Changed back to standard mavlink directory, fixed extended message size

mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_dcm.h

+// MESSAGE DCM PACKING
+
+#define MAVLINK_MSG_ID_DCM 163
+
+typedef struct __mavlink_dcm_t
+{
+ float omegaIx; ///< X gyro drift estimate rad/s
+ float omegaIy; ///< Y gyro drift estimate rad/s
+ float omegaIz; ///< Z gyro drift estimate rad/s
+ float accel_weight; ///< average accel_weight
+ float renorm_val; ///< average renormalisation value
+ float error_rp; ///< average error_roll_pitch value
+ float error_yaw; ///< average error_yaw value
+} mavlink_dcm_t;
+
+#define MAVLINK_MSG_ID_DCM_LEN 28
+#define MAVLINK_MSG_ID_163_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_DCM { \
+	"DCM", \
+	7, \
+	{  { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_dcm_t, omegaIx) }, \
+         { "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_dcm_t, omegaIy) }, \
+         { "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_dcm_t, omegaIz) }, \
+         { "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_dcm_t, accel_weight) }, \
+         { "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_dcm_t, renorm_val) }, \
+         { "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_dcm_t, error_rp) }, \
+         { "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_dcm_t, error_yaw) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a dcm 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 omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_dcm_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+	mavlink_dcm_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DCM;
+	return mavlink_finalize_message(msg, system_id, component_id, 28);
+}
+
+/**
+ * @brief Pack a dcm 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 omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_dcm_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+	mavlink_dcm_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DCM;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28);
+}
+
+/**
+ * @brief Encode a dcm 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 dcm C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_dcm_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_dcm_t* dcm)
+{
+	return mavlink_msg_dcm_pack(system_id, component_id, msg, dcm->omegaIx, dcm->omegaIy, dcm->omegaIz, dcm->accel_weight, dcm->renorm_val, dcm->error_rp, dcm->error_yaw);
+}
+
+/**
+ * @brief Send a dcm message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_dcm_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DCM, buf, 28);
+#else
+	mavlink_dcm_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DCM, (const char *)&packet, 28);
+#endif
+}
+
+#endif
+
+// MESSAGE DCM UNPACKING
+
+
+/**
+ * @brief Get field omegaIx from dcm message
+ *
+ * @return X gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_dcm_get_omegaIx(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field omegaIy from dcm message
+ *
+ * @return Y gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_dcm_get_omegaIy(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field omegaIz from dcm message
+ *
+ * @return Z gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_dcm_get_omegaIz(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field accel_weight from dcm message
+ *
+ * @return average accel_weight
+ */
+static inline float mavlink_msg_dcm_get_accel_weight(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field renorm_val from dcm message
+ *
+ * @return average renormalisation value
+ */
+static inline float mavlink_msg_dcm_get_renorm_val(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field error_rp from dcm message
+ *
+ * @return average error_roll_pitch value
+ */
+static inline float mavlink_msg_dcm_get_error_rp(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field error_yaw from dcm message
+ *
+ * @return average error_yaw value
+ */
+static inline float mavlink_msg_dcm_get_error_yaw(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Decode a dcm message into a struct
+ *
+ * @param msg The message to decode
+ * @param dcm C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_dcm_decode(const mavlink_message_t* msg, mavlink_dcm_t* dcm)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	dcm->omegaIx = mavlink_msg_dcm_get_omegaIx(msg);
+	dcm->omegaIy = mavlink_msg_dcm_get_omegaIy(msg);
+	dcm->omegaIz = mavlink_msg_dcm_get_omegaIz(msg);
+	dcm->accel_weight = mavlink_msg_dcm_get_accel_weight(msg);
+	dcm->renorm_val = mavlink_msg_dcm_get_renorm_val(msg);
+	dcm->error_rp = mavlink_msg_dcm_get_error_rp(msg);
+	dcm->error_yaw = mavlink_msg_dcm_get_error_yaw(msg);
+#else
+	memcpy(dcm, _MAV_PAYLOAD(msg), 28);
+#endif
+}

thirdParty/mavlink/include/mavlink/v0.9/ardupilotmega/version.h → mavlink/include/mavlink/v0.9/ardupilotmega/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 19 15:39:52 2012"
+#define MAVLINK_BUILD_DATE "Thu Apr 19 19:46:08 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  

thirdParty/mavlink/include/mavlink/v0.9/common/common.h → mavlink/include/mavlink/v0.9/common/common.h

@@ -43,55 +43,6 @@ extern "C" {
 // 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. */
-#ifndef HAVE_ENUM_MAV_CMD
-#define HAVE_ENUM_MAV_CMD
-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=246, /*  | */
-};
-#endif
-
 /** @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.

thirdParty/mavlink/include/mavlink/v0.9/common/version.h → mavlink/include/mavlink/v0.9/common/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 19 15:40:00 2012"
+#define MAVLINK_BUILD_DATE "Thu Apr 19 19:46:08 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  

thirdParty/mavlink/include/mavlink/v0.9/mavlink_types.h → mavlink/include/mavlink/v0.9/mavlink_types.h

@@ -243,7 +243,6 @@ typedef struct __mavlink_message_info {
 } mavlink_message_info_t;
 
 #define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0]))
-#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
 
 // checksum is immediately after the payload bytes
 #define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg))