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Commit b303e674 authored by lm's avatar lm
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Added MAVLink inspector

parent a02927bf
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Showing with 17623 additions and 9306 deletions
src/comm/MAVLinkProtocol.cc
View file @ b303e674
......@@ -31,9 +31,6 @@
#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.
......@@ -377,7 +374,8 @@ 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
......
src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
View file @ b303e674
......@@ -91,6 +91,7 @@ Size PlateCarreeProjection::GetTileMatrixMaxXY(const int &zoom)
Size PlateCarreeProjection::GetTileMatrixMinXY(const int &zoom)
{
Q_UNUSED(zoom);
return Size(0, 0);
}
}
src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
View file @ b303e674
......@@ -90,6 +90,7 @@ Size PlateCarreeProjectionPergo::GetTileMatrixMaxXY(const int &zoom)
Size PlateCarreeProjectionPergo::GetTileMatrixMinXY(const int &zoom)
{
Q_UNUSED(zoom);
return Size(0, 0);
}
}
src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp
View file @ b303e674
......@@ -32,7 +32,15 @@
namespace mapcontrol
{
MapGraphicItem::MapGraphicItem(internals::Core *core, Configuration *configuration):core(core),config(configuration),MapRenderTransform(1), maxZoom(17),minZoom(2),zoomReal(0),isSelected(false),rotation(0),zoomDigi(0)
MapGraphicItem::MapGraphicItem(internals::Core *core, Configuration *configuration):core(core),
config(configuration),
MapRenderTransform(1),
maxZoom(17),
minZoom(2),
zoomReal(0),
rotation(0),
zoomDigi(0),
isSelected(false)
{
dragons.load(QString::fromUtf8(":/markers/images/dragons1.jpg"));
showTileGridLines=false;
......
src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View file @ b303e674
......@@ -52,7 +52,15 @@ namespace mapcontrol
RefreshToolTip();
RefreshPos();
}
WayPointItem::WayPointItem(const internals::PointLatLng &coord,double const& altitude, const QString &description, MapGraphicItem *map):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),heading(0),map(map)
WayPointItem::WayPointItem(const internals::PointLatLng &coord,double const& altitude, const QString &description, MapGraphicItem *map) :
coord(coord),
reached(false),
description(description),
shownumber(true),
isDragging(false),
altitude(altitude),
map(map),
heading(0)
{
text=0;
numberI=0;
......
src/uas/UAS.cc
View file @ b303e674
......@@ -1431,7 +1431,8 @@ 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())
{
......
src/ui/QGCMAVLinkInspector.cc
View file @ b303e674
This diff is collapsed.
src/ui/QGCMAVLinkInspector.h
View file @ b303e674
......@@ -27,9 +27,13 @@ public slots:
protected:
QMap<int, quint64> lastFieldUpdate; ///< Used to switch between highlight and non-highlighting color
QMap<int, mavlink_message_t> receivedMessages; ///< Available / known messages
mavlink_message_t receivedMessages[256]; ///< Available / known messages
QMap<int, QTreeWidgetItem*> 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;
......
src/ui/QGCMAVLinkInspector.ui
View file @ b303e674
......@@ -13,11 +13,11 @@
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<layout class="QGridLayout" name="gridLayout" columnstretch="2,8">
<property name="margin">
<number>6</number>
</property>
<item row="0" column="0">
<item row="1" column="0" colspan="2">
<widget class="QTreeWidget" name="treeWidget">
<column>
<property name="text">
......@@ -26,6 +26,16 @@
</column>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>System Filter</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="systemComboBox"/>
</item>
</layout>
</widget>
<resources/>
......
src/ui/QGCParamWidget.cc
View file @ b303e674
......@@ -295,10 +295,9 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
components->value(component)->setData(1, Qt::DisplayRole, QString::number(component));
} 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<QString, QTreeWidgetItem*>());
......
thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h
View file @ b303e674
/** @file
* @brief MAVLink comm protocol.
* @brief MAVLink comm protocol generated from ardupilotmega.xml
* @see http://qgroundcontrol.org/mavlink/
* Generated on Saturday, August 20 2011, 11:19 UTC
*/
#ifndef ARDUPILOTMEGA_H
#define ARDUPILOTMEGA_H
......@@ -10,44 +9,46 @@
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#include "../mavlink_protocol.h"
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {8, 23, 12, 8, 14, 28, 3, 32, 0, 0, 0, 2, 2, 2, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 0, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 14, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 0, 6, 4, 0, 21, 18, 0, 0, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 14, 14, 51, 5}
#endif
#define MAVLINK_ENABLED_ARDUPILOTMEGA
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {153, 114, 143, 191, 105, 217, 104, 119, 0, 0, 0, 186, 194, 8, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 0, 185, 222, 23, 179, 136, 66, 126, 198, 147, 0, 252, 162, 215, 229, 205, 51, 80, 101, 213, 8, 229, 21, 214, 170, 14, 73, 50, 142, 15, 3, 100, 24, 141, 148, 0, 0, 0, 183, 126, 130, 0, 148, 21, 0, 52, 124, 0, 0, 241, 20, 160, 168, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 250, 156, 0, 0, 0, 0, 0, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 15, 248, 63, 83, 127}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {}, {}, {}, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_FLIGHT_MODE, MAVLINK_MESSAGE_INFO_SET_SAFETY_MODE, {}, {}, {}, {}, {}, {}, 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_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, {}, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_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, {}, {}, {}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {}, {}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_SHORT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, 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}
#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 CRC KEYS
#undef MAVLINK_MESSAGE_KEYS
#define MAVLINK_MESSAGE_KEYS { 179, 218, 22, 76, 226, 126, 117, 186, 0, 144, 0, 249, 172, 16, 0, 0, 0, 0, 0, 0, 33, 34, 191, 55, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 20, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 80, 0, 127, 200, 0, 0, 212, 251, 20, 38, 22, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 18, 103, 59, 0, 0, 0, 0, 0, 0, 0, 74, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 226, 65, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 }
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 8, 23, 12, 8, 14, 28, 3, 32, 0, 0, 0, 2, 2, 2, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 0, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 14, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 0, 6, 4, 0, 21, 18, 0, 0, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 14, 14, 51 }
#ifdef __cplusplus
}
#endif
#endif
#endif // __cplusplus
#endif // ARDUPILOTMEGA_H
thirdParty/mavlink/include/ardupilotmega/ardupilotmega_testsuite.h 0 → 100644
View file @ b303e674
/** @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
thirdParty/mavlink/include/ardupilotmega/mavlink.h
View file @ b303e674
/** @file
* @brief MAVLink comm protocol.
