merged

src/uas/PxQuadMAV.cc

@@ -86,6 +86,19 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             positionLock = true;
         }
         break;
+    case MAVLINK_MSG_ID_AUX_STATUS:
+        {
+            mavlink_aux_status_t status;
+            mavlink_msg_aux_status_decode(&message, &status);
+            emit loadChanged(this, status.load/10.0f);
+            emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count);
+            emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count);
+            emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
+            emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
+            emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
+            emit valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
+        }
+        break;
     default:
         // Do nothing
         break;

src/uas/UAS.cc

@@ -250,19 +250,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 }
             }
             break;
-        case MAVLINK_MSG_ID_AUX_STATUS:
-            {
-                mavlink_aux_status_t status;
-                mavlink_msg_aux_status_decode(&message, &status);
-                emit loadChanged(this, status.load/10.0f);
-                emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count);
-                emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count);
-                emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
-                emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
-                emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
-                emit valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
-            }
-            break;
         case MAVLINK_MSG_ID_RAW_IMU:
             {
                 mavlink_raw_imu_t raw;
@@ -351,13 +338,21 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "lat", pos.lat, time);
                 emit valueChanged(uasId, "lon", pos.lon, time);
                 emit valueChanged(uasId, "alt", pos.alt, time);
-                emit valueChanged(uasId, "g-vx", pos.vx, time);
-                emit valueChanged(uasId, "g-vy", pos.vy, time);
-                emit valueChanged(uasId, "g-vz", pos.vz, time);
+                emit valueChanged(uasId, "speed", pos.v, time);
                 qDebug() << "GOT GPS RAW";
                 emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
             }
             break;
+        case MAVLINK_MSG_ID_GPS_STATUS:
+            {
+                mavlink_gps_status_t pos;
+                mavlink_msg_gps_status_decode(&message, &pos);
+                for(int i = 0; i < pos.satellites_visible && i < sizeof(pos.satellite_used); i++)
+                {
+                    emit gpsSatelliteStatusChanged(uasId, i, pos.satellite_azimuth[i], pos.satellite_direction[i], pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
+                }
+            }
+            break;
         case MAVLINK_MSG_ID_PARAM_VALUE:
             {
                 mavlink_param_value_t value;

src/uas/UASInterface.h

@@ -304,6 +304,8 @@ signals:
     void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
     void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
     void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
+    /** @brief Update the status of one satellite used for localization */
+    void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
     void speedChanged(UASInterface*, double x, double y, double z, quint64 usec);
     void imageStarted(int imgid, int width, int height, int depth, int channels);
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);

src/ui/HSIDisplay.cc

@@ -39,11 +39,22 @@ This file is part of the PIXHAWK project
 #include <QDebug>
 
 HSIDisplay::HSIDisplay(QWidget *parent) :
-        HDDisplay(NULL, parent)
+        HDDisplay(NULL, parent),
+        gpsSatellites()
 {
     
 }
 
+void HSIDisplay::paintEvent(QPaintEvent * event)
+{
+    Q_UNUSED(event);
+    //paintGL();
+    static quint64 interval = 0;
+    qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
+    interval = MG::TIME::getGroundTimeNow();
+    paintDisplay();
+}
+
 void HSIDisplay::paintDisplay()
 {
     quint64 refreshInterval = 100;
@@ -69,7 +80,20 @@ void HSIDisplay::paintDisplay()
     const int columns = 3;
     const float spacing = 0.4f; // 40% of width
     const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.1f));
-    const QColor ringColor = QColor(200, 200, 200);
+    const QColor ringColor = QColor(200, 250, 200);
+
+    const int ringCount = 2;
+    const float margin = 0.1f;  // 10% margin of total width on each side
+
+    for (int i = 0; i < ringCount; i++)
+    {
+        float radius = (vwidth - vwidth * 2.0f * margin) / (2.0f * i+1) / 2.0f;
+        drawCircle(vwidth/2.0f, vheight/2.0f, radius, 0.1f, ringColor, &painter);
+    }
+
+    drawGPS();
+
+
     //drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
     //drawGauge(15.0f, 15.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true);
     //drawGauge(15.0f+gaugeWidth*1.7f, 15.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true);
@@ -119,9 +143,64 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
     //}
 }
 
