Minor MAVLink cleanups, might compile now - but not guaranteed

qgroundcontrol.pro

@@ -38,6 +38,7 @@ MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = $$BUILDDIR/ui
 RCC_DIR = $$BUILDDIR/rcc
 MAVLINK_CONF = ""
+DEFINES += MAVLINK_NO_DATA
 
 
 #################################################################

src/comm/MAVLinkProtocol.cc

@@ -31,6 +31,9 @@
 #include "QGCMAVLinkUASFactory.h"
 #include "QGC.h"
 
+// Instantiate MAVLink data
+#include "mavlink_data.h"
+
 /**
  * The default constructor will create a new MAVLink object sending heartbeats at
  * the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.

src/comm/QGCMAVLink.h

@@ -30,7 +30,6 @@ This file is part of the QGROUNDCONTROL project
 #ifndef QGCMAVLINK_H
 #define QGCMAVLINK_H
 
-#define MAVLINK_NO_DATA
 #include <mavlink_types.h>
 #include <mavlink.h>
 

src/main.cc

@@ -32,7 +32,6 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCCore.h"
 #include "MainWindow.h"
 #include "configuration.h"
-#include "mavlink_data.h"
 
 
 /* SDL does ugly things to main() */

thirdParty/mavlink/include/common/mavlink_msg_action.h

-// MESSAGE ACTION PACKING
-
-#define MAVLINK_MSG_ID_ACTION 10
-#define MAVLINK_MSG_ID_ACTION_LEN 3
-#define MAVLINK_MSG_10_LEN 3
-
-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)
-{
-	mavlink_action_t *p = (mavlink_action_t *)&msg->payload[0];
-	msg->msgid = MAVLINK_MSG_ID_ACTION;
-
-	p->target = target; // uint8_t:The system executing the action
-	p->target_component = target_component; // uint8_t:The component executing the action
-	p->action = action; // uint8_t:The action id
-
-	return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTION_LEN);
-}
-
-/**
- * @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)
-{
-	mavlink_action_t *p = (mavlink_action_t *)&msg->payload[0];
-	msg->msgid = MAVLINK_MSG_ID_ACTION;
-
-	p->target = target; // uint8_t:The system executing the action
-	p->target_component = target_component; // uint8_t:The component executing the action
-	p->action = action; // uint8_t:The action id
-
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTION_LEN);
-}
-
-/**
- * @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_header_t hdr;
-	mavlink_action_t payload;
-	uint16_t checksum;
-	mavlink_action_t *p = &payload;
-
-	p->target = target; // uint8_t:The system executing the action
-	p->target_component = target_component; // uint8_t:The component executing the action
-	p->action = action; // uint8_t:The action id
-
-	hdr.STX = MAVLINK_STX;
-	hdr.len = MAVLINK_MSG_ID_ACTION_LEN;
-	hdr.msgid = MAVLINK_MSG_ID_ACTION;
-	hdr.sysid = mavlink_system.sysid;
-	hdr.compid = mavlink_system.compid;
-	hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq;
-	mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;
-	mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );
-
-	crc_init(&checksum);
-	checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);
-	checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );
-	hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
-	hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte
-
-	mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);
-	mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);
-}
-
-#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)
-{
-	mavlink_action_t *p = (mavlink_action_t *)&msg->payload[0];
-	return (uint8_t)(p->target);
-}
-
-/**
- * @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)
-{
-	mavlink_action_t *p = (mavlink_action_t *)&msg->payload[0];
-	return (uint8_t)(p->target_component);
-}
-
-/**
- * @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)
-{
-	mavlink_action_t *p = (mavlink_action_t *)&msg->payload[0];
-	return (uint8_t)(p->action);
-}
-
-/**
- * @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)
-{
-	memcpy( action, msg->payload, sizeof(mavlink_action_t));
-}

thirdParty/mavlink/include/common/mavlink_msg_action_ack.h

-// MESSAGE ACTION_ACK PACKING
-
-#define MAVLINK_MSG_ID_ACTION_ACK 9
-#define MAVLINK_MSG_ID_ACTION_ACK_LEN 2
-#define MAVLINK_MSG_9_LEN 2
-
-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)
-{
-	mavlink_action_ack_t *p = (mavlink_action_ack_t *)&msg->payload[0];
-	msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
-
-	p->action = action; // uint8_t:The action id
-	p->result = result; // uint8_t:0: Action DENIED, 1: Action executed
-
-	return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTION_ACK_LEN);
-}
-
-/**
- * @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)
-{
-	mavlink_action_ack_t *p = (mavlink_action_ack_t *)&msg->payload[0];
-	msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
-
-	p->action = action; // uint8_t:The action id
-	p->result = result; // uint8_t:0: Action DENIED, 1: Action executed
-
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTION_ACK_LEN);
-}
-
-/**
- * @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_header_t hdr;
-	mavlink_action_ack_t payload;
-	uint16_t checksum;
-	mavlink_action_ack_t *p = &payload;
-
-	p->action = action; // uint8_t:The action id
-	p->result = result; // uint8_t:0: Action DENIED, 1: Action executed
-
-	hdr.STX = MAVLINK_STX;
-	hdr.len = MAVLINK_MSG_ID_ACTION_ACK_LEN;
-	hdr.msgid = MAVLINK_MSG_ID_ACTION_ACK;
-	hdr.sysid = mavlink_system.sysid;
-	hdr.compid = mavlink_system.compid;
-	hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq;
-	mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;
-	mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );
-
-	crc_init(&checksum);
-	checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);
-	checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );
-	hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
-	hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte
-
-	mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);
-	mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);
-}
-
-#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)
-{
-	mavlink_action_ack_t *p = (mavlink_action_ack_t *)&msg->payload[0];
-	return (uint8_t)(p->action);
-}
-
-/**
- * @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)
-{
-	mavlink_action_ack_t *p = (mavlink_action_ack_t *)&msg->payload[0];
-	return (uint8_t)(p->result);
-}
-
-/**
- * @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)
-{
-	memcpy( action_ack, msg->payload, sizeof(mavlink_action_ack_t));
-}