* @brief MAVLink comm protocol built from ardupilotmega.xml
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Saturday, August 20 2011, 11:19 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#pragma pack(push,1)
#include "mavlink_options.h"
#include "ardupilotmega.h"
#ifdef MAVLINK_DATA
#include "mavlink_data.h"
#ifndef MAVLINK_STX
#define MAVLINK_STX 254
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#pragma pack(pop)
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#include "version.h"
#include "ardupilotmega.h"
#endif // MAVLINK_H
thirdParty/mavlink/include/ardupilotmega/testsuite.h 0 → 100644
View file @ b303e674
/** @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);
static void mavlink_test_ardupilotmega(uint8_t, uint8_t);
static void mavlink_test_all(uint8_t system_id, uint8_t component_id)
{
mavlink_test_common(system_id, component_id);
mavlink_test_ardupilotmega(system_id, component_id);
}
#endif
#include "../common/testsuite.h"
static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_sensor_offsets_t packet2, packet1 = {
17.0,
963497672,
963497880,
101.0,
129.0,
157.0,
185.0,
213.0,
241.0,
19107,
19211,
19315,
};
if (sizeof(packet2) != 42) {
packet2 = packet1; // cope with alignment within the packet
}
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);
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_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_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_sensor_offsets_pack_chan_send(MAVLINK_COMM_1, &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_send(MAVLINK_COMM_2 , 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 );
}
static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_set_mag_offsets_t packet2, packet1 = {
17235,
17339,
17443,
151,
218,
};
if (sizeof(packet2) != 8) {
packet2 = packet1; // cope with alignment within the packet
}
mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_set_mag_offsets_pack_chan_send(MAVLINK_COMM_1, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_2 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
}
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id)
{
mavlink_test_sensor_offsets(system_id, component_id);
mavlink_test_set_mag_offsets(system_id, component_id);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ARDUPILOTMEGA_TESTSUITE_H
thirdParty/mavlink/include/ardupilotmega/version.h 0 → 100644
View file @ b303e674
/** @file
* @brief MAVLink comm protocol built from ardupilotmega.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sat Aug 27 10:06:30 2011"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#include "mavlink.h"
#endif // MAVLINK_VERSION_H
thirdParty/mavlink/include/checksum.h
View file @ b303e674
......@@ -31,10 +31,9 @@ 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);
// *crcAccum += data; // super simple to test
}
/**
......@@ -57,76 +56,12 @@ static inline void crc_init(uint16_t* crcAccum)
**/
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);
while (length--) {
crc_accumulate(*pBuffer++, &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);
return crcTmp;
}
......
thirdParty/mavlink/include/common/common.h
View file @ b303e674
This diff is collapsed.