+void HSIDisplay::updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used)
+{
+    Q_UNUSED(uasid);
+    // If slot is empty, insert object
+    if (gpsSatellites.at(satid) == NULL)
+    {
+        gpsSatellites.insert(satid, new GPSSatellite(satid, azimuth, direction, snr, used));
+    }
+    else
+    {
+        // Satellite exists, update it
+        gpsSatellites.at(satid)->update(satid, azimuth, direction, snr, used);
+    }
+}
+
+QColor HSIDisplay::getColorForSNR(float snr)
+{
+    return QColor(200, 250, 200);
+}
+
 void HSIDisplay::drawGPS()
 {
-	
+    QPainter painter(this);
+    painter.setRenderHint(QPainter::Antialiasing, true);
+    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+
+    // Max satellite circle radius
+
+    const float margin = 0.2f;  // 20% margin of total width on each side
+    float radius = (vwidth - vwidth * 2.0f * margin) / 2.0f;
+
+    for (int i = 0; i < gpsSatellites.size(); i++)
+    {
+        GPSSatellite* sat = gpsSatellites.at(i);
+        if (sat)
+        {
+            // Draw satellite
+            QBrush brush;
+            QColor color = getColorForSNR(sat->snr);
+            brush.setColor(color);
+            if (sat->used)
+            {
+                brush.setStyle(Qt::SolidPattern);
+            }
+            else
+            {
+                brush.setStyle(Qt::NoBrush);
+            }
+            painter.setPen(Qt::SolidLine);
+            painter.setPen(color);
+            painter.setBrush(brush);
+
+            float xPos = sin(sat->direction) * sat->azimuth * radius;
+            float yPos = cos(sat->direction) * sat->azimuth * radius;
+
+            drawCircle(xPos, yPos, vwidth/10.0f, 1.0f, color, &painter);
+        }
+    }
 }
 
 void HSIDisplay::drawObjects()

src/ui/HSIDisplay.h

@@ -45,19 +45,58 @@ class HSIDisplay : public HDDisplay {
     Q_OBJECT
 public:
     HSIDisplay(QWidget *parent = 0);
-   // ~HSIDisplay();
+    // ~HSIDisplay();
 
 public slots:
     void setActiveUAS(UASInterface* uas);
+    void paintEvent(QPaintEvent * event);
 
 protected slots:
     void paintDisplay();
-	void drawGPS();
-	void drawObjects();
-	void drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid);
-	
+    void drawGPS();
+    void drawObjects();
+    void drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid);
+
 
 protected:
+    void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
+    static QColor getColorForSNR(float snr);
+
+    /**
+     * @brief Private data container class to be used within the HSI widget
+     */
+    class GPSSatellite
+    {
+    public:
+        GPSSatellite(int id, float azimuth, float direction, float snr, bool used) :
+            id(id),
+            azimuth(azimuth),
+            direction(direction),
+            snr(snr),
+            used(used)
+        {
+
+        }
+
+        void update(int id, float azimuth, float direction, float snr, bool used)
+        {
+            this->id = id;
+            this->azimuth = azimuth;
+            this->direction = direction;
+            this->snr = snr;
+            this->used = used;
+        }
+
+        int id;
+        float azimuth;
+        float direction;
+        float snr;
+        bool used;
+
+        friend class HSIDisplay;
+    };
+
+    QVector<GPSSatellite*> gpsSatellites;
 
 private:
 };

src/ui/MainWindow.cc

@@ -356,6 +356,7 @@ void MainWindow::clearView()
     linechart->setActive(false);
     headDown1->stop();
     headDown2->stop();
+    hsi->stop();
 
     // Remove all dock widgets
     QList<QObject*> list = this->children();
@@ -426,9 +427,10 @@ void MainWindow::loadOperatorView()
     container5->setWidget(waypoints);
     addDockWidget(Qt::BottomDockWidgetArea, container5);
 
