t *throttle) { - - memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2+sizeof(uint16_t)*5, sizeof(uint16_t)*5); - return sizeof(uint16_t)*5; + return _MAV_RETURN_uint16_t_array(msg, throttle, 5, 32); } /** @@ -195,10 +246,14 @@ static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_ */ static inline void mavlink_msg_radio_calibration_decode(const mavlink_message_t* msg, mavlink_radio_calibration_t* radio_calibration) { +#if MAVLINK_NEED_BYTE_SWAP mavlink_msg_radio_calibration_get_aileron(msg, radio_calibration->aileron); mavlink_msg_radio_calibration_get_elevator(msg, radio_calibration->elevator); mavlink_msg_radio_calibration_get_rudder(msg, radio_calibration->rudder); mavlink_msg_radio_calibration_get_gyro(msg, radio_calibration->gyro); mavlink_msg_radio_calibration_get_pitch(msg, radio_calibration->pitch); mavlink_msg_radio_calibration_get_throttle(msg, radio_calibration->throttle); +#else + memcpy(radio_calibration, _MAV_PAYLOAD(msg), 42); +#endif } diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_request_rc_channels.h b/thirdParty/mavlink/include/ualberta/mavlink_msg_request_rc_channels.h deleted file mode 100644 index 64202ffe269eb434aa80960924793f92c38e25d2..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_request_rc_channels.h +++ /dev/null @@ -1,101 +0,0 @@ -// MESSAGE REQUEST_RC_CHANNELS PACKING - -#define MAVLINK_MSG_ID_REQUEST_RC_CHANNELS 221 - -typedef struct __mavlink_request_rc_channels_t -{ - uint8_t enabled; ///< True: start sending data; False: stop sending data - -} mavlink_request_rc_channels_t; - - - -/** - * @brief Pack a request_rc_channels message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param enabled True: start sending data; False: stop sending data - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_request_rc_channels_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t enabled) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_REQUEST_RC_CHANNELS; - - i += put_uint8_t_by_index(enabled, i, msg->payload); // True: start sending data; False: stop sending data - - return mavlink_finalize_message(msg, system_id, component_id, i); -} - -/** - * @brief Pack a request_rc_channels message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into - * @param enabled True: start sending data; False: stop sending data - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_request_rc_channels_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t enabled) -{ - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_REQUEST_RC_CHANNELS; - - i += put_uint8_t_by_index(enabled, i, msg->payload); // True: start sending data; False: stop sending data - - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); -} - -/** - * @brief Encode a request_rc_channels 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 request_rc_channels C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_request_rc_channels_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_rc_channels_t* request_rc_channels) -{ - return mavlink_msg_request_rc_channels_pack(system_id, component_id, msg, request_rc_channels->enabled); -} - -/** - * @brief Send a request_rc_channels message - * @param chan MAVLink channel to send the message - * - * @param enabled True: start sending data; False: stop sending data - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_request_rc_channels_send(mavlink_channel_t chan, uint8_t enabled) -{ - mavlink_message_t msg; - mavlink_msg_request_rc_channels_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, enabled); - mavlink_send_uart(chan, &msg); -} - -#endif -// MESSAGE REQUEST_RC_CHANNELS UNPACKING - -/** - * @brief Get field enabled from request_rc_channels message - * - * @return True: start sending data; False: stop sending data - */ -static inline uint8_t mavlink_msg_request_rc_channels_get_enabled(const mavlink_message_t* msg) -{ - return (uint8_t)(msg->payload)[0]; -} - -/** - * @brief Decode a request_rc_channels message into a struct - * - * @param msg The message to decode - * @param request_rc_channels C-struct to decode the message contents into - */ -static inline void mavlink_msg_request_rc_channels_decode(const mavlink_message_t* msg, mavlink_request_rc_channels_t* request_rc_channels) -{ - request_rc_channels->enabled = mavlink_msg_request_rc_channels_get_enabled(msg); -} diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h b/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h index 50e8f7d02ca58dccec28614af2fed7d4fe0c1466..69c4599e1368e7738ccdfa3cf2ac133468496afc 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h +++ b/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h @@ -2,14 +2,26 @@ #define MAVLINK_MSG_ID_UALBERTA_SYS_STATUS 222 -typedef struct __mavlink_ualberta_sys_status_t +typedef struct __mavlink_ualberta_sys_status_t { - uint8_t mode; ///< System mode, see UALBERTA_AUTOPILOT_MODE ENUM - uint8_t nav_mode; ///< Navigation mode, see UALBERTA_NAV_MODE ENUM - uint8_t pilot; ///< Pilot mode, see UALBERTA_PILOT_MODE - + uint8_t mode; ///< System mode, see UALBERTA_AUTOPILOT_MODE ENUM + uint8_t nav_mode; ///< Navigation mode, see UALBERTA_NAV_MODE ENUM + uint8_t pilot; ///< Pilot mode, see UALBERTA_PILOT_MODE } mavlink_ualberta_sys_status_t; +#define MAVLINK_MSG_ID_UALBERTA_SYS_STATUS_LEN 3 +#define MAVLINK_MSG_ID_222_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_UALBERTA_SYS_STATUS { \ + "UALBERTA_SYS_STATUS", \ + 3, \ + { { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_ualberta_sys_status_t, mode) }, \ + { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_ualberta_sys_status_t, nav_mode) }, \ + { "pilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_ualberta_sys_status_t, pilot) }, \ + } \ +} /** @@ -23,20 +35,31 @@ typedef struct __mavlink_ualberta_sys_status_t * @param pilot Pilot mode, see UALBERTA_PILOT_MODE * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_ualberta_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t pilot) +static inline uint16_t mavlink_msg_ualberta_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t mode, uint8_t nav_mode, uint8_t pilot) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; - - i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see UALBERTA_AUTOPILOT_MODE ENUM - i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see UALBERTA_NAV_MODE ENUM - i += put_uint8_t_by_index(pilot, i, msg->payload); // Pilot mode, see UALBERTA_PILOT_MODE +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, pilot); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_ualberta_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.pilot = pilot; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif - return mavlink_finalize_message(msg, system_id, component_id, i); + msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 3, 15); } /** - * @brief Pack a ualberta_sys_status message + * @brief Pack a ualberta_sys_status 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 @@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_ualberta_sys_status_pack(uint8_t system_id, u * @param pilot Pilot mode, see UALBERTA_PILOT_MODE * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_ualberta_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t pilot) +static inline uint16_t mavlink_msg_ualberta_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t mode,uint8_t nav_mode,uint8_t pilot) { - uint16_t i = 0; - msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; - - i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see UALBERTA_AUTOPILOT_MODE ENUM - i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see UALBERTA_NAV_MODE ENUM - i += put_uint8_t_by_index(pilot, i, msg->payload); // Pilot mode, see UALBERTA_PILOT_MODE +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, pilot); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_ualberta_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.pilot = pilot; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); + msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 15); } /** @@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_ualberta_sys_status_encode(uint8_t system_id, static inline void mavlink_msg_ualberta_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t pilot) { - mavlink_message_t msg; - mavlink_msg_ualberta_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, pilot); - mavlink_send_uart(chan, &msg); +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, pilot); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UALBERTA_SYS_STATUS, buf, 3, 15); +#else + mavlink_ualberta_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.pilot = pilot; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UALBERTA_SYS_STATUS, (const char *)&packet, 3, 15); +#endif } #endif + // MESSAGE UALBERTA_SYS_STATUS UNPACKING + /** * @brief Get field mode from ualberta_sys_status message * @@ -98,7 +147,7 @@ static inline void mavlink_msg_ualberta_sys_status_send(mavlink_channel_t chan, */ static inline uint8_t mavlink_msg_ualberta_sys_status_get_mode(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload)[0]; + return _MAV_RETURN_uint8_t(msg, 0); } /** @@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_ualberta_sys_status_get_mode(const mavlink_mes */ static inline uint8_t mavlink_msg_ualberta_sys_status_get_nav_mode(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 1); } /** @@ -118,7 +167,7 @@ static inline uint8_t mavlink_msg_ualberta_sys_status_get_nav_mode(const mavlink */ static inline uint8_t mavlink_msg_ualberta_sys_status_get_pilot(const mavlink_message_t* msg) { - return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + return _MAV_RETURN_uint8_t(msg, 2); } /** @@ -129,7 +178,11 @@ static inline uint8_t mavlink_msg_ualberta_sys_status_get_pilot(const mavlink_me */ static inline void mavlink_msg_ualberta_sys_status_decode(const mavlink_message_t* msg, mavlink_ualberta_sys_status_t* ualberta_sys_status) { +#if MAVLINK_NEED_BYTE_SWAP ualberta_sys_status->mode = mavlink_msg_ualberta_sys_status_get_mode(msg); ualberta_sys_status->nav_mode = mavlink_msg_ualberta_sys_status_get_nav_mode(msg); ualberta_sys_status->pilot = mavlink_msg_ualberta_sys_status_get_pilot(msg); +#else + memcpy(ualberta_sys_status, _MAV_PAYLOAD(msg), 3); +#endif } diff --git a/thirdParty/mavlink/include/ualberta/testsuite.h b/thirdParty/mavlink/include/ualberta/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..11ba27a3cfb770caf0b45e72823b182b4d9ce4cb --- /dev/null +++ b/thirdParty/mavlink/include/ualberta/testsuite.h @@ -0,0 +1,192 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from ualberta.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef UALBERTA_TESTSUITE_H +#define UALBERTA_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_ualberta(uint8_t, uint8_t, mavlink_message_t *last_msg); + +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, last_msg); + mavlink_test_ualberta(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_nav_filter_bias(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_nav_filter_bias_t packet_in = { + 93372036854775807ULL, + 73.0, + 101.0, + 129.0, + 157.0, + 185.0, + 213.0, + }; + mavlink_nav_filter_bias_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.usec = packet_in.usec; + packet1.accel_0 = packet_in.accel_0; + packet1.accel_1 = packet_in.accel_1; + packet1.accel_2 = packet_in.accel_2; + packet1.gyro_0 = packet_in.gyro_0; + packet1.gyro_1 = packet_in.gyro_1; + packet1.gyro_2 = packet_in.gyro_2; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_nav_filter_bias_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_pack(system_id, component_id, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 ); + mavlink_msg_nav_filter_bias_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 ); + mavlink_msg_nav_filter_bias_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; iaccel Y calibration accel Z calibration - set the magnetometer offsets System ID @@ -34,6 +33,5 @@ magnetometer Y offset magnetometer Z offset - diff --git a/thirdParty/mavlink/message_definitions/common.xml b/thirdParty/mavlink/message_definitions/common.xml index dd4ea84430da5a7ceed5ae92bdfaaff54621d75c..5f6ec39da239c40dfbae110fde4a6ed92f42e932 100644 --- a/thirdParty/mavlink/message_definitions/common.xml +++ b/thirdParty/mavlink/message_definitions/common.xml @@ -1,7 +1,350 @@ - 2 + 3 + + Micro air vehicle / autopilot classes. This identifies the individual model. + + Generic autopilot, full support for everything + + + PIXHAWK autopilot, http://pixhawk.ethz.ch + + + SLUGS autopilot, http://slugsuav.soe.ucsc.edu + + + ArduPilotMega / ArduCopter, http://diydrones.com + + + OpenPilot, http://openpilot.org + + + Generic autopilot only supporting simple waypoints + + + Generic autopilot supporting waypoints and other simple navigation commands + + + Generic autopilot supporting the full mission command set + + + No valid autopilot, e.g. a GCS or other MAVLink component + + + PPZ UAV - http://nongnu.org/paparazzi + + + UAV Dev Board + + + FlexiPilot + + + + + These flags encode the MAV mode. + + 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. + + + 0b01000000 remote control input is enabled. + + + 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. + + + 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. + + + 0b00001000 guided mode enabled, system flies MISSIONs / mission items. + + + 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. + + + 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. + + + 0b00000001 Reserved for future use. + + + + + These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. + + First bit: 10000000 + + + Second bit: 01000000 + + + Third bit: 00100000 + + + Fourth bit: 00010000 + + + Fifth bit: 00001000 + + + Sixt bit: 00000100 + + + Seventh