thirdParty/mavlink/include/common/common_testsuite.h 0 → 100644
View file @ b303e674
/** @file
* @brief MAVLink comm protocol testsuite generated from common.xml
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wed Aug 24 17:14:16 2011
*/
#ifndef COMMON_TESTSUITE_H
#define COMMON_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
static void mavtest_generate_outputs(mavlink_channel_t chan)
{
mavlink_msg_heartbeat_send(chan , 5 , 72 , 139 , 206 , 17 , 84 , 151 );
mavlink_msg_sys_status_send(chan , 17235 , 17339 , 17443 , 17547 , 17651 , 17755 , 17859 , 199 , 17963 , 18067 , 18171 , 18275 );
mavlink_msg_system_time_send(chan , 9223372036854775807 , 963497880 );
mavlink_msg_system_time_utc_send(chan , 963497464 , 963497672 );
mavlink_msg_ping_send(chan , 963497880 , 41 , 108 , 9223372036854775807 );
mavlink_msg_change_operator_control_send(chan , 5 , 72 , 139 , "AQGWMCSIYOEUKAQGWMCSIYOEU" );
mavlink_msg_change_operator_control_ack_send(chan , 5 , 72 , 139 );
mavlink_msg_auth_key_send(chan , "ARIZQHYPGXOFWNEVMDULCTKBSJARIZQH" );
mavlink_msg_set_mode_send(chan , 5 , 72 );
mavlink_msg_set_flight_mode_send(chan , 5 , 72 );
mavlink_msg_set_safety_mode_send(chan , 5 , 72 );
mavlink_msg_param_request_read_send(chan , 139 , 206 , "AHOVCJQXELSZGNUB" , 17235 );
mavlink_msg_param_request_list_send(chan , 5 , 72 );
mavlink_msg_param_value_send(chan , "AXUROLIFCZWTQNKH" , 17.0 , 77 , 17443 , 17547 );
mavlink_msg_param_set_send(chan , 17 , 84 , "APETIXMBQFUJYNCR" , 17.0 , 199 );
mavlink_msg_gps_raw_int_send(chan , 9223372036854775807 , 89 , 963497880 , 963498088 , 963498296 , 18275 , 18379 , 18483 , 18587 , 156 );
mavlink_msg_scaled_imu_send(chan , 9223372036854775807 , 17651 , 17755 , 17859 , 17963 , 18067 , 18171 , 18275 , 18379 , 18483 );
mavlink_msg_gps_status_send(chan , 5 , "72" , "132" , "192" , "252" , "56" );
mavlink_msg_raw_imu_send(chan , 9223372036854775807 , 17651 , 17755 , 17859 , 17963 , 18067 , 18171 , 18275 , 18379 , 18483 );
mavlink_msg_raw_pressure_send(chan , 9223372036854775807 , 17651 , 17755 , 17859 , 17963 );
mavlink_msg_scaled_pressure_send(chan , 9223372036854775807 , 73.0 , 101.0 , 18067 );
mavlink_msg_attitude_send(chan , 9223372036854775807 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 );
mavlink_msg_local_position_send(chan , 9223372036854775807 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 );
mavlink_msg_global_position_send(chan , 9223372036854775807 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 );
mavlink_msg_gps_raw_send(chan , 9223372036854775807 , 113 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 , 241.0 , 180 );
mavlink_msg_rc_channels_raw_send(chan , 17235 , 17339 , 17443 , 17547 , 17651 , 17755 , 17859 , 17963 , 53 );
mavlink_msg_rc_channels_scaled_send(chan , 17235 , 17339 , 17443 , 17547 , 17651 , 17755 , 17859 , 17963 , 53 );
mavlink_msg_servo_output_raw_send(chan , 17235 , 17339 , 17443 , 17547 , 17651 , 17755 , 17859 , 17963 );
mavlink_msg_waypoint_send(chan , 223 , 34 , 18691 , 101 , 168 , 235 , 46 , 17.0 , 45.0 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 );
mavlink_msg_waypoint_request_send(chan , 139 , 206 , 17235 );
mavlink_msg_waypoint_set_current_send(chan , 139 , 206 , 17235 );
mavlink_msg_waypoint_current_send(chan , 17235 );
mavlink_msg_waypoint_request_list_send(chan , 5 , 72 );
mavlink_msg_waypoint_count_send(chan , 139 , 206 , 17235 );
mavlink_msg_waypoint_clear_all_send(chan , 5 , 72 );
mavlink_msg_waypoint_reached_send(chan , 17235 );
mavlink_msg_waypoint_ack_send(chan , 5 , 72 , 139 );
mavlink_msg_gps_set_global_origin_send(chan , 41 , 108 , 963497464 , 963497672 , 963497880 );
mavlink_msg_gps_local_origin_set_send(chan , 963497464 , 963497672 , 963497880 );
mavlink_msg_local_position_setpoint_set_send(chan , 53 , 120 , 17.0 , 45.0 , 73.0 , 101.0 );
mavlink_msg_local_position_setpoint_send(chan , 17.0 , 45.0 , 73.0 , 101.0 );
mavlink_msg_global_position_setpoint_int_send(chan , 963497464 , 963497672 , 963497880 , 17859 );
mavlink_msg_safety_set_allowed_area_send(chan , 77 , 144 , 211 , 17.0 , 45.0 , 73.0 , 101.0 , 129.0 , 157.0 );
mavlink_msg_safety_allowed_area_send(chan , 77 , 17.0 , 45.0 , 73.0 , 101.0 , 129.0 , 157.0 );
mavlink_msg_set_roll_pitch_yaw_thrust_send(chan , 53 , 120 , 17.0 , 45.0 , 73.0 , 101.0 );
mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(chan , 53 , 120 , 17.0 , 45.0 , 73.0 , 101.0 );
mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(chan , 963497464 , 45.0 , 73.0 , 101.0 , 129.0 );
mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(chan , 963497464 , 45.0 , 73.0 , 101.0 , 129.0 );
mavlink_msg_nav_controller_output_send(chan , 17.0 , 45.0 , 18275 , 18379 , 18483 , 73.0 , 101.0 , 129.0 );
mavlink_msg_position_target_send(chan , 17.0 , 45.0 , 73.0 , 101.0 );
mavlink_msg_state_correction_send(chan , 17.0 , 45.0 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 , 241.0 );
mavlink_msg_request_data_stream_send(chan , 139 , 206 , 17 , 17235 , 84 );
mavlink_msg_data_stream_send(chan , 139 , 17235 , 206 );
mavlink_msg_manual_control_send(chan , 53 , 17.0 , 45.0 , 73.0 , 101.0 , 120 , 187 , 254 , 65 );
mavlink_msg_rc_channels_override_send(chan , 53 , 120 , 17235 , 17339 , 17443 , 17547 , 17651 , 17755 , 17859 , 17963 );
mavlink_msg_global_position_int_send(chan , 963497464 , 963497672 , 963497880 , 17859 , 17963 , 18067 , 18171 );
mavlink_msg_vfr_hud_send(chan , 17.0 , 45.0 , 18067 , 18171 , 73.0 , 101.0 );
mavlink_msg_command_short_send(chan , 53 , 120 , 187 , 254 , 17.0 , 45.0 , 73.0 , 101.0 );
mavlink_msg_command_long_send(chan , 89 , 156 , 223 , 34 , 17.0 , 45.0 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 );
mavlink_msg_command_ack_send(chan , 17.0 , 45.0 );
mavlink_msg_hil_state_send(chan , 9223372036854775807 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 , 963499128 , 963499336 , 963499544 , 19523 , 19627 , 19731 , 19835 , 19939 , 20043 );