-    // DEBUG CONSOLE
-    QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
-    container7->setWidget(debugConsole);
+    // HORIZONTAL SITUATION INDICATOR
+    QDockWidget* container7 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
+    container7->setWidget(hsi);
+    hsi->start();
     addDockWidget(Qt::BottomDockWidgetArea, container7);
 
     // OBJECT DETECTION

test/generated/mavlink_message_attitude.h

-// MESSAGE ATTITUDE PACKING
-
-#define MESSAGE_ID_ATTITUDE 90
-
-/**
- * @brief Send a attitude message
- *
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t message_attitude_pack(uint8_t system_id, CommMessage_t* msg, float roll, float pitch, float yaw)
-{
-	msg->msgid = MESSAGE_ID_ATTITUDE;
-	uint16_t i = 0;
-
-	i += put_float_by_index(roll, i, msg->payload); //Roll angle (rad)
-	i += put_float_by_index(pitch, i, msg->payload); //Pitch angle (rad)
-	i += put_float_by_index(yaw, i, msg->payload); //Yaw angle (rad)
-
-	return finalize_message(msg, system_id, i);
-}
-
-// MESSAGE ATTITUDE UNPACKING
-
-/**
- * @brief Get field roll from attitude message
- *
- * @return Roll angle (rad)
- */
-static inline float message_attitude_get_roll(CommMessage_t* msg)
-{
-	return *((float*) (void*)msg->payload);
-}
-
-/**
- * @brief Get field pitch from attitude message
- *
- * @return Pitch angle (rad)
- */
-static inline float message_attitude_get_pitch(CommMessage_t* msg)
-{
-	return *((float*) (void*)msg->payload+sizeof(float));
-}
-
-/**
- * @brief Get field yaw from attitude message
- *
- * @return Yaw angle (rad)
- */
-static inline float message_attitude_get_yaw(CommMessage_t* msg)
-{
-	return *((float*) (void*)msg->payload+sizeof(float)+sizeof(float));
-}
-

test/generated/mavlink_message_attitude2.h

-// MESSAGE ATTITUDE2 PACKING
-
-#define MESSAGE_ID_ATTITUDE2 90
-
-typedef struct __attitude2_t 
-{
-	float roll; ///< Roll angle (rad)
-	float pitch; ///< Pitch angle (rad)
-	float yaw; ///< Yaw angle (rad)
-
-} attitude2_t;
-
-/**
- * @brief Send a attitude2 message
- *
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t message_attitude2_pack(uint8_t system_id, CommMessage_t* msg, float roll, float pitch, float yaw)
-{
-	msg->msgid = MESSAGE_ID_ATTITUDE2;
-	uint16_t i = 0;
-
-	i += put_float_by_index(roll, i, msg->payload); //Roll angle (rad)
-	i += put_float_by_index(pitch, i, msg->payload); //Pitch angle (rad)
-	i += put_float_by_index(yaw, i, msg->payload); //Yaw angle (rad)
-
-	return finalize_message(msg, system_id, i);
-}
-
-static inline uint16_t message_attitude2_encode(uint8_t system_id, CommMessage_t* msg, const attitude2_t* attitude2)
-{
-	message_attitude2_pack(system_id, msg, attitude2->roll, attitude2->pitch, attitude2->yaw);
-}
-// MESSAGE ATTITUDE2 UNPACKING
-
-/**
- * @brief Get field roll from attitude2 message
- *
- * @return Roll angle (rad)
- */
-static inline float message_attitude2_get_roll(CommMessage_t* msg)
-{
-	generic_32bit r;
-	r.b[3] = (msg->payload)[0];
-	r.b[2] = (msg->payload)[1];
-	r.b[1] = (msg->payload)[2];
-	r.b[0] = (msg->payload)[3];
-	return (float)r.f;
-}
-
-/**
- * @brief Get field pitch from attitude2 message
- *
- * @return Pitch angle (rad)
- */
-static inline float message_attitude2_get_pitch(CommMessage_t* msg)
-{
-	generic_32bit r;
-	r.b[3] = (msg->payload+sizeof(float))[0];
-	r.b[2] = (msg->payload+sizeof(float))[1];
-	r.b[1] = (msg->payload+sizeof(float))[2];
-	r.b[0] = (msg->payload+sizeof(float))[3];
-	return (float)r.f;
-}
-
-/**
- * @brief Get field yaw from attitude2 message
- *
- * @return Yaw angle (rad)
- */
-static inline float message_attitude2_get_yaw(CommMessage_t* msg)
-{
-	generic_32bit r;
-	r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
-	r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
-	r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
-	r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
-	return (float)r.f;
-}
-
-static inline void message_attitude2_decode(CommMessage_t* msg, attitude2_t* attitude2)
-{
-	attitude2->roll = message_attitude2_get_roll(msg);
-	attitude2->pitch = message_attitude2_get_pitch(msg);
-	attitude2->yaw = message_attitude2_get_yaw(msg);
-}