bit: 00000010 + + + Eighth bit: 00000001 + + + + Override command, pauses current mission execution and moves immediately to a position + + Hold at the current position. + + + Continue with the mission execution. + + + Hold at the current position of the system + + + Hold at the position specified in the parameters of the DO_HOLD action + + + + These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it + simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. + + System is not ready to fly, booting, calibrating, etc. No flag is set. + + + System is allowed to be active, under assisted RC control. + + + System is allowed to be active, under assisted RC control. + + + System is allowed to be active, under manual (RC) control, no stabilization + + + System is allowed to be active, under manual (RC) control, no stabilization + + + System is allowed to be active, under autonomous control, manual setpoint + + + System is allowed to be active, under autonomous control, manual setpoint + + + System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) + + + System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) + + + UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. + + + UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. + + + + + Uninitialized system, state is unknown. + + + System is booting up. + + + System is calibrating and not flight-ready. + + + System is grounded and on standby. It can be launched any time. + + + System is active and might be already airborne. Motors are engaged. + + + System is in a non-normal flight mode. It can however still navigate. + + + System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. + + + System just initialized its power-down sequence, will shut down now. + + + + + Generic micro air vehicle. + + + Fixed wing aircraft. + + + Quadrotor + + + Coaxial helicopter + + + Normal helicopter with tail rotor. + + + Ground installation + + + Operator control unit / ground control station + + + Airship, controlled + + + Free balloon, uncontrolled + + + Rocket + + + Ground rover + + + Surface vessel, boat, ship + + + Submarine + + + Hexarotor + + + Octorotor + + + Octorotor + + + Flapping wing + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) + + + Local coordinate frame, Z-up (x: north, y: east, z: down). + + + NOT a coordinate frame, indicates a mission command. + + + Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. + + + Local coordinate frame, Z-down (x: east, y: north, z: up) + + + + + + + + + + + + + + + + + + + + + + Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping @@ -9,40 +352,40 @@ Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. - Navigate to waypoint. - Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing) - Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached) + Navigate to MISSION. + Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing) + Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached) 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. - Desired yaw angle at waypoint (rotary wing) + Desired yaw angle at MISSION (rotary wing) Latitude Longitude Altitude - Loiter around this waypoint an unlimited amount of time + Loiter around this MISSION an unlimited amount of time Empty Empty - Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise + Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise Desired yaw angle. Latitude Longitude Altitude - Loiter around this waypoint for X turns + Loiter around this MISSION for X turns Turns Empty - Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise + Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise Desired yaw angle. Latitude Longitude Altitude - Loiter around this waypoint for X seconds + Loiter around this MISSION for X seconds Seconds (decimal) Empty - Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise + Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise Desired yaw angle. Latitude Longitude @@ -84,7 +427,7 @@ system to control the vehicle attitude and the attitude of various sensors such as cameras. Region of intereset mode. (see MAV_ROI enum) - Waypoint index/ target ID. (see MAV_ROI enum) + MISSION index/ target ID. (see MAV_ROI enum) ROI index (allows a vehicle to manage multiple ROI's) Empty x the location of the fixed ROI (see MAV_FRAME) @@ -252,7 +595,7 @@ Empty - Control onboard camera capturing. + Control onboard camera system. Camera ID (-1 for all) Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw Transmission mode: 0: video stream, >0: single images every n seconds (decimal) @@ -261,20 +604,6 @@ Empty Empty - - Sets the region of interest (ROI) for a sensor set or the - vehicle itself. This can then be used by the vehicles control - system to control the vehicle attitude and the attitude of various - devices such as cameras. - - Region of interest mode. (see MAV_ROI enum) - Waypoint index/ target ID. (see MAV_ROI enum) - ROI index (allows a vehicle to manage multiple cameras etc.) - Empty - x the location of the fixed ROI (see MAV_FRAME) - y - z - NOP - This command is only used to mark the upper limit of the DO commands in the enumeration Empty @@ -295,6 +624,16 @@ Empty Empty + + Set sensor offsets. This command will be only accepted if in pre-flight mode. + Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow + X axis offset (or generic dimension 1), in the sensor's raw units + Y axis offset (or generic dimension 2), in the sensor's raw units + Z axis offset (or generic dimension 3), in the sensor's raw units + Generic dimension 4, in the sensor's raw units + Generic dimension 5, in the sensor's raw units + Generic dimension 6, in the sensor's raw units + Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM @@ -305,6 +644,26 @@ Empty Empty + + Request the reboot or shutdown of system components. + 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot. + 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer. + Reserved + Reserved + Empty + Empty + Empty + + + Hold / continue the current action + MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with mission plan + MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position + MAV_FRAME coordinate frame of hold point + Desired yaw angle in degrees + Latitude / X position + Longitude / Y position + Altitude / Z position + Data stream IDs. A data stream is not a fixed set of messages, but rather a @@ -348,10 +707,10 @@ No region of interest. - Point toward next waypoint. + Point toward next MISSION. - Point toward given waypoint. + Point toward given MISSION. Point toward fixed location. @@ -360,33 +719,76 @@ Point toward of given id. + + ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. + + Command / mission item is ok. + + + Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. + + + The system is refusing to accept this command from this source / communication partner. + + + Command or mission item is not supported, other commands would be accepted. + + + The coordinate frame of this command / mission item is not supported. + + + The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible. + + + The X or latitude value is out of range. + + + The Y or longitude value is out of range. + + + The Z or altitude value is out of range. + + The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot). Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + Autopilot type / class. defined in MAV_CLASS ENUM + System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + System status flag, see MAV_STATUS ENUM MAVLink version - - The boot message indicates that a system is starting. The onboard software version allows to keep track of onboard soft/firmware revisions. - The onboard software version - + + The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows wether the system is currently active or not and if an emergency occured. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occured it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout. + Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + Battery voltage, in millivolts (1 = 1 millivolt) + Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery + Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) + Autopilot-specific errors + Autopilot-specific errors + Autopilot-specific errors + Autopilot-specific errors + + The system time is the time of the master clock, typically the computer clock of the main onboard computer. - Timestamp of the master clock in microseconds since UNIX epoch. + Timestamp of the master clock in microseconds since UNIX epoch. + Timestamp of the component clock since boot time in milliseconds. - + + A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. + Unix timestamp in microseconds PING sequence 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system - Unix timestamp in microseconds - - - UTC date and time from GPS module - GPS UTC date ddmmyy - GPS UTC time hhmmss Request to control this MAV @@ -405,32 +807,17 @@ Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety. key - - This message acknowledges an action. IMPORTANT: The acknowledgement can be also negative, e.g. the MAV rejects a reset message because it is in-flight. The action ids are defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h - The action id - 0: Action DENIED, 1: Action executed - - - An action message allows to execute a certain onboard action. These include liftoff, land, storing parameters too EEPROM, shutddown, etc. The action ids are defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h - The system executing the action - The component executing the action - The action id - - Set the system mode, as defined by enum MAV_MODE in mavlink/include/mavlink_types.h. There is no target component id as the mode is by definition for the overall aircraft, not only for one component. - The system setting the mode - The new mode - - - Set the system navigation mode, as defined by enum MAV_NAV_MODE in mavlink/include/mavlink_types.h. The navigation mode applies to the whole aircraft and thus all components. - The system setting the mode - The new navigation mode + Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component. + The system setting the mode + The new base mode + The new autopilot-specific mode. This field can be ignored by an autopilot. Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface for a full documentation of QGroundControl and IMU code. System ID Component ID - Onboard parameter id + Onboard parameter id Parameter index. Send -1 to use the param ID field as identifier @@ -440,8 +827,9 @@ Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. - Onboard parameter id + Onboard parameter id Onboard parameter value + Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t Total number of onboard parameters Index of this onboard parameter @@ -449,25 +837,37 @@ Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. Send the ACTION MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents to EEPROM. IMPORTANT: The receiving component should acknowledge the new parameter value by sending a param_value message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message. System ID Component ID - Onboard parameter id + Onboard parameter id Onboard parameter value + Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t - + The global position, as returned by the Global Positioning System (GPS). This is -NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame) - Timestamp (microseconds since UNIX epoch or microseconds since system boot) + NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame) + + Timestamp (microseconds since UNIX epoch or microseconds since system boot) 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. Latitude in 1E7 degrees Longitude in 1E7 degrees - Altitude in 1E3 meters (millimeters) - GPS HDOP - GPS VDOP - GPS ground speed (m/s) - Compass heading in degrees, 0..360 degrees + Altitude in 1E3 meters (millimeters) above MSL + GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + GPS ground speed (m/s * 100). If unknown, set to: 65535 + Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + Number of satellites visible. If unknown, set to 255 + + + The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites. + Number of satellites visible + Global satellite ID + 0: Satellite not used, 1: used for localization + Elevation (0: right on top of receiver, 90: on the horizon) of satellite + Direction of satellite, 0: 0 deg, 255: 360 deg. + Signal to noise ratio of satellite The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units - Timestamp (microseconds since UNIX epoch or microseconds since system boot) + Timestamp (milliseconds since system boot) X acceleration (mg) Y acceleration (mg) Z acceleration (mg) @@ -478,18 +878,9 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Y Magnetic field (milli tesla) Z Magnetic field (milli tesla) - - The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites. - Number of satellites visible - Global satellite ID - 0: Satellite not used, 1: used for localization - Elevation (0: right on top of receiver, 90: on the horizon) of satellite - Direction of satellite, 0: 0 deg, 255: 360 deg. - Signal to noise ratio of satellite - - + The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging. - Timestamp (microseconds since UNIX epoch or microseconds since system boot) + Timestamp (microseconds since UNIX epoch or microseconds since system boot) X acceleration (raw) Y acceleration (raw) Z acceleration (raw) @@ -500,24 +891,24 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Y Magnetic field (raw) Z Magnetic field (raw) - + The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values. - Timestamp (microseconds since UNIX epoch or microseconds since system boot) + Timestamp (microseconds since UNIX