mavlink_msg_hil_controls_send(chan , 9223372036854775807 , 73.0 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 , 241.0 , 269.0 , 125 , 192 );
mavlink_msg_hil_rc_inputs_raw_send(chan , 9223372036854775807 , 17651 , 17755 , 17859 , 17963 , 18067 , 18171 , 18275 , 18379 , 18483 , 18587 , 18691 , 18795 , 101 );
mavlink_msg_optical_flow_send(chan , 9223372036854775807 , 53 , 17859 , 17963 , 120 , 73.0 );
mavlink_msg_memory_vect_send(chan , 17235 , 139 , 206 , "17" );
mavlink_msg_debug_vect_send(chan , "ATMFYRKDWP" , 9223372036854775807 , 73.0 , 101.0 , 129.0 );
mavlink_msg_named_value_float_send(chan , "AHOVCJQXEL" , 17.0 );
mavlink_msg_named_value_int_send(chan , "AHOVCJQXEL" , 963497464 );
mavlink_msg_statustext_send(chan , 5 , "AIQYGOWEMUCKSAIQYGOWEMUCKSAIQYGOWEMUCKSAIQYGOWEMUC" );
mavlink_msg_debug_send(chan , 17 , 17.0 );
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // COMMON_TESTSUITE_H
thirdParty/mavlink/include/common/mavlink.h
View file @ b303e674
/** @file
* @brief MAVLink comm protocol.
* @brief MAVLink comm protocol built from common.xml
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Saturday, August 20 2011, 14:34 UTC
* Generated on Fri Aug 26 14:04:08 2011
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#pragma pack(push,1)
#include "mavlink_options.h"
#include "common.h"
#ifdef MAVLINK_DATA
#include "mavlink_data.h"
#ifndef MAVLINK_STX
#define MAVLINK_STX 254
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#pragma pack(pop)
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#include "version.h"
#include "common.h"
#endif // MAVLINK_H
thirdParty/mavlink/include/common/mavlink_msg_auth_key.h
View file @ b303e674
// MESSAGE AUTH_KEY PACKING
#define MAVLINK_MSG_ID_AUTH_KEY 7
#define MAVLINK_MSG_ID_AUTH_KEY_LEN 32
#define MAVLINK_MSG_7_LEN 32
#define MAVLINK_MSG_ID_AUTH_KEY_KEY 0xBA
#define MAVLINK_MSG_7_KEY 0xBA
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", MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \
} \
}
/**
* @brief Pack a auth_key message
* @param system_id ID of this system
......@@ -22,18 +29,18 @@ 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)
{
mavlink_auth_key_t *p = (mavlink_auth_key_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
memcpy(p->key, key, sizeof(p->key)); // char[32]:key
put_char_array_by_index(msg, 0, key, 32); // key
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AUTH_KEY_LEN);
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
......@@ -41,16 +48,38 @@ 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)
{
mavlink_auth_key_t *p = (mavlink_auth_key_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
memcpy(p->key, key, sizeof(p->key)); // char[32]:key
put_char_array_by_index(msg, 0, key, 32); // key
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AUTH_KEY_LEN);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 119);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a auth_key message on a channel and send
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param key key
*/
static inline void mavlink_msg_auth_key_pack_chan_send(mavlink_channel_t chan,
mavlink_message_t* msg,
const char *key)
{
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
put_char_array_by_index(msg, 0, key, 32); // key
mavlink_finalize_message_chan_send(msg, chan, 32, 119);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Encode a auth_key struct into a message
*
......@@ -64,54 +93,33 @@ static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t co
return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a auth_key message
* @param chan MAVLink channel to send the message
*
* @param key key
*/
static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char* key)
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key)
{
mavlink_header_t hdr;
mavlink_auth_key_t payload;
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_AUTH_KEY_LEN )
memcpy(payload.key, key, sizeof(payload.key)); // char[32]:key
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_AUTH_KEY_LEN;
hdr.msgid = MAVLINK_MSG_ID_AUTH_KEY;
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 );
mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) );
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0xBA, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
MAVLINK_ALIGNED_MESSAGE(msg, 32);
mavlink_msg_auth_key_pack_chan_send(chan, msg, key);
}
#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* key)
static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key)
{
mavlink_auth_key_t *p = (mavlink_auth_key_t *)&msg->payload[0];
memcpy(key, p->key, sizeof(p->key));
return sizeof(p->key);
return MAVLINK_MSG_RETURN_char_array(msg, key, 32, 0);
}
/**
......@@ -122,5 +130,9 @@ 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)
{
memcpy( auth_key, msg->payload, sizeof(mavlink_auth_key_t));
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_auth_key_get_key(msg, auth_key->key);
#else
memcpy(auth_key, MAVLINK_PAYLOAD(msg), 32);
#endif
}
thirdParty/mavlink/include/common/mavlink_msg_boot.h
View file @ b303e674
// MESSAGE BOOT PACKING
#define MAVLINK_MSG_ID_BOOT 1
#define MAVLINK_MSG_ID_BOOT_LEN 4
#define MAVLINK_MSG_1_LEN 4
#define MAVLINK_MSG_ID_BOOT_KEY 0xF9
#define MAVLINK_MSG_1_KEY 0xF9
typedef struct __mavlink_boot_t
typedef struct __mavlink_boot_t
{
uint32_t version; ///< The onboard software version
uint32_t version; ///< The onboard software version
} mavlink_boot_t;
/**
......@@ -21,18 +16,18 @@ typedef struct __mavlink_boot_t
* @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)
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t version)
{
mavlink_boot_t *p = (mavlink_boot_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_BOOT;
p->version = version; // uint32_t:The onboard software version
put_uint32_t_by_index(version, 0, msg->payload); // The onboard software version