test/generated/mavlink_message_boot.h

-// MESSAGE BOOT PACKING
-
-#define MESSAGE_ID_BOOT 1
-
-/**
- * @brief Send a boot message
- *
- * @param version The onboard software version
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t message_boot_pack(uint8_t system_id, CommMessage_t* msg, uint32 version)
-{
-	msg->msgid = MESSAGE_ID_BOOT;
-	uint16_t i = 0;
-
-	i += put_uint32_by_index(version, i, msg->payload); //The onboard software version
-
-	return finalize_message(msg, system_id, i);
-}
-
-// MESSAGE BOOT UNPACKING
-
-/**
- * @brief Get field version from boot message
- *
- * @return The onboard software version
- */
-static inline uint32 message_boot_get_version(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload);
-}
-

test/generated/mavlink_message_boot2.h

-// MESSAGE BOOT2 PACKING
-
-#define MESSAGE_ID_BOOT2 1
-
-typedef struct __boot2_t 
-{
-	uint32 version; ///< The onboard software version
-
-} boot2_t;
-
-/**
- * @brief Send a boot2 message
- *
- * @param version The onboard software version
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t message_boot2_pack(uint8_t system_id, CommMessage_t* msg, uint32 version)
-{
-	msg->msgid = MESSAGE_ID_BOOT2;
-	uint16_t i = 0;
-
-	i += put_uint32_by_index(version, i, msg->payload); //The onboard software version
-
-	return finalize_message(msg, system_id, i);
-}
-
-static inline uint16_t message_boot2_encode(uint8_t system_id, CommMessage_t* msg, const boot2_t* boot2)
-{
-	message_boot2_pack(system_id, msg, boot2->version);
-}
-// MESSAGE BOOT2 UNPACKING
-
-/**
- * @brief Get field version from boot2 message
- *
- * @return The onboard software version
- */
-static inline uint32 message_boot2_get_version(CommMessage_t* msg)
-{
-
-}
-
-static inline void message_boot2_decode(CommMessage_t* msg, boot2_t* boot2)
-{
-	boot2->version = message_boot2_get_version(msg);
-}

test/generated/mavlink_message_heartbeat.h

-// MESSAGE HEARTBEAT PACKING
-
-#define MESSAGE_ID_HEARTBEAT 0
-
-/**
- * @brief Send a heartbeat message
- *
- * @param type Type of the MAV (quadrotor, helicopter, etc.)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t message_heartbeat_pack(uint8_t system_id, CommMessage_t* msg, uint8 type)
-{
-	msg->msgid = MESSAGE_ID_HEARTBEAT;
-	uint16_t i = 0;
-
-	i += put_uint8_by_index(type, i, msg->payload); //Type of the MAV (quadrotor, helicopter, etc.)
-
-	return finalize_message(msg, system_id, i);
-}
-
-// MESSAGE HEARTBEAT UNPACKING
-
-/**
- * @brief Get field type from heartbeat message
- *
- * @return Type of the MAV (quadrotor, helicopter, etc.)
- */
-static inline uint8 message_heartbeat_get_type(CommMessage_t* msg)
-{
-	return *((uint8*) (void*)msg->payload);
-}
-

