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Commit 934183fc authored by Lorenz Meier's avatar Lorenz Meier
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Updated MAVLink

parent 337b2eeb
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Showing with 535 additions and 34 deletions
libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
View file @ 934183fc
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Aug 23 16:39:14 2012"
#define MAVLINK_BUILD_DATE "Mon Sep 3 14:55:54 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
......
libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
View file @ 934183fc
......@@ -5,9 +5,9 @@
typedef struct __mavlink_attitude_t
{
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 roll; ///< Roll angle (rad, -pi..+pi)
float pitch; ///< Pitch angle (rad, -pi..+pi)
float yaw; ///< Yaw angle (rad, -pi..+pi)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
......@@ -39,9 +39,9 @@ typedef struct __mavlink_attitude_t
* @param msg The MAVLink message to compress the data into
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
......@@ -85,9 +85,9 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp
* @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 roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
......@@ -143,9 +143,9 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
......@@ -197,7 +197,7 @@ static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_messa
/**
* @brief Get field roll from attitude message
*
* @return Roll angle (rad)
* @return Roll angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
{
......@@ -207,7 +207,7 @@ static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
/**
* @brief Get field pitch from attitude message
*
* @return Pitch angle (rad)
* @return Pitch angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
{
......@@ -217,7 +217,7 @@ static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
/**
* @brief Get field yaw from attitude message
*
* @return Yaw angle (rad)
* @return Yaw angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
{
......
libs/mavlink/include/mavlink/v1.0/common/testsuite.h
View file @ 934183fc
......@@ -3715,6 +3715,75 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_highres_imu(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_highres_imu_t packet_in = {
93372036854775807ULL,
73.0,
101.0,
129.0,
157.0,
185.0,
213.0,
241.0,
269.0,
297.0,
325.0,
353.0,
381.0,
409.0,
};
mavlink_highres_imu_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_boot_ms = packet_in.time_boot_ms;
packet1.xacc = packet_in.xacc;
packet1.yacc = packet_in.yacc;
packet1.zacc = packet_in.zacc;
packet1.xgyro = packet_in.xgyro;
packet1.ygyro = packet_in.ygyro;
packet1.zgyro = packet_in.zgyro;
packet1.xmag = packet_in.xmag;
packet1.ymag = packet_in.ymag;
packet1.zmag = packet_in.zmag;
packet1.abs_pressure = packet_in.abs_pressure;
packet1.diff_pressure = packet_in.diff_pressure;
packet1.pressure_alt = packet_in.pressure_alt;
packet1.temperature = packet_in.temperature;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_highres_imu_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_highres_imu_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
mavlink_msg_highres_imu_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
mavlink_msg_highres_imu_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_highres_imu_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
mavlink_msg_highres_imu_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
......@@ -4072,6 +4141,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
mavlink_test_highres_imu(system_id, component_id, last_msg);
mavlink_test_memory_vect(system_id, component_id, last_msg);
mavlink_test_debug_vect(system_id, component_id, last_msg);
mavlink_test_named_value_float(system_id, component_id, last_msg);
......
libs/mavlink/include/mavlink/v1.0/common/version.h
View file @ 934183fc
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Aug 23 16:39:58 2012"
#define MAVLINK_BUILD_DATE "Mon Sep 3 14:56:15 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
......
libs/mavlink/include/mavlink/v1.0/pixhawk/version.h
View file @ 934183fc
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Aug 23 16:39:39 2012"
#define MAVLINK_BUILD_DATE "Mon Sep 3 14:56:05 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
libs/mavlink/include/mavlink/v1.0/sensesoar/version.h
View file @ 934183fc
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Aug 23 16:39:49 2012"
#define MAVLINK_BUILD_DATE "Mon Sep 3 14:56:15 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
......
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