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BOOT_LEN);
return mavlink_finalize_message(msg, system_id, component_id, 4, 61);
}
/**
* @brief Pack a boot message
* @brief Pack a boot 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
......@@ -40,16 +35,38 @@ static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t componen
* @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)
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)
{
mavlink_boot_t *p = (mavlink_boot_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_BOOT;
p->version = version; // uint32_t:The onboard software version
put_uint32_t_by_index(version, 0, msg->payload); // The onboard software version
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BOOT_LEN);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 61);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a boot message on a channel and send
* @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
*/
static inline void mavlink_msg_boot_pack_chan_send(mavlink_channel_t chan,
mavlink_message_t* msg,
uint32_t version)
{
msg->msgid = MAVLINK_MSG_ID_BOOT;
put_uint32_t_by_index(version, 0, msg->payload); // The onboard software version
mavlink_finalize_message_chan_send(msg, chan, 4, 61);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Encode a boot struct into a message
*
......@@ -63,43 +80,25 @@ static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t compon
return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @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_header_t hdr;
mavlink_boot_t payload;
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_BOOT_LEN )
payload.version = version; // uint32_t:The onboard software version
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_BOOT_LEN;
hdr.msgid = MAVLINK_MSG_ID_BOOT;
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 );
mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) );
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0xF9, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
MAVLINK_ALIGNED_MESSAGE(msg, 4);
mavlink_msg_boot_pack_chan_send(chan, msg, version);
}
#endif
// MESSAGE BOOT UNPACKING
/**
* @brief Get field version from boot message
*
......@@ -107,8 +106,7 @@ static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t versio
*/
static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
{
mavlink_boot_t *p = (mavlink_boot_t *)&msg->payload[0];
return (uint32_t)(p->version);
return MAVLINK_MSG_RETURN_uint32_t(msg, 0);
}
/**
......@@ -119,5 +117,9 @@ static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg
*/
static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
{
memcpy( boot, msg->payload, sizeof(mavlink_boot_t));
#if MAVLINK_NEED_BYTE_SWAP
boot->version = mavlink_msg_boot_get_version(msg);
#else
memcpy(boot, msg->payload, 4);
#endif
}
thirdParty/mavlink/include/common/mavlink_msg_command_ack.h
View file @ b303e674
// MESSAGE COMMAND_ACK PACKING
#define MAVLINK_MSG_ID_COMMAND_ACK 77
#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8
#define MAVLINK_MSG_77_LEN 8
#define MAVLINK_MSG_ID_COMMAND_ACK_KEY 0x16
#define MAVLINK_MSG_77_KEY 0x16
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
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
} mavlink_command_ack_t;
#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8
#define MAVLINK_MSG_ID_77_LEN 8
#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
"COMMAND_ACK", \
2, \
{ { "command", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
{ "result", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_ack_t, result) }, \
} \
}
/**
* @brief Pack a command_ack message
* @param system_id ID of this system
......@@ -23,19 +32,19 @@ typedef struct __mavlink_command_ack_t
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
* @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,
float command, float result)
{
mavlink_command_ack_t *p = (mavlink_command_ack_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
p->command = command; // float:Current airspeed in m/s
p->result = result; // float:1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
put_float_by_index(msg, 0, command); // Current airspeed in m/s
put_float_by_index(msg, 4, result); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
return mavlink_finalize_message(msg, system_id, component_id, 8, 8);
}
/**
* @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
......@@ -44,16 +53,40 @@ static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t c
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
* @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,
float command,float result)
{
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
put_float_by_index(msg, 0, command); // Current airspeed in m/s
put_float_by_index(msg, 4, result); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 8);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a command_ack message on a channel and send
* @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
*/
static inline void mavlink_msg_command_ack_pack_chan_send(mavlink_channel_t chan,
mavlink_message_t* msg,
float command,float result)
{
mavlink_command_ack_t *p = (mavlink_command_ack_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
p->command = command; // float:Current airspeed in m/s
p->result = result; // float:1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
put_float_by_index(msg, 0, command); // Current airspeed in m/s
put_float_by_index(msg, 4, result); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
mavlink_finalize_message_chan_send(msg, chan, 8, 8);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Encode a command_ack struct into a message
......@@ -68,8 +101,6 @@ static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t
return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a command_ack message