test/generated/mavlink_message_heartbeat2.h

-// MESSAGE HEARTBEAT2 PACKING
-
-#define MESSAGE_ID_HEARTBEAT2 0
-
-typedef struct __heartbeat2_t 
-{
-	uint8 type; ///< Type of the MAV (quadrotor, helicopter, etc.)
-
-} heartbeat2_t;
-
-/**
- * @brief Send a heartbeat2 message
- *
- * @param type Type of the MAV (quadrotor, helicopter, etc.)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t message_heartbeat2_pack(uint8_t system_id, CommMessage_t* msg, uint8 type)
-{
-	msg->msgid = MESSAGE_ID_HEARTBEAT2;
-	uint16_t i = 0;
-
-	i += put_uint8_by_index(type, i, msg->payload); //Type of the MAV (quadrotor, helicopter, etc.)
-
-	return finalize_message(msg, system_id, i);
-}
-
-static inline uint16_t message_heartbeat2_encode(uint8_t system_id, CommMessage_t* msg, const heartbeat2_t* heartbeat2)
-{
-	message_heartbeat2_pack(system_id, msg, heartbeat2->type);
-}
-// MESSAGE HEARTBEAT2 UNPACKING
-
-/**
- * @brief Get field type from heartbeat2 message
- *
- * @return Type of the MAV (quadrotor, helicopter, etc.)
- */
-static inline uint8 message_heartbeat2_get_type(CommMessage_t* msg)
-{
-
-}
-
-static inline void message_heartbeat2_decode(CommMessage_t* msg, heartbeat2_t* heartbeat2)
-{
-	heartbeat2->type = message_heartbeat2_get_type(msg);
-}

test/generated/mavlink_message_sensraw.h

-// MESSAGE SENSRAW PACKING
-
-#define MESSAGE_ID_SENSRAW 100
-
-/**
- * @brief Send a sensraw message
- *
- * @param xacc X acceleration (mg raw)
- * @param yacc Y acceleration (mg raw)
- * @param zacc Z acceleration (mg raw)
- * @param xgyro Angular speed around X axis (adc units)
- * @param ygyro Angular speed around Y axis (adc units)
- * @param zgyro Angular speed around Z axis (adc units)
- * @param xmag 
- * @param ymag 
- * @param zmag 
- * @param baro 
- * @param gdist 
- * @param temp 
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t message_sensraw_pack(uint8_t system_id, CommMessage_t* msg, uint32 xacc, uint32 yacc, uint32 zacc, uint32 xgyro, uint32 ygyro, uint32 zgyro, uint32 xmag, uint32 ymag, uint32 zmag, int32 baro, uint32 gdist, int32 temp)
-{
-	msg->msgid = MESSAGE_ID_SENSRAW;
-	uint16_t i = 0;
-
-	i += put_uint32_by_index(xacc, i, msg->payload); //X acceleration (mg raw)
-	i += put_uint32_by_index(yacc, i, msg->payload); //Y acceleration (mg raw)
-	i += put_uint32_by_index(zacc, i, msg->payload); //Z acceleration (mg raw)
-	i += put_uint32_by_index(xgyro, i, msg->payload); //Angular speed around X axis (adc units)
-	i += put_uint32_by_index(ygyro, i, msg->payload); //Angular speed around Y axis (adc units)
-	i += put_uint32_by_index(zgyro, i, msg->payload); //Angular speed around Z axis (adc units)
-	i += put_uint32_by_index(xmag, i, msg->payload); //
-	i += put_uint32_by_index(ymag, i, msg->payload); //
-	i += put_uint32_by_index(zmag, i, msg->payload); //
-	i += put_int32_by_index(baro, i, msg->payload); //
-	i += put_uint32_by_index(gdist, i, msg->payload); //
-	i += put_int32_by_index(temp, i, msg->payload); //
-
-	return finalize_message(msg, system_id, i);
-}
-
-// MESSAGE SENSRAW UNPACKING
-
-/**
- * @brief Get field xacc from sensraw message
- *
- * @return X acceleration (mg raw)
- */
-static inline uint32 message_sensraw_get_xacc(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload);
-}
-
-/**
- * @brief Get field yacc from sensraw message
- *
- * @return Y acceleration (mg raw)
- */
-static inline uint32 message_sensraw_get_yacc(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32));
-}
-
-/**
- * @brief Get field zacc from sensraw message
- *
- * @return Z acceleration (mg raw)
- */
-static inline uint32 message_sensraw_get_zacc(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32));
-}
-
-/**
- * @brief Get field xgyro from sensraw message
- *
- * @return Angular speed around X axis (adc units)
- */
-static inline uint32 message_sensraw_get_xgyro(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32));
-}
-
-/**
- * @brief Get field ygyro from sensraw message
- *
- * @return Angular speed around Y axis (adc units)
- */
-static inline uint32 message_sensraw_get_ygyro(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32));
-}
-
-/**
- * @brief Get field zgyro from sensraw message
- *
- * @return Angular speed around Z axis (adc units)
- */
-static inline uint32 message_sensraw_get_zgyro(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32));
-}
-
-/**
- * @brief Get field xmag from sensraw message
- *
- * @return 
- */
-static inline uint32 message_sensraw_get_xmag(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32));
-}
-
-/**
- * @brief Get field ymag from sensraw message
- *
- * @return 
- */
-static inline uint32 message_sensraw_get_ymag(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32));
-}
-
-/**
- * @brief Get field zmag from sensraw message
- *
- * @return 
- */
-static inline uint32 message_sensraw_get_zmag(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32));
-}
-
-/**
- * @brief Get field baro from sensraw message
- *
- * @return 
- */
-static inline int32 message_sensraw_get_baro(CommMessage_t* msg)
-{
-	return *((int32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32));
-}
-
-/**
- * @brief Get field gdist from sensraw message
- *
- * @return 
- */
-static inline uint32 message_sensraw_get_gdist(CommMessage_t* msg)
-{
-	return *((uint32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(int32));
-}
-
-/**
- * @brief Get field temp from sensraw message
- *
- * @return 
- */
-static inline int32 message_sensraw_get_temp(CommMessage_t* msg)
-{
-	return *((int32*) (void*)msg->payload+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(uint32)+sizeof(int32)+sizeof(uint32));
-}
-