epoch or microseconds since system boot) Absolute pressure (raw) Differential pressure 1 (raw) Differential pressure 2 (raw) Raw Temperature measurement (raw) - + The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field. - Timestamp (microseconds since UNIX epoch or microseconds since system boot) + Timestamp (microseconds since UNIX epoch or microseconds since system boot) Absolute pressure (hectopascal) Differential pressure 1 (hectopascal) Temperature measurement (0.01 degrees celsius) The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right). - Timestamp (microseconds since UNIX epoch or microseconds since system boot) + Timestamp (milliseconds since system boot) Roll angle (rad) Pitch angle (rad) Yaw angle (rad) @@ -525,9 +916,20 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Pitch angular speed (rad/s) Yaw angular speed (rad/s) - - The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame) - Timestamp (microseconds since UNIX epoch or microseconds since system boot) + + The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. + Timestamp (milliseconds since system boot) + Quaternion component 1 + Quaternion component 2 + Quaternion component 3 + Quaternion component 4 + Roll angular speed (rad/s) + Pitch angular speed (rad/s) + Yaw angular speed (rad/s) + + + The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention) + Timestamp (milliseconds since system boot) X Position Y Position Z Position @@ -535,41 +937,22 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Y Speed Z Speed - - The filtered global position (e.g. fused GPS and accelerometers). Coordinate frame is right-handed, Z-axis up (GPS frame) - Timestamp (microseconds since unix epoch) - Latitude, in degrees - Longitude, in degrees - Absolute altitude, in meters - X Speed (in Latitude direction, positive: going north) - Y Speed (in Longitude direction, positive: going east) - Z Speed (in Altitude direction, positive: going up) - - - The global position, as returned by the Global Positioning System (GPS). This is -NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame) - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - Latitude in degrees - Longitude in degrees - Altitude in meters - GPS HDOP - GPS VDOP - GPS ground speed - Compass heading in degrees, 0..360 degrees - - - The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows wether the system is currently active or not and if an emergency occured. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occured it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout. - System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - Navigation mode, see MAV_NAV_MODE ENUM - System status flag, see MAV_STATUS ENUM - Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - Battery voltage, in millivolts (1 = 1 millivolt) - Remaining battery energy: (0%: 0, 100%: 1000) - Dropped packets (packets that were corrupted on reception on the MAV) - - + + The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It + is designed as scaled integer message since the resolution of float is not sufficient. + Timestamp (milliseconds since system boot) + Latitude, expressed as * 1E7 + Longitude, expressed as * 1E7 + Altitude in meters, expressed as * 1000 (millimeters), above MSL + Altitude above ground in meters, expressed as * 1000 (millimeters) + Ground X Speed (Latitude), expressed as m/s * 100 + Ground Y Speed (Longitude), expressed as m/s * 100 + Ground Z Speed (Altitude), expressed as m/s * 100 + Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. + Timestamp (milliseconds since system boot) + Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. RC channel 1 value, in microseconds RC channel 2 value, in microseconds RC channel 3 value, in microseconds @@ -582,6 +965,8 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000 + Timestamp (milliseconds since system boot) + Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 @@ -594,6 +979,8 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. + Timestamp (since UNIX epoch or microseconds since system boot) + Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. Servo output 1 value, in microseconds Servo output 2 value, in microseconds Servo output 3 value, in microseconds @@ -603,84 +990,85 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Servo output 7 value, in microseconds Servo output 8 value, in microseconds - - Message encoding a waypoint. This message is emitted to announce - the presence of a waypoint and to set a waypoint on the system. The waypoint can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed, global frame is Z-up, right handed + + Message encoding a MISSION. This message is emitted to announce + the presence of a MISSION and to set a MISSION on the system. The MISSION can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed, global frame is Z-up, right handed + System ID Component ID Sequence - The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h - The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs + The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h + The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs false:0, true:1 autocontinue to next wp - PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters - PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH + PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters + PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH PARAM5 / local: x position, global: latitude PARAM6 / y position: global: longitude PARAM7 / z position: global: altitude - - Request the information of the waypoint with the sequence number seq. The response of the system to this message should be a WAYPOINT message. + + Request the information of the MISSION with the sequence number seq. The response of the system to this message should be a MISSION message. System ID Component ID Sequence - - Set the waypoint with sequence number seq as current waypoint. This means that the MAV will continue to this waypoint on the shortest path (not following the waypoints in-between). + + Set the MISSION with sequence number seq as current MISSION. This means that the MAV will continue to this MISSION on the shortest path (not following the MISSIONs in-between). System ID Component ID Sequence - - Message that announces the sequence number of the current active waypoint. The MAV will fly towards this waypoint. + + Message that announces the sequence number of the current active MISSION. The MAV will fly towards this MISSION. Sequence - - Request the overall list of waypoints from the system/component. + + Request the overall list of MISSIONs from the system/component. System ID Component ID - - This message is emitted as response to WAYPOINT_REQUEST_LIST by the MAV. The GCS can then request the individual waypoints based on the knowledge of the total number of waypoints. + + This message is emitted as response to MISSION_REQUEST_LIST by the MAV. The GCS can then request the individual MISSIONs based on the knowledge of the total number of MISSIONs. System ID Component ID - Number of Waypoints in the Sequence + Number of MISSIONs in the Sequence - - Delete all waypoints at once. + + Delete all mission items at once. System ID Component ID - - A certain waypoint has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint. + + A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next MISSION. Sequence - - Ack message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero). + + Ack message during MISSION handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero). System ID Component ID - 0: OK, 1: Error + 0: OK, 1: generic error / not accepting mission commands at all right now, 2: coordinate frame is not supported, 3: command is not supported, 4: mission item exceeds storage space, 5: one of the parameters has an invalid value, 6: param1 has an invalid value, 7: param2 has an invalid value, 8: param3 has an invalid value, 9: param4 has an invalid value, 10: x/param5 has an invalid value, 11: y:param6 has an invalid value, 12: z:param7 has an invalid value, 13: received waypoint out of sequence, 14: not accepting any mission commands from this communication partner - - As local waypoints exist, the global waypoint reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor. + + As local MISSIONs exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor. System ID - Component ID global position * 1E7 global position * 1E7 global position * 1000 - + Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position Latitude (WGS84), expressed as * 1E7 Longitude (WGS84), expressed as * 1E7 Altitude(WGS84), expressed as * 1000 - - Set the setpoint for a local position controller. This is the position in local coordinates the MAV should fly to. This message is sent by the path/waypoint planner to the onboard position controller. As some MAVs have a degree of freedom in yaw (e.g. all helicopters/quadrotors), the desired yaw angle is part of the message. + + Set the setpoint for a local position controller. This is the position in local coordinates the MAV should fly to. This message is sent by the path/MISSION planner to the onboard position controller. As some MAVs have a degree of freedom in yaw (e.g. all helicopters/quadrotors), the desired yaw angle is part of the message. System ID Component ID + Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU x position y position z position @@ -688,23 +1076,30 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. + Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU x position y position z position Desired yaw angle - - Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - Attitude estimation health: 0: poor, 255: excellent - 0: Attitude control disabled, 1: enabled - 0: X, Y position control disabled, 1: enabled - 0: Z position control disabled, 1: enabled - 0: Yaw angle control disabled, 1: enabled - - - Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations. + + Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. + Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + WGS84 Latitude position in degrees * 1E7 + WGS84 Longitude position in degrees * 1E7 + WGS84 Altitude in meters * 1000 (positive for up) + Desired yaw angle in degrees * 100 + + + Set the current global position setpoint. + Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT + WGS84 Latitude position in degrees * 1E7 + WGS84 Longitude position in degrees * 1E7 + WGS84 Altitude in meters * 1000 (positive for up) + Desired yaw angle in degrees * 100 + + + Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/MISSIONs to accept and which to reject. Safety areas are often enforced by national or competition regulations. System ID Component ID Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. @@ -715,7 +1110,7 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se y position 2 / Longitude 2 z position 2 / Altitude 2 - + Read out the safety zone the MAV currently assumes. Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. x position 1 / Latitude 1 @@ -725,7 +1120,7 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se y position 2 / Longitude 2 z position 2 / Altitude 2 - + Set roll, pitch and yaw. System ID Component ID @@ -734,7 +1129,7 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Desired yaw angle in radians Collective thrust, normalized to 0 .. 1 - + Set roll, pitch and yaw. System ID Component ID @@ -743,17 +1138,17 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Desired yaw angular speed in rad/s Collective thrust, normalized to 0 .. 1 - + Setpoint in roll, pitch, yaw currently active on the system. - Timestamp in micro seconds since unix epoch + Timestamp in milliseconds since system boot Desired roll angle in radians Desired pitch angle in radians Desired yaw angle in radians Collective thrust, normalized to 0 .. 1 - + Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system. - Timestamp in micro seconds since unix epoch + Timestamp in milliseconds since system boot Desired roll angular speed in rad/s Desired pitch angular speed in rad/s Desired yaw angular speed in rad/s @@ -761,23 +1156,17 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Outputs of the APM navigation controller. The primary use of this message is to check the response and signs -of the controller before actual flight and to assist with tuning controller parameters + of the controller before actual flight and to assist with tuning controller parameters + Current desired roll in degrees Current desired pitch in degrees Current desired heading in degrees - Bearing to current waypoint/target in degrees - Distance to active waypoint in meters + Bearing to current MISSION/target in degrees + Distance to active MISSION in meters Current altitude error in meters Current airspeed error in meters/second Current crosstrack error on x-y plane in meters - - The goal position of the system. This position is the input to any navigation or path planning algorithm and does NOT represent the current controller setpoint. - x position - y position - z position - yaw orientation in radians, 0 = NORTH - Corrects the systems state by adding an error correction term to the position and velocity, and by rotating the attitude by a correction angle. x position error @@ -790,47 +1179,17 @@ of the controller before actual flight and to assist with tuning controller para y velocity z velocity - - The system setting the altitude - The new altitude in meters - The target requested to send the message stream. The target requested to send the message stream. - The ID of the requested message type - Update rate in Hertz + The ID of the requested data stream + The requested interval between two messages of this type 1 to start sending, 0 to stop sending. - - This packet is useful for high throughput - applications such as hardware in the loop simulations. - - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - Roll angle (rad) - Pitch angle (rad) - Yaw angle (rad) - Roll angular speed (rad/s) - Pitch angular speed (rad/s) - Yaw angular speed (rad/s) - Latitude, expressed as * 1E7 - Longitude, expressed as * 1E7 - Altitude in meters, expressed as * 1000 (millimeters) - Ground X Speed (Latitude), expressed as m/s * 100 - Ground Y Speed (Longitude), expressed as m/s * 100 - Ground Z Speed (Altitude), expressed as m/s * 100 - X acceleration (mg) - Y acceleration (mg) - Z acceleration (mg) - - - Hardware in the loop control outputs - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - Control output -3 .. 