* @param chan MAVLink channel to send the message
......@@ -77,36 +108,19 @@ static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t
* @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
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
{
mavlink_header_t hdr;
mavlink_command_ack_t payload;
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN )
payload.command = command; // float:Current airspeed in m/s
payload.result = result; // float:1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_COMMAND_ACK_LEN;
hdr.msgid = MAVLINK_MSG_ID_COMMAND_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 );
mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) );
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0x16, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
MAVLINK_ALIGNED_MESSAGE(msg, 8);
mavlink_msg_command_ack_pack_chan_send(chan, msg, command, result);
}
#endif
// MESSAGE COMMAND_ACK UNPACKING
/**
* @brief Get field command from command_ack message
*
......@@ -114,8 +128,7 @@ static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float co
*/
static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
{
mavlink_command_ack_t *p = (mavlink_command_ack_t *)&msg->payload[0];
return (float)(p->command);
return MAVLINK_MSG_RETURN_float(msg, 0);
}
/**
......@@ -125,8 +138,7 @@ static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t*
*/
static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
{
mavlink_command_ack_t *p = (mavlink_command_ack_t *)&msg->payload[0];
return (float)(p->result);
return MAVLINK_MSG_RETURN_float(msg, 4);
}
/**
......@@ -137,5 +149,10 @@ 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)
{
memcpy( command_ack, msg->payload, sizeof(mavlink_command_ack_t));
#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, MAVLINK_PAYLOAD(msg), 8);
#endif
}
thirdParty/mavlink/include/common/mavlink_msg_data_stream.h
View file @ b303e674
// MESSAGE DATA_STREAM PACKING
#define MAVLINK_MSG_ID_DATA_STREAM 67
#define MAVLINK_MSG_ID_DATA_STREAM_LEN 4
#define MAVLINK_MSG_67_LEN 4
#define MAVLINK_MSG_ID_DATA_STREAM_KEY 0x50
#define MAVLINK_MSG_67_KEY 0x50
typedef struct __mavlink_data_stream_t
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.
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", MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
{ "stream_id", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
{ "on_off", 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
......@@ -25,20 +35,20 @@ typedef struct __mavlink_data_stream_t
* @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)
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)
{
mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
p->stream_id = stream_id; // uint8_t:The ID of the requested data stream
p->message_rate = message_rate; // uint16_t:The requested interval between two messages of this type
p->on_off = on_off; // uint8_t:1 stream is enabled, 0 stream is stopped.
put_uint16_t_by_index(msg, 0, message_rate); // The requested interval between two messages of this type
put_uint8_t_by_index(msg, 2, stream_id); // The ID of the requested data stream
put_uint8_t_by_index(msg, 3, on_off); // 1 stream is enabled, 0 stream is stopped.
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_LEN);
return mavlink_finalize_message(msg, system_id, component_id, 4, 21);
}
/**
* @brief Pack a data_stream message
* @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
......@@ -48,18 +58,44 @@ static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t c
* @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)
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)
{
mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
p->stream_id = stream_id; // uint8_t:The ID of the requested data stream
p->message_rate = message_rate; // uint16_t:The requested interval between two messages of this type
p->on_off = on_off; // uint8_t:1 stream is enabled, 0 stream is stopped.
put_uint16_t_by_index(msg, 0, message_rate); // The requested interval between two messages of this type
put_uint8_t_by_index(msg, 2, stream_id); // The ID of the requested data stream
put_uint8_t_by_index(msg, 3, on_off); // 1 stream is enabled, 0 stream is stopped.
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_LEN);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 21);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a data_stream message on a channel and send
* @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.
*/
static inline void mavlink_msg_data_stream_pack_chan_send(mavlink_channel_t chan,
mavlink_message_t* msg,
uint8_t stream_id,uint16_t message_rate,uint8_t on_off)
{
msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
put_uint16_t_by_index(msg, 0, message_rate); // The requested interval between two messages of this type
put_uint8_t_by_index(msg, 2, stream_id); // The ID of the requested data stream
put_uint8_t_by_index(msg, 3, on_off); // 1 stream is enabled, 0 stream is stopped.
mavlink_finalize_message_chan_send(msg, chan, 4, 21);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Encode a data_stream struct into a message
*
......@@ -73,8 +109,6 @@ static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t
return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a data_stream message
* @param chan MAVLink channel to send the message
......@@ -83,37 +117,19 @@ static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t
* @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)
{
mavlink_header_t hdr;
mavlink_data_stream_t payload;
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_DATA_STREAM_LEN )
payload.stream_id = stream_id; // uint8_t:The ID of the requested data stream
payload.message_rate = message_rate; // uint16_t:The requested interval between two messages of this type
payload.on_off = on_off; // uint8_t:1 stream is enabled, 0 stream is stopped.