test/generated/mavlink_message_sensraw2.h

-// MESSAGE SENSRAW2 PACKING
-
-#define MESSAGE_ID_SENSRAW2 100
-
-typedef struct __sensraw2_t 
-{
-	uint32 xacc; ///< X acceleration (mg raw)
-	uint32 yacc; ///< Y acceleration (mg raw)
-	uint32 zacc; ///< Z acceleration (mg raw)
-	uint32 xgyro; ///< Angular speed around X axis (adc units)
-	uint32 ygyro; ///< Angular speed around Y axis (adc units)
-	uint32 zgyro; ///< Angular speed around Z axis (adc units)
-	uint32 xmag; ///< 
-	uint32 ymag; ///< 
-	uint32 zmag; ///< 
-	int32 baro; ///< 
-	uint32 gdist; ///< 
-	int32 temp; ///< 
-
-} sensraw2_t;
-
-/**
- * @brief Send a sensraw2 message
- *
- * @param xacc X acceleration (mg raw)
- * @param yacc Y acceleration (mg raw)
- * @param zacc Z acceleration (mg raw)
- * @param xgyro Angular speed around X axis (adc units)
- * @param ygyro Angular speed around Y axis (adc units)
- * @param zgyro Angular speed around Z axis (adc units)
- * @param xmag 
- * @param ymag 
- * @param zmag 
- * @param baro 
- * @param gdist 
- * @param temp 
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t message_sensraw2_pack(uint8_t system_id, CommMessage_t* msg, uint32 xacc, uint32 yacc, uint32 zacc, uint32 xgyro, uint32 ygyro, uint32 zgyro, uint32 xmag, uint32 ymag, uint32 zmag, int32 baro, uint32 gdist, int32 temp)
-{
-	msg->msgid = MESSAGE_ID_SENSRAW2;
-	uint16_t i = 0;
-
-	i += put_uint32_by_index(xacc, i, msg->payload); //X acceleration (mg raw)
-	i += put_uint32_by_index(yacc, i, msg->payload); //Y acceleration (mg raw)
-	i += put_uint32_by_index(zacc, i, msg->payload); //Z acceleration (mg raw)
-	i += put_uint32_by_index(xgyro, i, msg->payload); //Angular speed around X axis (adc units)
-	i += put_uint32_by_index(ygyro, i, msg->payload); //Angular speed around Y axis (adc units)
-	i += put_uint32_by_index(zgyro, i, msg->payload); //Angular speed around Z axis (adc units)
-	i += put_uint32_by_index(xmag, i, msg->payload); //
-	i += put_uint32_by_index(ymag, i, msg->payload); //
-	i += put_uint32_by_index(zmag, i, msg->payload); //
-	i += put_int32_by_index(baro, i, msg->payload); //
-	i += put_uint32_by_index(gdist, i, msg->payload); //
-	i += put_int32_by_index(temp, i, msg->payload); //
-
-	return finalize_message(msg, system_id, i);
-}
-
-static inline uint16_t message_sensraw2_encode(uint8_t system_id, CommMessage_t* msg, const sensraw2_t* sensraw2)
-{
-	message_sensraw2_pack(system_id, msg, sensraw2->xacc, sensraw2->yacc, sensraw2->zacc, sensraw2->xgyro, sensraw2->ygyro, sensraw2->zgyro, sensraw2->xmag, sensraw2->ymag, sensraw2->zmag, sensraw2->baro, sensraw2->gdist, sensraw2->temp);
-}
-// MESSAGE SENSRAW2 UNPACKING
-
-/**
- * @brief Get field xacc from sensraw2 message
- *