1 - Control output -1 .. 1 - Control output -1 .. 1 - Throttle 0 .. 1 - System mode (MAV_MODE) - Navigation mode (MAV_NAV_MODE) + + The ID of the requested data stream + The requested interval between two messages of this type + 1 stream is enabled, 0 stream is stopped. The system to be controlled @@ -856,15 +1215,6 @@ of the controller before actual flight and to assist with tuning controller para RC channel 7 value, in microseconds RC channel 8 value, in microseconds - - The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up) - Latitude, expressed as * 1E7 - Longitude, expressed as * 1E7 - Altitude in meters, expressed as * 1000 (millimeters) - Ground X Speed (Latitude), expressed as m/s * 100 - Ground Y Speed (Longitude), expressed as m/s * 100 - Ground Z Speed (Altitude), expressed as m/s * 100 - Metrics typically displayed on a HUD for fixed wing aircraft Current airspeed in m/s @@ -874,7 +1224,7 @@ of the controller before actual flight and to assist with tuning controller para Current altitude (MSL), in meters Current climb rate in meters/second - + Send a command with up to four parameters to the MAV System which should execute the command Component which should execute the command, 0 for all components @@ -885,57 +1235,199 @@ of the controller before actual flight and to assist with tuning controller para Parameter 3, as defined by MAV_CMD enum. Parameter 4, as defined by MAV_CMD enum. - + + Send a command with up to four parameters to the MAV + System which should execute the command + Component which should execute the command, 0 for all components + Command ID, as defined by MAV_CMD enum. + 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + Parameter 1, as defined by MAV_CMD enum. + Parameter 2, as defined by MAV_CMD enum. + Parameter 3, as defined by MAV_CMD enum. + Parameter 4, as defined by MAV_CMD enum. + Parameter 5, as defined by MAV_CMD enum. + Parameter 6, as defined by MAV_CMD enum. + Parameter 7, as defined by MAV_CMD enum. + + Report status of a command. Includes feedback wether the command was executed - Current airspeed in m/s - 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + Command ID, as defined by MAV_CMD enum. + 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed + + + + + Sent from simulation to autopilot. This packet is useful for high throughput + applications such as hardware in the loop simulations. + + Timestamp (microseconds since UNIX epoch or microseconds since system boot) + Roll angle (rad) + Pitch angle (rad) + Yaw angle (rad) + Roll angular speed (rad/s) + Pitch angular speed (rad/s) + Yaw angular speed (rad/s) + Latitude, expressed as * 1E7 + Longitude, expressed as * 1E7 + Altitude in meters, expressed as * 1000 (millimeters) + Ground X Speed (Latitude), expressed as m/s * 100 + Ground Y Speed (Longitude), expressed as m/s * 100 + Ground Z Speed (Altitude), expressed as m/s * 100 + X acceleration (mg) + Y acceleration (mg) + Z acceleration (mg) + + + Sent from autopilot to simulation. Hardware in the loop control outputs + Timestamp (microseconds since UNIX epoch or microseconds since system boot) + Control output -1 .. 1 + Control output -1 .. 1 + Control output -1 .. 1 + Throttle 0 .. 1 + Aux 1, -1 .. 1 + Aux 2, -1 .. 1 + Aux 3, -1 .. 1 + Aux 4, -1 .. 1 + System mode (MAV_MODE) + Navigation mode (MAV_NAV_MODE) + + + Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. + Timestamp (microseconds since UNIX epoch or microseconds since system boot) + RC channel 1 value, in microseconds + RC channel 2 value, in microseconds + RC channel 3 value, in microseconds + RC channel 4 value, in microseconds + RC channel 5 value, in microseconds + RC channel 6 value, in microseconds + RC channel 7 value, in microseconds + RC channel 8 value, in microseconds + RC channel 9 value, in microseconds + RC channel 10 value, in microseconds + RC channel 11 value, in microseconds + RC channel 12 value, in microseconds + Receive signal strength indicator, 0: 0%, 255: 100% Optical flow from a flow sensor (e.g. optical mouse sensor) - Timestamp (UNIX) + Timestamp (UNIX) Sensor ID Flow in pixels in x-sensor direction Flow in pixels in y-sensor direction Optical flow quality / confidence. 0: bad, 255: maximum quality Ground distance in meters - - Object has been detected - Timestamp in milliseconds since system boot - Object ID - Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal - Name of the object as defined by the detector - Detection quality / confidence. 0: bad, 255: maximum confidence - Angle of the object with respect to the body frame in NED coordinates in radians. 0: front - Ground distance in meters - - - + + Timestamp (milliseconds) + Global X position + Global Y position + Global Z position + Roll angle in rad + Pitch angle in rad + Yaw angle in rad + + + Timestamp (milliseconds) + Global X position + Global Y position + Global Z position + Roll angle in rad + Pitch angle in rad + Yaw angle in rad + + + Timestamp (milliseconds) + Global X speed + Global Y speed + Global Z speed + + + Timestamp (milliseconds) + Global X position + Global Y position + Global Z position + Roll angle in rad + Pitch angle in rad + Yaw angle in rad + + + + Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output. + Starting address of the debug variables + Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below + Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 + Memory contents at specified address + + Name - Timestamp + Timestamp x y z - + Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output. + Timestamp (milliseconds since system boot) Name of the debug variable Floating point value - + Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output. + Timestamp (milliseconds since system boot) Name of the debug variable Signed integer value - + Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz). Severity of status, 0 = info message, 255 = critical fault - Status text message, without null termination character + Status text message, without null termination character - + Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N. + Timestamp (milliseconds since system boot) index of debug variable DEBUG value + + Extended message spacer. + System which should execute the command + Component which should execute the command, 0 for all components + Retransmission / ACK flags + diff --git a/thirdParty/mavlink/message_definitions/minimal.xml b/thirdParty/mavlink/message_definitions/minimal.xml index 5b41a4909090112233c5b91d1fa3067d7ffbdcbf..185a657de94c14e7e69d7f50578353f04e4d5db4 100644 --- a/thirdParty/mavlink/message_definitions/minimal.xml +++ b/thirdParty/mavlink/message_definitions/minimal.xml @@ -3,11 +3,14 @@ 2 - - The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot). - Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - MAVLink version - + + The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot). + Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + Autopilot type / class. defined in MAV_CLASS ENUM + System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. + System status flag, see MAV_STATUS ENUM + MAVLink version + diff --git a/thirdParty/mavlink/message_definitions/pixhawk.xml b/thirdParty/mavlink/message_definitions/pixhawk.xml index 7bed667831bbd9a119ceda537f25dfdd12d7db33..2860c2a59a8108f3b496aeeb80bcab8f1a402ed2 100644 --- a/thirdParty/mavlink/message_definitions/pixhawk.xml +++ b/thirdParty/mavlink/message_definitions/pixhawk.xml @@ -1,276 +1,203 @@ - + - common.xml - - - - Content Types for data transmission handshake - - - - - - - - - - - - The system to be controlled - roll - pitch - yaw - thrust - roll control enabled auto:0, manual:1 - pitch auto:0, manual:1 - yaw auto:0, manual:1 - thrust auto:0, manual:1 - - - - Camera id - Camera mode: 0 = auto, 1 = manual - Trigger pin, 0-3 for PtGrey FireFly - Shutter interval, in microseconds - Exposure time, in microseconds - Camera gain - - - - Timestamp - IMU seq - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - Local frame Z coordinate (height over ground) - GPS X coordinate - GPS Y coordinate - Global frame altitude - Ground truth X - Ground truth Y - Ground truth Z - - - - 0 to disable, 1 to enable - - - - Camera id - Camera # (starts with 0) - Timestamp - Until which timestamp this buffer will stay valid - The image sequence number - Position of the image in the buffer, starts with 0 - Image width - Image height - Image depth - Image channels - Shared memory area key - Exposure time, in microseconds - Camera gain - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - Local frame Z coordinate (height over ground) - GPS X coordinate - GPS Y coordinate - Global frame altitude - Ground truth X - Ground truth Y - Ground truth Z - - - - Timestamp (milliseconds) - Global X position - Global Y position - Global Z position - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - - - - Timestamp (milliseconds) - Global X position - Global Y position - Global Z position - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - - - - Timestamp (milliseconds) - Global X speed - Global Y speed - Global Z speed - - - - Message sent to the MAV to set a new position as reference for the controller - System ID - Component ID - ID of waypoint, 0 for plain position - x position - y position - z position - yaw orientation in radians, 0 = NORTH - - - - Message sent to the MAV to set a new offset from the currently controlled position - System ID - Component ID - x position offset - y position offset - z position offset - yaw orientation offset in radians, 0 = NORTH - - - - - ID of waypoint, 0 for plain position - x position - y position - z position - yaw orientation in radians, 0 = NORTH - - - - ID - x position - y position - z position - roll orientation - pitch orientation - yaw orientation - - - - ADC1 (J405 ADC3, LPC2148 AD0.6) - ADC2 (J405 ADC5, LPC2148 AD0.2) - ADC3 (J405 ADC6, LPC2148 AD0.1) - ADC4 (J405 ADC7, LPC2148 AD1.3) - Battery voltage - Temperature (degrees celcius) - Barometric pressure (hecto Pascal) - - - - Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - Number of I2C errors since startup - Number of I2C errors since startup - Number of I2C errors since startup - Number of I2C errors since startup - Number of I2C errors since startup - - - - Watchdog ID - Number of processes - - - - Watchdog ID - Process ID - Process name - Process arguments - Timeout (seconds) - - - - Watchdog ID - Process ID - Is running / finished / suspended / crashed - Is muted - PID - Number of crashes - - - - Target system ID - Watchdog ID - Process ID - Command ID - - - - 0: Pattern, 1: Letter - Confidence of detection - Pattern file name - Accepted as true detection, 0 no, 1 yes - - - - Notifies the operator about a point of interest (POI). This can be anything detected by the + common.xml + + + Content Types for data transmission handshake + + + + + + + + Camera id + Camera mode: 0 = auto, 1 = manual + Trigger pin, 0-3 for PtGrey FireFly + Shutter interval, in microseconds + Exposure time, in microseconds + Camera gain + + + Timestamp + IMU seq + Roll angle in rad + Pitch angle in rad + Yaw angle in rad + Local frame Z coordinate (height over ground) + GPS X coordinate + GPS Y coordinate + Global frame altitude + Ground truth X + Ground truth Y + Ground truth Z + + + 0 to disable, 1 to enable + + + Camera id + Camera # (starts with 0) + Timestamp + Until which timestamp this buffer will stay valid + The image sequence number + Position of the image in the buffer, starts with 0 + Image width + Image height + Image depth + Image channels + Shared memory area key + Exposure time, in microseconds + Camera gain + Roll angle in rad + Pitch angle in rad + Yaw angle in rad + Local frame Z coordinate (height over ground) + GPS X coordinate + GPS Y coordinate + Global frame altitude + Ground truth X + Ground truth Y + Ground truth Z + + + Message sent to the MAV to set a new position as reference for the controller + System ID + Component ID + ID of waypoint, 0 for plain position + x position + y position + z position + yaw orientation in radians, 0 = NORTH + + + Message sent to the MAV to set a new offset from the currently controlled position + System ID + Component ID + x position offset + y position offset + z position offset + yaw orientation offset in radians, 0 = NORTH + + + + ID of waypoint, 0 for plain position + x position + y position + z position + yaw orientation in radians, 0 = NORTH + + + ID + x position + y position + z position + roll orientation + pitch orientation + yaw orientation + + + ADC1 (J405 ADC3, LPC2148 AD0.6) + ADC2 (J405 ADC5, LPC2148 AD0.2) + ADC3 (J405 ADC6, LPC2148 AD0.1) + ADC4 (J405 ADC7, LPC2148 AD1.3) + Battery voltage + Temperature (degrees celcius) + Barometric pressure (hecto Pascal) + + + Watchdog ID + Number of processes + + + Watchdog ID + Process ID + Process name + Process arguments + Timeout (seconds) + + + Watchdog ID + Process ID + Is running / finished / suspended / crashed + Is muted + PID + Number of