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_DATA_STREAM_LEN;
hdr.msgid = MAVLINK_MSG_ID_DATA_STREAM;
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 );
mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) );
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0x50, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
MAVLINK_ALIGNED_MESSAGE(msg, 4);
mavlink_msg_data_stream_pack_chan_send(chan, msg, stream_id, message_rate, on_off);
}
#endif
// MESSAGE DATA_STREAM UNPACKING
/**
* @brief Get field stream_id from data_stream message
*
......@@ -121,8 +137,7 @@ static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t
*/
static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg)
{
mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0];
return (uint8_t)(p->stream_id);
return MAVLINK_MSG_RETURN_uint8_t(msg, 2);
}
/**
......@@ -132,8 +147,7 @@ static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_messag
*/
static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg)
{
mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0];
return (uint16_t)(p->message_rate);
return MAVLINK_MSG_RETURN_uint16_t(msg, 0);
}
/**
......@@ -143,8 +157,7 @@ static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_me
*/
static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg)
{
mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0];
return (uint8_t)(p->on_off);
return MAVLINK_MSG_RETURN_uint8_t(msg, 3);
}
/**
......@@ -155,5 +168,11 @@ static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t
*/
static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream)
{
memcpy( data_stream, msg->payload, sizeof(mavlink_data_stream_t));
#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, MAVLINK_PAYLOAD(msg), 4);
#endif
}
thirdParty/mavlink/include/common/mavlink_msg_debug.h
View file @ b303e674
// MESSAGE DEBUG PACKING
#define MAVLINK_MSG_ID_DEBUG 255
#define MAVLINK_MSG_ID_DEBUG_LEN 5
#define MAVLINK_MSG_255_LEN 5
#define MAVLINK_MSG_ID_DEBUG_KEY 0x54
#define MAVLINK_MSG_255_KEY 0x54
typedef struct __mavlink_debug_t
typedef struct __mavlink_debug_t
{
float value; ///< DEBUG value
uint8_t ind; ///< index of debug variable
float value; ///< DEBUG value
uint8_t ind; ///< index of debug variable
} mavlink_debug_t;
#define MAVLINK_MSG_ID_DEBUG_LEN 5
#define MAVLINK_MSG_ID_255_LEN 5
#define MAVLINK_MESSAGE_INFO_DEBUG { \
"DEBUG", \
2, \
{ { "value", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_debug_t, value) }, \
{ "ind", MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_debug_t, ind) }, \
} \
}
/**
* @brief Pack a debug message
* @param system_id ID of this system
......@@ -23,19 +32,19 @@ typedef struct __mavlink_debug_t
* @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,
uint8_t ind, float value)
{
mavlink_debug_t *p = (mavlink_debug_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_DEBUG;
p->ind = ind; // uint8_t:index of debug variable
p->value = value; // float:DEBUG value
put_float_by_index(msg, 0, value); // DEBUG value
put_uint8_t_by_index(msg, 4, ind); // index of debug variable
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_LEN);
return mavlink_finalize_message(msg, system_id, component_id, 5, 127);
}
/**
* @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
......@@ -44,16 +53,40 @@ static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t compone
* @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,
uint8_t ind,float value)
{
msg->msgid = MAVLINK_MSG_ID_DEBUG;
put_float_by_index(msg, 0, value); // DEBUG value
put_uint8_t_by_index(msg, 4, ind); // index of debug variable
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 127);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a debug message on a channel and send
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param ind index of debug variable
* @param value DEBUG value
*/
static inline void mavlink_msg_debug_pack_chan_send(mavlink_channel_t chan,
mavlink_message_t* msg,
uint8_t ind,float value)
{
mavlink_debug_t *p = (mavlink_debug_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_DEBUG;
p->ind = ind; // uint8_t:index of debug variable
p->value = value; // float:DEBUG value
put_float_by_index(msg, 0, value); // DEBUG value
put_uint8_t_by_index(msg, 4, ind); // index of debug variable
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_LEN);
mavlink_finalize_message_chan_send(msg, chan, 5, 127);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Encode a debug struct into a message
......@@ -68,8 +101,6 @@ static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t compo
return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a debug message
* @param chan MAVLink channel to send the message
......@@ -77,36 +108,19 @@ static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t compo
* @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)
{
mavlink_header_t hdr;
mavlink_debug_t payload;
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_DEBUG_LEN )
payload.ind = ind; // uint8_t:index of debug variable
payload.value = value; // float:DEBUG value
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_DEBUG_LEN;
hdr.msgid = MAVLINK_MSG_ID_DEBUG;
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 );
mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) );
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0x54, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
MAVLINK_ALIGNED_MESSAGE(msg, 5);
mavlink_msg_debug_pack_chan_send(chan, msg, ind, value);
}
#endif
// MESSAGE DEBUG UNPACKING
/**
* @brief Get field ind from debug message
*
......@@ -114,8 +128,7 @@ 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)
{
mavlink_debug_t *p = (mavlink_debug_t *)&msg->payload[0];
return (uint8_t)(p->ind);
return MAVLINK_MSG_RETURN_uint8_t(msg, 4);
}
/**
......@@ -125,8 +138,7 @@ 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)
{
mavlink_debug_t *p = (mavlink_debug_t *)&msg->payload[0];
return (float)(p->value);
return MAVLINK_MSG_RETURN_float(msg, 0);
}
/**
......@@ -137,5 +149,10 @@ 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)
{
memcpy( debug, msg->payload, sizeof(mavlink_debug_t));
#if MAVLINK_NEED_BYTE_SWAP
debug->value = mavlink_msg_debug_get_value(msg);
debug->ind = mavlink_msg_debug_get_ind(msg);
#else
memcpy(debug, MAVLINK_PAYLOAD(msg), 5);
#endif
}
thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h
View file @ b303e674
// MESSAGE DEBUG_VECT PACKING
#define MAVLINK_MSG_ID_DEBUG_VECT 251