- * @return X acceleration (mg raw)
- */
-static inline uint32 message_sensraw2_get_xacc(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field yacc from sensraw2 message
- *
- * @return Y acceleration (mg raw)
- */
-static inline uint32 message_sensraw2_get_yacc(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field zacc from sensraw2 message
- *
- * @return Z acceleration (mg raw)
- */
-static inline uint32 message_sensraw2_get_zacc(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field xgyro from sensraw2 message
- *
- * @return Angular speed around X axis (adc units)
- */
-static inline uint32 message_sensraw2_get_xgyro(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field ygyro from sensraw2 message
- *
- * @return Angular speed around Y axis (adc units)
- */
-static inline uint32 message_sensraw2_get_ygyro(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field zgyro from sensraw2 message
- *
- * @return Angular speed around Z axis (adc units)
- */
-static inline uint32 message_sensraw2_get_zgyro(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field xmag from sensraw2 message
- *
- * @return 
- */
-static inline uint32 message_sensraw2_get_xmag(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field ymag from sensraw2 message
- *
- * @return 
- */
-static inline uint32 message_sensraw2_get_ymag(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field zmag from sensraw2 message
- *
- * @return 
- */
-static inline uint32 message_sensraw2_get_zmag(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field baro from sensraw2 message
- *
- * @return 
- */
-static inline int32 message_sensraw2_get_baro(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field gdist from sensraw2 message
- *
- * @return 
- */
-static inline uint32 message_sensraw2_get_gdist(CommMessage_t* msg)
-{
-
-}
-
-/**
- * @brief Get field temp from sensraw2 message
- *
- * @return 
- */
-static inline int32 message_sensraw2_get_temp(CommMessage_t* msg)
-{
-
-}
-
-static inline void message_sensraw2_decode(CommMessage_t* msg, sensraw2_t* sensraw2)
-{
-	sensraw2->xacc = message_sensraw2_get_xacc(msg);
-	sensraw2->yacc = message_sensraw2_get_yacc(msg);
-	sensraw2->zacc = message_sensraw2_get_zacc(msg);
-	sensraw2->xgyro = message_sensraw2_get_xgyro(msg);
-	sensraw2->ygyro = message_sensraw2_get_ygyro(msg);
-	sensraw2->zgyro = message_sensraw2_get_zgyro(msg);
-	sensraw2->xmag = message_sensraw2_get_xmag(msg);
-	sensraw2->ymag = message_sensraw2_get_ymag(msg);
-	sensraw2->zmag = message_sensraw2_get_zmag(msg);
-	sensraw2->baro = message_sensraw2_get_baro(msg);
-	sensraw2->gdist = message_sensraw2_get_gdist(msg);
-	sensraw2->temp = message_sensraw2_get_temp(msg);
-}