crashes + + + Target system ID + Watchdog ID + Process ID + Command ID + + + 0: Pattern, 1: Letter + Confidence of detection + Pattern file name + Accepted as true detection, 0 no, 1 yes + + + Notifies the operator about a point of interest (POI). This can be anything detected by the system. This generic message is intented to help interfacing to generic visualizations and to display the POI on a map. - 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - 0: global, 1:local - 0: no timeout, >1: timeout in seconds - X Position - Y Position - Z Position - POI name - - - - Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the + 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + 0: global, 1:local + 0: no timeout, >1: timeout in seconds + X Position + Y Position + Z Position + POI name + + + Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the system. This generic message is intented to help interfacing to generic visualizations and to display the POI on a map. - 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - 0: global, 1:local - 0: no timeout, >1: timeout in seconds - X1 Position - Y1 Position - Z1 Position - X2 Position - Y2 Position - Z2 Position - POI connection name - - - - type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) - total data size in bytes (set on ACK only) - number of packets beeing sent (set on ACK only) - payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) - JPEG quality out of [1,100] - - - - sequence number (starting with 0 on every transmission) - image data bytes - - - - x position in m - y position in m - z position in m - Orientation assignment 0: false, 1:true - Size in pixels - Orientation - Descriptor - Harris operator response at this location - - - - Visual odometry estimate describing relative pose between two frames - Time at which frame 1 was captured (in microseconds since unix epoch) - Time at which frame 2 was captured (in microseconds since unix epoch) - Relative X position - Relative Y position - Relative Z position - Relative roll angle in rad - Relative pitch angle in rad - Relative yaw angle in rad - - - + 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + 0: global, 1:local + 0: no timeout, >1: timeout in seconds + X1 Position + Y1 Position + Z1 Position + X2 Position + Y2 Position + Z2 Position + POI connection name + + + type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + total data size in bytes (set on ACK only) + number of packets beeing sent (set on ACK only) + payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + JPEG quality out of [1,100] + + + sequence number (starting with 0 on every transmission) + image data bytes + + + x position in m + y position in m + z position in m + Orientation assignment 0: false, 1:true + Size in pixels + Orientation + Descriptor + Harris operator response at this location + + + The system to be controlled + roll + pitch + yaw + thrust + roll control enabled auto:0, manual:1 + pitch auto:0, manual:1 + yaw auto:0, manual:1 + thrust auto:0, manual:1 + + diff --git a/thirdParty/mavlink/message_definitions/test.xml b/thirdParty/mavlink/message_definitions/test.xml new file mode 100644 index 0000000000000000000000000000000000000000..02bc03204d11a3565e9a39ce4b2646e935a6bd2b --- /dev/null +++ b/thirdParty/mavlink/message_definitions/test.xml @@ -0,0 +1,31 @@ + + + 3 + + + Test all field types + char + string + uint8_t + uint16_t + uint32_t + uint64_t + int8_t + int16_t + int32_t + int64_t + float + double + uint8_t_array + uint16_t_array + uint32_t_array + uint64_t_array + int8_t_array + int16_t_array + int32_t_array + int64_t_array + float_array + double_array + + + diff --git a/thirdParty/mavlink/missionlib/mavlink_missionlib_data.h b/thirdParty/mavlink/missionlib/mavlink_missionlib_data.h new file mode 100644 index 0000000000000000000000000000000000000000..c825fbcef803917f2d57dfc98499248c1ee46058 --- /dev/null +++ b/thirdParty/mavlink/missionlib/mavlink_missionlib_data.h @@ -0,0 +1,58 @@ +/******************************************************************************* + + Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + ****************************************************************************/ + +/* This assumes you have the mavlink headers on your include path + or in the same folder as this source file */ + +// Disable auto-data structures +#ifndef MAVLINK_NO_DATA +#define MAVLINK_NO_DATA +#endif + +#include "mavlink.h" +#include + +/* MISSION LIB DATA STORAGE */ + +enum MAVLINK_PM_PARAMETERS +{ + MAVLINK_PM_PARAM_SYSTEM_ID, + MAVLINK_PM_PARAM_ATT_K_D, + MAVLINK_PM_MAX_PARAM_COUNT // VERY IMPORTANT! KEEP THIS AS LAST ENTRY +}; + + +/* DO NOT EDIT THIS FILE BELOW THIS POINT! */ + +#ifndef MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN +#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16 +#endif + + +//extern void mavlink_pm_queued_send(); +struct mavlink_pm_storage { + char param_names[MAVLINK_PM_MAX_PARAM_COUNT][MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; ///< Parameter names + float param_values[MAVLINK_PM_MAX_PARAM_COUNT]; ///< Parameter values + uint16_t next_param; + uint16_t size; +}; + +typedef struct mavlink_pm_storage mavlink_pm_storage; + +void mavlink_pm_reset_params(mavlink_pm_storage* pm); diff --git a/thirdParty/mavlink/missionlib/mavlink_parameters.c b/thirdParty/mavlink/missionlib/mavlink_parameters.c new file mode 100644 index 0000000000000000000000000000000000000000..7ed8e7955d6576b41aee16af400d905a05d768a6 --- /dev/null +++ b/thirdParty/mavlink/missionlib/mavlink_parameters.c @@ -0,0 +1,150 @@ +/******************************************************************************* + + Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + ****************************************************************************/ + +#include "testing/mavlink_missionlib_data.h" +#include "mavlink_parameters.h" +#include "math.h" /* isinf / isnan checks */ + +extern mavlink_system_t mavlink_system; +extern mavlink_pm_storage pm; + +extern void mavlink_missionlib_send_message(mavlink_message_t* msg); +extern void mavlink_missionlib_send_gcs_string(const char* string); + +void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t* msg) +{ + switch (msg->msgid) + { + case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: + { + // Start sending parameters + pm.next_param = 0; + mavlink_missionlib_send_gcs_string("PM SENDING LIST"); + } + break; + case MAVLINK_MSG_ID_PARAM_SET: + { + mavlink_param_set_t set; + mavlink_msg_param_set_decode(msg, &set); + + // Check if this message is for this system + if (set.target_system == mavlink_system.sysid && set.target_component == mavlink_system.compid) + { + char* key = set.param_id; + + for (uint16_t i = 0; i < MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN; i++) + { + bool match = true; + for (uint16_t j = 0; j < MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN; j++) + { + // Compare + if (pm.param_names[i][j] != key[j]) + { + match = false; + } + + // End matching if null termination is reached + if (pm.param_names[i][j] == '\0') + { + break; + } + } + + // Check if matched + if (match) + { + // Only write and emit changes if there is actually a difference + // AND only write if new value is NOT "not-a-number" + // AND is NOT infinity + if (pm.param_values[i] != set.param_value + && !isnan(set.param_value) + && !isinf(set.param_value)) + { + pm.param_values[i] = set.param_value; + // Report back new value +#ifndef MAVLINK_USE_CONVENIENCE_FUNCTIONS + mavlink_message_t tx_msg; + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, + mavlink_system.compid, + MAVLINK_COMM_0, + &tx_msg, + pm.param_names[i], + pm.param_values[i], + MAVLINK_TYPE_FLOAT, + pm.size, + i); + mavlink_missionlib_send_message(&tx_msg); +#else + mavlink_msg_param_value_send(MAVLINK_COMM_0, + pm.param_names[i], + pm.param_values[i], + MAVLINK_TYPE_FLOAT, + pm.size, + i); +#endif + + mavlink_missionlib_send_gcs_string("PM received param"); + } // End valid value check + } // End match check + } // End for loop + } // End system ID check + + } // End case + break; + + } // End switch + +} + + /** + * @brief Send low-priority messages at a maximum rate of xx Hertz + * + * This function sends messages at a lower rate to not exceed the wireless + * bandwidth. It sends one message each time it is called until the buffer is empty. + * Call this function with xx Hertz to increase/decrease the bandwidth. + */ + void mavlink_pm_queued_send(void) + { + //send parameters one by one + if (pm.next_param < pm.size) + { + //for (int i.. all active comm links) +#ifndef MAVLINK_USE_CONVENIENCE_FUNCTIONS + mavlink_message_t tx_msg; + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, + mavlink_system.compid, + MAVLINK_COMM_0, + &tx_msg, + pm.param_names[pm.next_param], + pm.param_values[pm.next_param], + MAVLINK_TYPE_FLOAT, + pm.size, + pm.next_param); + mavlink_missionlib_send_message(&tx_msg); +#else + mavlink_msg_param_value_send(MAVLINK_COMM_0, + pm.param_names[pm.next_param], + pm.param_values[pm.next_param], + MAV_DATA_TYPE_FLOAT, + pm.size, + pm.next_param); +#endif + pm.next_param++; + } + } diff --git a/thirdParty/mavlink/missionlib/mavlink_parameters.h b/thirdParty/mavlink/missionlib/mavlink_parameters.h new file mode 100644 index 0000000000000000000000000000000000000000..0d7841fcdd85807988aa05dbc5f13c00426f1712 --- /dev/null +++ b/thirdParty/mavlink/missionlib/mavlink_parameters.h @@ -0,0 +1,38 @@ +/******************************************************************************* + + Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + ****************************************************************************/ + +/* This assumes you have the mavlink headers on your include path + or in the same folder as this source file */ + +// Disable auto-data structures +#ifndef MAVLINK_NO_DATA +#define MAVLINK_NO_DATA +#endif + +#include "mavlink.h" +#include + +/* PARAMETER MANAGER - MISSION LIB */ + +#ifndef MAVLINK_PM_TEXT_FEEDBACK +#define MAVLINK_PM_TEXT_FEEDBACK 1 ///< Report back status information as text +#endif + +void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t* msg); +void mavlink_pm_queued_send(void); \ No newline at end of file diff --git a/thirdParty/mavlink/missionlib/testing/main.c b/thirdParty/mavlink/missionlib/testing/main.c index 0bec1155ad5e73a5bdd765f71399e88bc0c59754..21aa1f7e15fae4367a5b0f8ab191f98d875e777f 100644 --- a/thirdParty/mavlink/missionlib/testing/main.c +++ b/thirdParty/mavlink/missionlib/testing/main.c @@ -42,6 +42,7 @@ #include #include #include +#include #if (defined __QNX__) | (defined __QNXNTO__) /* QNX specific headers */ #include @@ -52,25 +53,54 @@ #include #endif +/* FIRST: MAVLink setup */ +//#define MAVLINK_CONFIGURED +//#define MAVLINK_NO_DATA +//#define MAVLINK_WPM_VERBOSE + /* 0: Include MAVLink types */ -#include <../mavlink_types.h> +#include "mavlink_types.h" /* 1: Define mavlink system storage */ mavlink_system_t mavlink_system; /* 2: Include actual protocol, REQUIRES mavlink_system */ -#include +#include "mavlink.h" /* 3: Define waypoint helper functions */ void mavlink_wpm_send_message(mavlink_message_t* msg); void mavlink_wpm_send_gcs_string(const char* string); uint64_t mavlink_wpm_get_system_timestamp(); +void mavlink_missionlib_send_message(mavlink_message_t* msg); +void mavlink_missionlib_send_gcs_string(const char* string); +uint64_t mavlink_missionlib_get_system_timestamp(); /* 4: Include waypoint protocol */ #include "waypoints.h" mavlink_wpm_storage wpm; +#include "mavlink_missionlib_data.h" +#include "mavlink_parameters.h" + +mavlink_pm_storage pm; + +/** + * @brief reset all parameters to default + * @warning DO NOT USE THIS IN FLIGHT! + */ +void mavlink_pm_reset_params(mavlink_pm_storage* pm) +{ + pm->size = MAVLINK_PM_MAX_PARAM_COUNT; + // 1) MAVLINK_PM_PARAM_SYSTEM_ID + pm->param_values[MAVLINK_PM_PARAM_SYSTEM_ID] = 12; + strcpy(pm->param_names[MAVLINK_PM_PARAM_SYSTEM_ID], "SYS_ID"); + // 2) MAVLINK_PM_PARAM_ATT_K_D + pm->param_values[MAVLINK_PM_PARAM_ATT_K_D] = 0.3f; + strcpy(pm->param_names[MAVLINK_PM_PARAM_ATT_K_D], "ATT_K_D"); +} + + #define BUFFER_LENGTH 2041 // minimum buffer size that can be used with qnx (I don't know why) char help[] = "--help"; @@ -101,35 +131,58 @@ uint64_t microsSinceEpoch(); /* * @brief Sends a MAVLink message over UDP */ -void mavlink_wpm_send_message(mavlink_message_t* msg) + +void mavlink_missionlib_send_message(mavlink_message_t* msg) { uint8_t buf[MAVLINK_MAX_PACKET_LEN]; uint16_t len = mavlink_msg_to_send_buffer(buf, msg); uint16_t bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); - printf("SENT %d bytes", bytes_sent); + printf("SENT %d bytes\n", bytes_sent); } -void mavlink_wpm_send_gcs_string(const char* string) +void mavlink_missionlib_send_gcs_string(const char* string) { - printf("%s",string); + const int len = 50; + mavlink_statustext_t status; + int i = 0; + while (i < len - 1) + { + status.text[i] = string[i]; + if (string[i] == '\0') + break; + i++; + } + status.text[i] = '\0'; // Enforce null termination + mavlink_message_t msg; + + mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &status); + mavlink_missionlib_send_message(&msg); } -uint64_t mavlink_wpm_get_system_timestamp() +uint64_t mavlink_missionlib_get_system_timestamp() { struct timeval tv; gettimeofday(&tv, NULL); return ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec; } - +float roll, pitch, yaw; +uint32_t latitude, longitude, altitude; +uint16_t speedx, speedy, speedz; +float rollspeed, pitchspeed, yawspeed; +bool hilEnabled = false; int main(int argc, char* argv[]) { // Initialize MAVLink mavlink_wpm_init(&wpm); - mavlink_system.sysid = 1; - mavlink_system.compid = MAV_COMP_ID_WAYPOINTPLANNER; + mavlink_system.sysid = 5; + mavlink_system.compid = 20; + mavlink_pm_reset_params(&pm); + + int32_t ground_distance; + uint32_t time_ms; @@ -190,29 +243,46 @@ int main(int argc, char* argv[]) for (;;) { + bytes_sent = 0; - /*Send Heartbeat */ - mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_HELICOPTER, MAV_CLASS_GENERIC); + /* Send Heartbeat */ + mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, 0, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send Status */ - mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED, MAV_NAV_HOLD, MAV_STATE_ACTIVE, 500, 7500, 0, 0); + mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE, 500, 7500, 0, 0, 0, 0, 0, 0, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); + bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); /* Send Local Position */ - mavlink_msg_local_position_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), + mavlink_msg_local_position_ned_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), position[0], position[1], position[2], position[3], position[4], position[5]); len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + + /* Send global position */ + if (hilEnabled) + { + mavlink_msg_global_position_int_pack(mavlink_system.sysid, 200, &msg, time_ms, latitude, longitude, altitude, ground_distance, speedx, speedy, speedz, (yaw/M_PI)*180*100); + len = mavlink_msg_to_send_buffer(buf, &msg); + bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + } /* Send attitude */ - mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03); + mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), roll, pitch, yaw, rollspeed, pitchspeed, yawspeed); len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + /* Send HIL outputs */ + float roll_ailerons = 0; // -1 .. 