#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30
#define MAVLINK_MSG_251_LEN 30
#define MAVLINK_MSG_ID_DEBUG_VECT_KEY 0x2B
#define MAVLINK_MSG_251_KEY 0x2B
typedef struct __mavlink_debug_vect_t
typedef struct __mavlink_debug_vect_t
{
uint64_t usec; ///< Timestamp
float x; ///< x
float y; ///< y
float z; ///< z
char name[10]; ///< Name
uint64_t 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_251_LEN 30
#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
"DEBUG_VECT", \
5, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_debug_vect_t, usec) }, \
{ "x", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_debug_vect_t, x) }, \
{ "y", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_debug_vect_t, y) }, \
{ "z", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_debug_vect_t, z) }, \
{ "name", MAVLINK_TYPE_CHAR, 10, 20, offsetof(mavlink_debug_vect_t, name) }, \
} \
}
/**
* @brief Pack a debug_vect message
* @param system_id ID of this system
......@@ -30,22 +41,22 @@ typedef struct __mavlink_debug_vect_t
* @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 usec, float x, float y, float z)
{
mavlink_debug_vect_t *p = (mavlink_debug_vect_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
memcpy(p->name, name, sizeof(p->name)); // char[10]:Name
p->usec = usec; // uint64_t:Timestamp
p->x = x; // float:x
p->y = y; // float:y
p->z = z; // float:z
put_uint64_t_by_index(msg, 0, usec); // Timestamp
put_float_by_index(msg, 8, x); // x
put_float_by_index(msg, 12, y); // y
put_float_by_index(msg, 16, z); // z
put_char_array_by_index(msg, 20, name, 10); // Name
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
return mavlink_finalize_message(msg, system_id, component_id, 30, 15);
}
/**
* @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
......@@ -57,20 +68,50 @@ static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t co
* @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 usec,float x,float y,float z)
{
mavlink_debug_vect_t *p = (mavlink_debug_vect_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
memcpy(p->name, name, sizeof(p->name)); // char[10]:Name
p->usec = usec; // uint64_t:Timestamp
p->x = x; // float:x
p->y = y; // float:y
p->z = z; // float:z
put_uint64_t_by_index(msg, 0, usec); // Timestamp
put_float_by_index(msg, 8, x); // x
put_float_by_index(msg, 12, y); // y
put_float_by_index(msg, 16, z); // z
put_char_array_by_index(msg, 20, name, 10); // Name
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 15);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a debug_vect message on a channel and send
* @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 x x
* @param y y
* @param z z
*/
static inline void mavlink_msg_debug_vect_pack_chan_send(mavlink_channel_t chan,
mavlink_message_t* msg,
const char *name,uint64_t usec,float x,float y,float z)
{
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
put_uint64_t_by_index(msg, 0, usec); // Timestamp
put_float_by_index(msg, 8, x); // x
put_float_by_index(msg, 12, y); // y
put_float_by_index(msg, 16, z); // z
put_char_array_by_index(msg, 20, name, 10); // Name
mavlink_finalize_message_chan_send(msg, chan, 30, 15);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Encode a debug_vect struct into a message
*
......@@ -84,8 +125,6 @@ static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t
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);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a debug_vect message
* @param chan MAVLink channel to send the message
......@@ -96,50 +135,27 @@ static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t
* @param y y
* @param z z
*/
static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char* name, uint64_t usec, float x, float y, float 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)
{
mavlink_header_t hdr;
mavlink_debug_vect_t payload;
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_DEBUG_VECT_LEN )
memcpy(payload.name, name, sizeof(payload.name)); // char[10]:Name
payload.usec = usec; // uint64_t:Timestamp
payload.x = x; // float:x
payload.y = y; // float:y
payload.z = z; // float:z
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_DEBUG_VECT_LEN;
hdr.msgid = MAVLINK_MSG_ID_DEBUG_VECT;
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 );
mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) );
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0x2B, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
MAVLINK_ALIGNED_MESSAGE(msg, 30);
mavlink_msg_debug_vect_pack_chan_send(chan, msg, name, usec, x, y, z);
}
#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* name)
static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name)
{
mavlink_debug_vect_t *p = (mavlink_debug_vect_t *)&msg->payload[0];
memcpy(name, p->name, sizeof(p->name));
return sizeof(p->name);
return MAVLINK_MSG_RETURN_char_array(msg, name, 10, 20);
}
/**
......@@ -149,8 +165,7 @@ static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t*
*/
static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg)
{
mavlink_debug_vect_t *p = (mavlink_debug_vect_t *)&msg->payload[0];
return (uint64_t)(p->usec);
return MAVLINK_MSG_RETURN_uint64_t(msg, 0);
}
/**
......@@ -160,8 +175,7 @@ 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)
{
mavlink_debug_vect_t *p = (mavlink_debug_vect_t *)&msg->payload[0];
return (float)(p->x);
return MAVLINK_MSG_RETURN_float(msg, 8);
}
/**
......@@ -171,8 +185,7 @@ 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)
{
mavlink_debug_vect_t *p = (mavlink_debug_vect_t *)&msg->payload[0];
return (float)(p->y);
return MAVLINK_MSG_RETURN_float(msg, 12);
}
/**
......@@ -182,8 +195,7 @@ 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)
{
mavlink_debug_vect_t *p = (mavlink_debug_vect_t *)&msg->payload[0];
return (float)(p->z);
return MAVLINK_MSG_RETURN_float(msg, 16);
}
/**
......@@ -194,5 +206,13 @@ 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)
{
memcpy( debug_vect, msg->payload, sizeof(mavlink_debug_vect_t));
#if MAVLINK_NEED_BYTE_SWAP
debug_vect->usec = mavlink_msg_debug_vect_get_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, MAVLINK_PAYLOAD(msg), 30);
#endif
}
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/** @file
* @brief MAVLink comm protocol built from common.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sat Aug 27 10:06:32 2011"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#include "mavlink.h"
#endif // MAVLINK_VERSION_H
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