test/mavlink.h

-/** @file
- *	@brief MAVLink comm protocol.
- *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Sonntag, Mrz 21 2010, 14:05 UTC
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#include "protocol.h"
-
-// TO BE REMOVED:
-#include "generated/messages.h"
-
-
-#include "generated/mavlink_message_heartbeat2.h"
-#include "generated/mavlink_message_boot2.h"
-#include "generated/mavlink_message_sensraw2.h"
-#include "generated/mavlink_message_attitude2.h"
-#endif
\ No newline at end of file

test/mavlink.lcm

-
-typedef struct __heartbeat2_t 
-{
-	uint8 type; ///< Type of the MAV (quadrotor, helicopter, etc.)
-
-} heartbeat2_t;
-
-typedef struct __boot2_t 
-{
-	uint32 version; ///< The onboard software version
-
-} boot2_t;
-
-typedef struct __sensraw2_t 
-{
-	uint32 xacc; ///< X acceleration (mg raw)
-	uint32 yacc; ///< Y acceleration (mg raw)
-	uint32 zacc; ///< Z acceleration (mg raw)
-	uint32 xgyro; ///< Angular speed around X axis (adc units)
-	uint32 ygyro; ///< Angular speed around Y axis (adc units)
-	uint32 zgyro; ///< Angular speed around Z axis (adc units)
-	uint32 xmag; ///< 
-	uint32 ymag; ///< 
-	uint32 zmag; ///< 
-	int32 baro; ///< 
-	uint32 gdist; ///< 
-	int32 temp; ///< 
-
-} sensraw2_t;
-
-typedef struct __attitude2_t 
-{
-	float roll; ///< Roll angle (rad)
-	float pitch; ///< Pitch angle (rad)
-	float yaw; ///< Yaw angle (rad)
-
-} attitude2_t;

test/mavlink.xml

-<?xml version="1.0"?>
-<messages>
- 
-   <message name="HEARTBEAT" id="0">
-     <field name="type" type="uint8">Type of the MAV (quadrotor, helicopter, etc.)</field>
-   </message>
- 
-   <message name="BOOT" id="1">
-     <field name="version" type="uint32">The onboard software version</field>
-   </message>
- 
-   <message name="RAW_SENSOR" id="100">
-     <field name="xacc"  type="uint32">X acceleration (mg raw)</field>
-     <field name="yacc"  type="uint32">Y acceleration (mg raw)</field>
-     <field name="zacc"  type="uint32">Z acceleration (mg raw)</field>
-     <field name="xgyro" type="uint32">Angular speed around X axis (adc units)</field>
-     <field name="ygyro" type="uint32">Angular speed around Y axis (adc units)</field>
-     <field name="zgyro" type="uint32">Angular speed around Z axis (adc units)</field>
-     <field name="xmag"  type="uint32">X Magnetic field (milli tesla)</field>
-     <field name="ymag"  type="uint32">Y Magnetic field (milli tesla)</field>
-     <field name="zmag"  type="uint32">Z Magnetic field (milli tesla)</field>
-     <field name="baro"  type="int32">Barometric pressure (hecto Pascal)</field>
-     <field name="gdist" type="uint32">Ground distance (meters)</field>
-     <field name="temp"  type="int32">Temperature (degrees celcius)</field>
-   </message>
- 
-   <message name="ATTITUDE" id="90">
-     <field name="roll"  type="float">Roll angle (rad)</field>
-     <field name="pitch" type="float">Pitch angle (rad)</field>
-     <field name="yaw"   type="float">Yaw angle (rad)</field>
-     <field name="rollspeed"  type="float">Roll angular speed (rad/s)</field>
-     <field name="pitchspeed" type="float">Pitch angular speed (rad/s)</field>
-     <field name="yawspeed"   type="float">Yaw angular speed (rad/s)</field>
-   </message>
- 
-</messages>
\ No newline at end of file