1 + float pitch_elevator = 0.2; // -1 .. 1 + float yaw_rudder = 0.1; // -1 .. 1 + float throttle = 0.9; // 0 .. 1 + mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, MAVLINK_COMM_0, &msg, microsSinceEpoch(), roll_ailerons, pitch_elevator, yaw_rudder, throttle, mavlink_system.mode, mavlink_system.nav_mode, 0, 0, 0, 0); + len = mavlink_msg_to_send_buffer(buf, &msg); + bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); memset(buf, 0, BUFFER_LENGTH); recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen); @@ -236,12 +306,39 @@ int main(int argc, char* argv[]) mavlink_wpm_message_handler(&msg); // Handle packet with parameter component + mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); + + // Print HIL values sent to system + if (msg.msgid == MAVLINK_MSG_ID_HIL_STATE) + { + mavlink_hil_state_t hil; + mavlink_msg_hil_state_decode(&msg, &hil); + printf("Received HIL state:\n"); + printf("R: %f P: %f Y: %f\n", hil.roll, hil.pitch, hil.yaw); + roll = hil.roll; + pitch = hil.pitch; + yaw = hil.yaw; + rollspeed = hil.rollspeed; + pitchspeed = hil.pitchspeed; + yawspeed = hil.yawspeed; + speedx = hil.vx; + speedy = hil.vy; + speedz = hil.vz; + latitude = hil.lat; + longitude = hil.lon; + altitude = hil.alt; + hilEnabled = true; + } } } printf("\n"); } memset(buf, 0, BUFFER_LENGTH); - usleep(50000); // Sleep one second + usleep(10000); // Sleep 10 ms + + + // Send one parameter + mavlink_pm_queued_send(); } } diff --git a/thirdParty/mavlink/missionlib/testing/mavlink_missionlib_data.h b/thirdParty/mavlink/missionlib/testing/mavlink_missionlib_data.h new file mode 100644 index 0000000000000000000000000000000000000000..a040941e2ccbafcd87b7170cc2534e0b0199d29f --- /dev/null +++ b/thirdParty/mavlink/missionlib/testing/mavlink_missionlib_data.h @@ -0,0 +1,54 @@ +/******************************************************************************* + + Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + ****************************************************************************/ + +/* This assumes you have the mavlink headers on your include path + or in the same folder as this source file */ + +// Disable auto-data structures +#ifndef MAVLINK_NO_DATA +#define MAVLINK_NO_DATA +#endif + +#include "mavlink.h" +#include + +/* MISSION LIB DATA STORAGE */ + +enum MAVLINK_PM_PARAMETERS +{ + MAVLINK_PM_PARAM_SYSTEM_ID, + MAVLINK_PM_PARAM_ATT_K_D, + MAVLINK_PM_MAX_PARAM_COUNT // VERY IMPORTANT! KEEP THIS AS LAST ENTRY +}; + + +/* DO NOT EDIT THIS FILE BELOW THIS POINT! */ + + +//extern void mavlink_pm_queued_send(); +struct mavlink_pm_storage { + char param_names[MAVLINK_PM_MAX_PARAM_COUNT][MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; ///< Parameter names + float param_values[MAVLINK_PM_MAX_PARAM_COUNT]; ///< Parameter values + uint16_t next_param; + uint16_t size; +}; + +typedef struct mavlink_pm_storage mavlink_pm_storage; + +void mavlink_pm_reset_params(mavlink_pm_storage* pm); \ No newline at end of file diff --git a/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/.gitignore b/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/.gitignore deleted file mode 100644 index d82a5e47def52cce2467649612ca36ad79f40a63..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -*.mode1v3 -*.pbxuser diff --git a/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/project.pbxproj b/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/project.pbxproj index ba27d2f32eed92413f59df2f43dc17a6830706f7..7bc76570d341d36f8e1d7e23978de495501ada27 100644 --- a/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/project.pbxproj +++ b/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/project.pbxproj @@ -7,9 +7,9 @@ objects = { /* Begin PBXBuildFile section */ + 348868D013F512010005F759 /* mavlink_parameters.c in Sources */ = {isa = PBXBuildFile; fileRef = 348868CF13F512010005F759 /* mavlink_parameters.c */; }; 34E8AFDB13F5064C001100AA /* waypoints.c in Sources */ = {isa = PBXBuildFile; fileRef = 34E8AFDA13F5064C001100AA /* waypoints.c */; }; 8DD76FAC0486AB0100D96B5E /* main.c in Sources */ = {isa = PBXBuildFile; fileRef = 08FB7796FE84155DC02AAC07 /* main.c */; settings = {ATTRIBUTES = (); }; }; - 8DD76FB00486AB0100D96B5E /* udptest.1 in CopyFiles */ = {isa = PBXBuildFile; fileRef = C6A0FF2C0290799A04C91782 /* udptest.1 */; }; /* End PBXBuildFile section */ /* Begin PBXCopyFilesBuildPhase section */ @@ -19,7 +19,6 @@ dstPath = /usr/share/man/man1/; dstSubfolderSpec = 0; files = ( - 8DD76FB00486AB0100D96B5E /* udptest.1 in CopyFiles */, ); runOnlyForDeploymentPostprocessing = 1; }; @@ -27,10 +26,11 @@ /* Begin PBXFileReference section */ 08FB7796FE84155DC02AAC07 /* main.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = main.c; sourceTree = ""; }; + 348868CF13F512010005F759 /* mavlink_parameters.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = mavlink_parameters.c; path = ../mavlink_parameters.c; sourceTree = SOURCE_ROOT; }; + 348868D113F512080005F759 /* mavlink_parameters.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = mavlink_parameters.h; path = ../mavlink_parameters.h; sourceTree = SOURCE_ROOT; }; 34E8AFDA13F5064C001100AA /* waypoints.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = waypoints.c; path = ../waypoints.c; sourceTree = SOURCE_ROOT; }; 34E8AFDC13F50659001100AA /* waypoints.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = waypoints.h; path = ../waypoints.h; sourceTree = SOURCE_ROOT; }; 8DD76FB20486AB0100D96B5E /* udptest */ = {isa = PBXFileReference; explicitFileType = "compiled.mach-o.executable"; includeInIndex = 0; path = udptest; sourceTree = BUILT_PRODUCTS_DIR; }; - C6A0FF2C0290799A04C91782 /* udptest.1 */ = {isa = PBXFileReference; lastKnownFileType = text.man; path = udptest.1; sourceTree = ""; }; /* End PBXFileReference section */ /* Begin PBXFrameworksBuildPhase section */ @@ -58,6 +58,8 @@ 08FB7795FE84155DC02AAC07 /* Source */ = { isa = PBXGroup; children = ( + 348868D113F512080005F759 /* mavlink_parameters.h */, + 348868CF13F512010005F759 /* mavlink_parameters.c */, 34E8AFDA13F5064C001100AA /* waypoints.c */, 08FB7796FE84155DC02AAC07 /* main.c */, ); @@ -75,7 +77,6 @@ C6A0FF2B0290797F04C91782 /* Documentation */ = { isa = PBXGroup; children = ( - C6A0FF2C0290799A04C91782 /* udptest.1 */, ); name = Documentation; sourceTree = ""; @@ -132,6 +133,7 @@ files = ( 8DD76FAC0486AB0100D96B5E /* main.c in Sources */, 34E8AFDB13F5064C001100AA /* waypoints.c in Sources */, + 348868D013F512010005F759 /* mavlink_parameters.c in Sources */, ); runOnlyForDeploymentPostprocessing = 0; }; @@ -171,7 +173,10 @@ GCC_OPTIMIZATION_LEVEL = 0; GCC_WARN_ABOUT_RETURN_TYPE = YES; GCC_WARN_UNUSED_VARIABLE = YES; - HEADER_SEARCH_PATHS = ../../include/common/; + HEADER_SEARCH_PATHS = ( + ../../include/, + ../../include/common/, + ); ONLY_ACTIVE_ARCH = YES; PREBINDING = NO; SDKROOT = macosx10.6; diff --git a/thirdParty/mavlink/missionlib/waypoints.c b/thirdParty/mavlink/missionlib/waypoints.c index a7b8ee5f5ca0aa43be983ab1f1c1eaadaa616ee4..79d7e29077770039bb8911038792ecab9f1bb75a 100644 --- a/thirdParty/mavlink/missionlib/waypoints.c +++ b/thirdParty/mavlink/missionlib/waypoints.c @@ -26,13 +26,15 @@ bool verbose = true; extern mavlink_system_t mavlink_system; extern mavlink_wpm_storage wpm; -extern void mavlink_wpm_send_message(mavlink_message_t* msg); -extern void mavlink_wpm_send_gcs_string(const char* string); -extern uint64_t mavlink_wpm_get_system_timestamp(); +extern void mavlink_missionlib_send_message(mavlink_message_t* msg); +extern void mavlink_missionlib_send_gcs_string(const char* string); +extern uint64_t mavlink_missionlib_get_system_timestamp(); #define MAVLINK_WPM_NO_PRINTF +uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; + void mavlink_wpm_init(mavlink_wpm_storage* state) { // Set all waypoints to zero @@ -62,25 +64,25 @@ void mavlink_wpm_init(mavlink_wpm_storage* state) void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) { mavlink_message_t msg; - mavlink_waypoint_ack_t wpa; + mavlink_mission_ack_t wpa; wpa.target_system = wpm.current_partner_sysid; wpa.target_component = wpm.current_partner_compid; wpa.type = type; - mavlink_msg_waypoint_ack_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wpa); - mavlink_wpm_send_message(&msg); + mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); + mavlink_missionlib_send_message(&msg); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); if (MAVLINK_WPM_TEXT_FEEDBACK) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("Sent waypoint ACK"); + mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); #else if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); #endif - mavlink_wpm_send_gcs_string("Sent waypoint ACK"); + mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); } } @@ -97,23 +99,23 @@ void mavlink_wpm_send_waypoint_current(uint16_t seq) { if(seq < wpm.size) { - mavlink_waypoint_t *cur = &(wpm.waypoints[seq]); + mavlink_mission_item_t *cur = &(wpm.waypoints[seq]); mavlink_message_t msg; - mavlink_waypoint_current_t wpc; + mavlink_mission_current_t wpc; wpc.seq = cur->seq; - mavlink_msg_waypoint_current_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wpc); - mavlink_wpm_send_message(&msg); + mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Broadcasted new current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Broadcasted new current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: index out of bounds\n"); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: index out of bounds\n"); } } @@ -127,54 +129,54 @@ void mavlink_wpm_send_waypoint_current(uint16_t seq) */ void mavlink_wpm_send_setpoint(uint16_t seq) { - if(seq < wpm.size) - { - mavlink_waypoint_t *cur = &(wpm.waypoints[seq]); - - mavlink_message_t msg; - mavlink_local_position_setpoint_set_t position_control_set_point; - - // Send new NED or ENU setpoint to onbaord autopilot - if (cur->frame == MAV_FRAME_LOCAL_NED || cur->frame == MAV_FRAME_LOCAL_ENU) - { - position_control_set_point.target_system = mavlink_system.sysid; - position_control_set_point.target_component = MAV_COMP_ID_IMU; - position_control_set_point.x = cur->x; - position_control_set_point.y = cur->y; - position_control_set_point.z = cur->z; - position_control_set_point.yaw = cur->param4; - - mavlink_msg_local_position_setpoint_set_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &position_control_set_point); - mavlink_wpm_send_message(&msg); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - } - else - { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("No new setpoint set because of invalid coordinate frame of waypoint");//// if (verbose) // printf("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq); - } - - wpm.timestamp_last_send_setpoint = mavlink_wpm_get_system_timestamp(); - } - else - { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); - } +// if(seq < wpm.size) +// { +// mavlink_mission_item_t *cur = &(wpm.waypoints[seq]); +// +// mavlink_message_t msg; +// mavlink_local_position_setpoint_set_t position_control_set_point; +// +// // Send new NED or ENU setpoint to onbaord autopilot +// if (cur->frame == MAV_FRAME_LOCAL_NED || cur->frame == MAV_FRAME_LOCAL_ENU) +// { +// position_control_set_point.target_system = mavlink_system.sysid; +// position_control_set_point.target_component = MAV_COMP_ID_IMU; +// position_control_set_point.x = cur->x; +// position_control_set_point.y = cur->y; +// position_control_set_point.z = cur->z; +// position_control_set_point.yaw = cur->param4; +// +// mavlink_msg_local_position_setpoint_set_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &position_control_set_point); +// mavlink_missionlib_send_message(&msg); +// +// // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); +// } +// else +// { +// if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("No new setpoint set because of invalid coordinate frame of waypoint");//// if (verbose) // printf("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq); +// } +// +// wpm.timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); +// } +// else +// { +// if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); +// } } void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) { mavlink_message_t msg; - mavlink_waypoint_count_t wpc; + mavlink_mission_count_t wpc; wpc.target_system = wpm.current_partner_sysid; wpc.target_component = wpm.current_partner_compid; wpc.count = count; - mavlink_msg_waypoint_count_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wpc); - mavlink_wpm_send_message(&msg); + mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); } @@ -184,18 +186,18 @@ void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) if (seq < wpm.size) { mavlink_message_t msg; - mavlink_waypoint_t *wp = &(wpm.waypoints[seq]); + mavlink_mission_item_t *wp = &(wpm.waypoints[seq]); wp->target_system = wpm.current_partner_sysid; wp->target_component = wpm.current_partner_compid; - mavlink_msg_waypoint_encode(mavlink_system.sysid, mavlink_system.compid, &msg, wp); - mavlink_wpm_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); + mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp); + mavlink_missionlib_send_message(&msg); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: Waypoint index out of bounds\n"); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); } } @@ -204,19 +206,19 @@ void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t s if (seq < wpm.max_size) { mavlink_message_t msg; - mavlink_waypoint_request_t wpr; + mavlink_mission_request_t wpr; wpr.target_system = wpm.current_partner_sysid; wpr.target_component = wpm.current_partner_compid; wpr.seq = seq; - mavlink_msg_waypoint_request_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wpr); - mavlink_wpm_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); + mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); + mavlink_missionlib_send_message(&msg); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); } } @@ -230,14 +232,14 @@ void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t s void mavlink_wpm_send_waypoint_reached(uint16_t seq) { mavlink_message_t msg; - mavlink_waypoint_reached_t wp_reached; + mavlink_mission_item_reached_t wp_reached; wp_reached.seq = seq; - mavlink_msg_waypoint_reached_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wp_reached); - mavlink_wpm_send_message(&msg); + mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); + mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); } @@ -246,7 +248,7 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq) //{ // if (seq < wpm.size) // { -// mavlink_waypoint_t *cur = waypoints->at(seq); +// mavlink_mission_item_t *cur = waypoints->at(seq); // // const PxVector3 A(cur->x, cur->y, cur->z); // const PxVector3 C(x, y, z); @@ -254,7 +256,7 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq) // // seq not the second last waypoint // if ((uint16_t)(seq+1) < wpm.size) // { -// mavlink_waypoint_t *next = waypoints->at(seq+1); +// mavlink_mission_item_t *next = waypoints->at(seq+1); // const PxVector3 B(next->x, next->y, next->z); // const float r = (B-A).dot(C-A) / (B-A).lengthSquared(); // if (r >= 0 && r <= 1) @@ -285,34 +287,30 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq) float mavlink_wpm_distance_to_point(uint16_t seq, float x, float y, float z) { - // if (seq < wpm.size) - // { - // mavlink_waypoint_t *cur = waypoints->at(seq); - // - // const PxVector3 A(cur->x, cur->y, cur->z); - // const PxVector3 C(x, y, z); - // - // return (C-A).length(); - // } - // else - // { - // // if (verbose) // printf("ERROR: index out of bounds\n"); - // } +// if (seq < wpm.size) +// { +// mavlink_mission_item_t *cur = waypoints->at(seq); +// +// const PxVector3 A(cur->x, cur->y, cur->z); +// const PxVector3 C(x, y, z); +// +// return (C-A).length(); +// } +// else +// { +// // if (verbose) // printf("ERROR: index out of bounds\n"); +// } return -1.f; } - -void mavlink_wpm_message_handler(const mavlink_message_t* msg) +void mavlink_wpm_loop() { - // Handle param messages - //paramClient->handleMAVLinkPacket(msg); - //check for timed-out operations - uint64_t now = mavlink_wpm_get_system_timestamp(); + uint64_t now = mavlink_missionlib_get_system_timestamp(); if (now-wpm.timestamp_lastaction > wpm.timeout && wpm.current_state != MAVLINK_WPM_STATE_IDLE) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("Operation timeout switching -> IDLE"); + mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE"); #else if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm.current_state); #endif @@ -332,14 +330,18 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) { mavlink_wpm_send_setpoint(wpm.current_active_wp_id); } - +} + +void mavlink_wpm_message_handler(const mavlink_message_t* msg) +{ + uint64_t now = mavlink_missionlib_get_system_timestamp(); switch(msg->msgid) { case MAVLINK_MSG_ID_ATTITUDE: { if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size) { - mavlink_waypoint_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]); + mavlink_mission_item_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]); if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED) { mavlink_attitude_t att; @@ -368,16 +370,16 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) break; } - case MAVLINK_MSG_ID_LOCAL_POSITION: + case MAVLINK_MSG_ID_LOCAL_POSITION_NED: { if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size) { - mavlink_waypoint_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]); + mavlink_mission_item_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]); if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED) { - mavlink_local_position_t pos; - mavlink_msg_local_position_decode(msg, &pos); + mavlink_local_position_ned_t pos; + mavlink_msg_local_position_ned_decode(msg, &pos); //// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z); wpm.pos_reached = false; @@ -386,15 +388,15 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) float orbit = wp->param1; float dist; - if (wp->param2 == 0) - { - // FIXME segment distance - //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z); - } - else - { +// if (wp->param2 == 0) +// { +// // FIXME segment distance +// //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z); +// } +// else +// { dist = mavlink_wpm_distance_to_point(wpm.current_active_wp_id, pos.x, pos.y, pos.z); - } +// } if (dist >= 0.f && dist <= orbit && wpm.yaw_reached) { @@ -405,52 +407,52 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) break; } - // case MAVLINK_MSG_ID_CMD: // special action from ground station - // { - // mavlink_cmd_t action; - // mavlink_msg_cmd_decode(msg, &action); - // if(action.target == mavlink_system.sysid) - // { - // // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl; - // switch (action.action) - // { - // // case MAV_ACTION_LAUNCH: - // // // if (verbose) std::cerr << "Launch received" << std::endl; - // // current_active_wp_id = 0; - // // if (wpm.size>0) - // // { - // // setActive(waypoints[current_active_wp_id]); - // // } - // // else - // // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl; - // // break; - // - // // case MAV_ACTION_CONTINUE: - // // // if (verbose) std::c - // // err << "Continue received" << std::endl; - // // idle = false; - // // setActive(waypoints[current_active_wp_id]); - // // break; - // - // // case MAV_ACTION_HALT: - // // // if (verbose) std::cerr << "Halt received" << std::endl; - // // idle = true; - // // break; - // - // // default: - // // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl; - // // break; - // } - // } - // break; - // } +// case MAVLINK_MSG_ID_CMD: // special action from ground station +// { +// mavlink_cmd_t action; +// mavlink_msg_cmd_decode(msg, &action); +// if(action.target == mavlink_system.sysid) +// { +// // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl; +// switch (action.action) +// { +// // case MAV_ACTION_LAUNCH: +// // // if (verbose) std::cerr << "Launch received" << std::endl; +// // current_active_wp_id = 0; +// // if (wpm.size>0) +// // { +// // setActive(waypoints[current_active_wp_id]); +// // } +// // else +// // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl; +// // break; +// +// // case MAV_ACTION_CONTINUE: +// // // if (verbose) std::c +// // err << "Continue received" << std::endl; +// // idle = false; +// // setActive(waypoints[current_active_wp_id]); +// // break; +// +// // case MAV_ACTION_HALT: +// // // if (verbose) std::cerr << "Halt received" << std::endl; +// // idle = true; +// // break; +// +// // default: +// // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl; +// // break; +// } +// } +// break; +// } - case MAVLINK_MSG_ID_WAYPOINT_ACK: + case MAVLINK_MSG_ID_MISSION_ACK: { - mavlink_waypoint_ack_t wpa; - mavlink_msg_waypoint_ack_decode(msg, &wpa); + mavlink_mission_ack_t wpa; + mavlink_msg_mission_ack_decode(msg, &wpa); - if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_system.compid*/)) + if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { wpm.timestamp_lastaction = now; @@ -459,9 +461,9 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_wp_id == wpm.size-1) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("Got last WP ACK state -> IDLE"); + mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); #else - if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n"); + if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n"); #endif wpm.current_state = MAVLINK_WPM_STATE_IDLE; wpm.current_wp_id = 0; @@ -471,20 +473,20 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); #else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } break; } - case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { - mavlink_waypoint_set_current_t wpc; - mavlink_msg_waypoint_set_current_decode(msg, &wpc); + mavlink_mission_set_current_t wpc; + mavlink_msg_mission_set_current_decode(msg, &wpc); - if(wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_system.compid*/) + if(wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { wpm.timestamp_lastaction = now; @@ -492,7 +494,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) { if (wpc.seq < wpm.size) { - // if (verbose) // printf("Received MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT\n"); + // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); wpm.current_active_wp_id = wpc.seq; uint32_t i; for(i = 0; i < wpm.size; i++) @@ -507,9 +509,9 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) } } #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("NEW WP SET"); + mavlink_missionlib_send_gcs_string("NEW WP SET"); #else - if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm.current_active_wp_id); + if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm.current_active_wp_id); #endif wpm.yaw_reached = false; wpm.pos_reached = false; @@ -520,37 +522,37 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("IGN WP CURR CMD: Not in list"); + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: Index out of bounds\n"); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n"); #endif } } else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("IGN WP CURR CMD: Busy"); + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); #else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n"); + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n"); #endif } } else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); #else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } break; } - case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { - mavlink_waypoint_request_list_t wprl; - mavlink_msg_waypoint_request_list_decode(msg, &wprl); - if(wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_system.compid*/) + mavlink_mission_request_list_t wprl; + mavlink_msg_mission_request_list_decode(msg, &wprl); + if(wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { wpm.timestamp_lastaction = now; @@ -558,38 +560,38 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) { if (wpm.size > 0) { - if (verbose && wpm.current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); - if (verbose && wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); - wpm.current_state = MAVLINK_WPM_STATE_SENDLIST; + //if (verbose && wpm.current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); +// if (verbose && wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); + wpm.current_state = MAVLINK_WPM_STATE_SENDLIST; wpm.current_wp_id = 0; wpm.current_partner_sysid = msg->sysid; wpm.current_partner_compid = msg->compid; } else { - // if (verbose) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); + // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); } wpm.current_count = wpm.size; mavlink_wpm_send_waypoint_count(msg->sysid,msg->compid, wpm.current_count); } else { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm.current_state); + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm.current_state); } } else { // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); } - + break; } - case MAVLINK_MSG_ID_WAYPOINT_REQUEST: + case MAVLINK_MSG_ID_MISSION_REQUEST: { - mavlink_waypoint_request_t wpr; - mavlink_msg_waypoint_request_decode(msg, &wpr); - if(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_system.compid*/) + mavlink_mission_request_t wpr; + mavlink_msg_mission_request_decode(msg, &wpr); + if(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { wpm.timestamp_lastaction = now; @@ -599,25 +601,25 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("GOT WP REQ, state -> SEND"); + mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); #else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id + 1) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("GOT 2nd WP REQ"); + mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); #else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("GOT 2nd WP REQ"); + mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); #else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } @@ -632,20 +634,20 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (!(wpm.current_state == MAVLINK_WPM_STATE_SENDLIST || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because i'm doing something else already (state=%i).\n", wpm.current_state); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm.current_state); #endif - break; + break; } else if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) { if (wpr.seq != 0) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: First id != 0"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); #endif } } @@ -654,26 +656,26 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpr.seq != wpm.current_wp_id && wpr.seq != wpm.current_wp_id + 1) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm.current_wp_id, wpm.current_wp_id+1); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm.current_wp_id, wpm.current_wp_id+1); #endif } else if (wpr.seq >= wpm.size) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Req. WP not in list"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); #endif } } else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: ?"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST - FIXME: missed error description\n"); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); #endif } } @@ -682,32 +684,32 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { //we we're target but already communicating with someone else - if((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_system.compid*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid)) + if((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid)) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm.current_partner_sysid); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm.current_partner_sysid); #endif } else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); #else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } - + } break; } - case MAVLINK_MSG_ID_WAYPOINT_COUNT: + case MAVLINK_MSG_ID_MISSION_COUNT: { - mavlink_waypoint_count_t wpc; - mavlink_msg_waypoint_count_decode(msg, &wpc); - if(wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_system.compid*/) + mavlink_mission_count_t wpc; + mavlink_msg_mission_count_decode(msg, &wpc); + if(wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { wpm.timestamp_lastaction = now; @@ -718,17 +720,17 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_state == MAVLINK_WPM_STATE_IDLE) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("WP CMD OK: state -> GETLIST"); + mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); #else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); #endif } if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("WP CMD OK AGAIN"); + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); #else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) again from %u\n", wpc.count, msg->sysid); + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); #endif } @@ -739,32 +741,32 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) wpm.current_count = wpc.count; #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("CLR RCV BUF: READY"); + mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); #else - if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); + if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); #endif wpm.rcv_size = 0; //while(waypoints_receive_buffer->size() > 0) - // { - // delete waypoints_receive_buffer->back(); - // waypoints_receive_buffer->pop_back(); - // } +// { +// delete waypoints_receive_buffer->back(); +// waypoints_receive_buffer->pop_back(); +// } mavlink_wpm_send_waypoint_request(wpm.current_partner_sysid, wpm.current_partner_compid, wpm.current_wp_id); } else if (wpc.count == 0) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("COUNT 0"); + mavlink_missionlib_send_gcs_string("COUNT 0"); #else - if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); + if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); #endif wpm.rcv_size = 0; //while(waypoints_receive_buffer->size() > 0) - // { - // delete waypoints->back(); - // waypoints->pop_back(); - // } +// { +// delete waypoints->back(); +// waypoints->pop_back(); +// } wpm.current_active_wp_id = -1; wpm.yaw_reached = false; wpm.pos_reached = false; @@ -774,9 +776,9 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("IGN WP CMD"); + mavlink_missionlib_send_gcs_string("IGN WP CMD"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_WAYPOINT_COUNT from %u with count of %u\n", msg->sysid, wpc.count); + if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); #endif } } @@ -785,25 +787,25 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (!(wpm.current_state == MAVLINK_WPM_STATE_IDLE || wpm.current_state == MAVLINK_WPM_STATE_GETLIST)) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm doing something else already (state=%i).\n", wpm.current_state); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm.current_state); #endif } else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id != 0) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm already receiving waypoint %u.\n", wpm.current_wp_id); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm.current_wp_id); #endif } else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: ?"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); #else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT - FIXME: missed error description\n"); + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); #endif } } @@ -811,43 +813,43 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); #else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } } break; - case MAVLINK_MSG_ID_WAYPOINT: + case MAVLINK_MSG_ID_MISSION_ITEM: { - mavlink_waypoint_t wp; - mavlink_msg_waypoint_decode(msg, &wp); + mavlink_mission_item_t wp; + mavlink_msg_mission_item_decode(msg, &wp); - // if (verbose) // printf("GOT WAYPOINT!"); + mavlink_missionlib_send_gcs_string("GOT WP"); - if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_system.compid*/)) + if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) { wpm.timestamp_lastaction = now; //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids if ((wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id && wp.seq < wpm.current_count)) { - if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); - if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u from %u\n", wp.seq, msg->sysid); - if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u (again) from %u\n", wp.seq, msg->sysid); - - wpm.current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - mavlink_waypoint_t* newwp = &(wpm.rcv_waypoints[wp.seq]); - memcpy(newwp, &wp, sizeof(mavlink_waypoint_t)); - +// if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); +// if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); +// if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); +// + wpm.current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; + mavlink_mission_item_t* newwp = &(wpm.rcv_waypoints[wp.seq]); + memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); wpm.current_wp_id = wp.seq + 1; // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); if(wpm.current_wp_id == wpm.current_count && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + mavlink_missionlib_send_gcs_string("GOT ALL WPS"); // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm.current_count); mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0); @@ -903,44 +905,44 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) { //we're done receiving waypoints, answer with ack. mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0); - // printf("Received MAVLINK_MSG_ID_WAYPOINT while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); + // printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); } // if (verbose) { if (!(wpm.current_state == MAVLINK_WPM_STATE_GETLIST || wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) { - // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u because i'm doing something else already (state=%i).\n", wp.seq, wpm.current_state); + // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm.current_state); break; } else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST) { if(!(wp.seq == 0)) { - // printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the first waypoint ID (%u) was not 0.\n", wp.seq); + // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); } else { - // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq); + // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { if (!(wp.seq == wpm.current_wp_id)) { - // printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm.current_wp_id); + // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm.current_wp_id); } else if (!(wp.seq < wpm.current_count)) { - // printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the waypoint ID (%u) was out of bounds.\n", wp.seq); + // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); } else { - // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq); + // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } else { - // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq); + // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } } @@ -948,37 +950,37 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { //we we're target but already communicating with someone else - if((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_system.compid*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && wpm.current_state != MAVLINK_WPM_STATE_IDLE) + if((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && wpm.current_state != MAVLINK_WPM_STATE_IDLE) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm.current_partner_sysid); + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm.current_partner_sysid); } - else if(wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_system.compid*/) + else if(wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); } } break; } - case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { - mavlink_waypoint_clear_all_t wpca; - mavlink_msg_waypoint_clear_all_decode(msg, &wpca); + mavlink_mission_clear_all_t wpca; + mavlink_msg_mission_clear_all_decode(msg, &wpca); - if(wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_system.compid */ && wpm.current_state == MAVLINK_WPM_STATE_IDLE) + if(wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm.current_state == MAVLINK_WPM_STATE_IDLE) { wpm.timestamp_lastaction = now; - // if (verbose) // printf("Got MAVLINK_MSG_ID_WAYPOINT_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); + // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); // Delete all waypoints wpm.size = 0; wpm.current_active_wp_id = -1; wpm.yaw_reached = false; wpm.pos_reached = false; } - else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_system.compid */ && wpm.current_state != MAVLINK_WPM_STATE_IDLE) + else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm.current_state != MAVLINK_WPM_STATE_IDLE) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm.current_state); + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm.current_state); } break; } @@ -995,7 +997,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) { if (wpm.current_active_wp_id < wpm.size) { - mavlink_waypoint_t *cur_wp = &(wpm.waypoints[wpm.current_active_wp_id]); + mavlink_mission_item_t *cur_wp = &(wpm.waypoints[wpm.current_active_wp_id]); if (wpm.timestamp_firstinside_orbit == 0) { diff --git a/thirdParty/mavlink/missionlib/waypoints.h b/thirdParty/mavlink/missionlib/waypoints.h index 4bc32a14a4368cf68e2dd69b60b027c8a93f4e65..dd3f0e02b5262c4dbb46d1c92aca6d9c1f5c4e13 100644 --- a/thirdParty/mavlink/missionlib/waypoints.h +++ b/thirdParty/mavlink/missionlib/waypoints.h @@ -19,6 +19,12 @@ /* This assumes you have the mavlink headers on your include path or in the same folder as this source file */ + +// Disable auto-data structures +#ifndef MAVLINK_NO_DATA +#define MAVLINK_NO_DATA +#endif + #include #include @@ -47,20 +53,20 @@ enum MAVLINK_WPM_CODES /* WAYPOINT MANAGER - MISSION LIB */ -#define MAVLINK_WPM_MAX_WP_COUNT 100 +#define MAVLINK_WPM_MAX_WP_COUNT 15 #define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates -#define MAVLINK_WPM_TEXT_FEEDBACK 1 ///< Report back status information as text -#define MAVLINK_WPM_SYSTEM_ID 1 -#define MAVLINK_WPM_COMPONENT_ID 1 -#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 2000000 -#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 +#ifndef MAVLINK_WPM_TEXT_FEEDBACK +#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text +#endif +#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000 ///< Protocol communication timeout in milliseconds +#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000 ///< When to send a new setpoint #define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40 struct mavlink_wpm_storage { - mavlink_waypoint_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints + mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints #ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE - mavlink_waypoint_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints + mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints #endif uint16_t size; uint16_t max_size; @@ -87,5 +93,5 @@ struct mavlink_wpm_storage { typedef struct mavlink_wpm_storage mavlink_wpm_storage; void mavlink_wpm_init(mavlink_wpm_storage* state); - -void mavlink_wpm_message_handler(const mavlink_message_t* msg); \ No newline at end of file +void mavlink_wpm_loop(); +void mavlink_wpm_message_handler(const mavlink_message_t* msg);