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Valentin Platzgummer
qgroundcontrol
Commits
d4c5a5f2
Commit
d4c5a5f2
authored
Apr 28, 2012
by
Lorenz Meier
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Updated to most recent MAVLink v1.0.8
parent
5a57860d
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298 changed files
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14 additions
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88256 deletions
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-93
version.h
mavlink/include/mavlink/v0.9/ualberta/version.h
+0
-12
mavlink_msg_dcm.h
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_dcm.h
+0
-276
ardupilotmega.h
mavlink/include/v1.0/ardupilotmega/ardupilotmega.h
+0
-151
mavlink.h
mavlink/include/v1.0/ardupilotmega/mavlink.h
+0
-27
mavlink_msg_ahrs.h
mavlink/include/v1.0/ardupilotmega/mavlink_msg_ahrs.h
+0
-276
mavlink_msg_ap_adc.h
mavlink/include/v1.0/ardupilotmega/mavlink_msg_ap_adc.h
+0
-254
mavlink_msg_digicam_configure.h
...nclude/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
+0
-364
mavlink_msg_digicam_control.h
.../include/v1.0/ardupilotmega/mavlink_msg_digicam_control.h
+0
-342
mavlink_msg_fence_fetch_point.h
...nclude/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h
+0
-188
mavlink_msg_fence_point.h
mavlink/include/v1.0/ardupilotmega/mavlink_msg_fence_point.h
+0
-254
mavlink_msg_fence_status.h
...ink/include/v1.0/ardupilotmega/mavlink_msg_fence_status.h
+0
-210
mavlink_msg_hwstatus.h
mavlink/include/v1.0/ardupilotmega/mavlink_msg_hwstatus.h
+0
-166
mavlink_msg_meminfo.h
mavlink/include/v1.0/ardupilotmega/mavlink_msg_meminfo.h
+0
-166
mavlink_msg_mount_configure.h
.../include/v1.0/ardupilotmega/mavlink_msg_mount_configure.h
+0
-254
mavlink_msg_mount_control.h
...nk/include/v1.0/ardupilotmega/mavlink_msg_mount_control.h
+0
-254
mavlink_msg_mount_status.h
...ink/include/v1.0/ardupilotmega/mavlink_msg_mount_status.h
+0
-232
mavlink_msg_radio.h
mavlink/include/v1.0/ardupilotmega/mavlink_msg_radio.h
+0
-276
mavlink_msg_sensor_offsets.h
...k/include/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
+0
-386
mavlink_msg_set_mag_offsets.h
.../include/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
+0
-232
mavlink_msg_simstate.h
mavlink/include/v1.0/ardupilotmega/mavlink_msg_simstate.h
+0
-320
testsuite.h
mavlink/include/v1.0/ardupilotmega/testsuite.h
+0
-908
version.h
mavlink/include/v1.0/ardupilotmega/version.h
+0
-12
checksum.h
mavlink/include/v1.0/checksum.h
+0
-89
common.h
mavlink/include/v1.0/common/common.h
+0
-446
mavlink.h
mavlink/include/v1.0/common/mavlink.h
+0
-27
mavlink_msg_attitude.h
mavlink/include/v1.0/common/mavlink_msg_attitude.h
+0
-276
mavlink_msg_attitude_quaternion.h
...ink/include/v1.0/common/mavlink_msg_attitude_quaternion.h
+0
-298
mavlink_msg_auth_key.h
mavlink/include/v1.0/common/mavlink_msg_auth_key.h
+0
-144
mavlink_msg_change_operator_control.h
...include/v1.0/common/mavlink_msg_change_operator_control.h
+0
-204
mavlink_msg_change_operator_control_ack.h
...ude/v1.0/common/mavlink_msg_change_operator_control_ack.h
+0
-188
mavlink_msg_command_ack.h
mavlink/include/v1.0/common/mavlink_msg_command_ack.h
+0
-166
mavlink_msg_command_long.h
mavlink/include/v1.0/common/mavlink_msg_command_long.h
+0
-364
mavlink_msg_data_stream.h
mavlink/include/v1.0/common/mavlink_msg_data_stream.h
+0
-188
mavlink_msg_debug.h
mavlink/include/v1.0/common/mavlink_msg_debug.h
+0
-188
mavlink_msg_debug_vect.h
mavlink/include/v1.0/common/mavlink_msg_debug_vect.h
+0
-226
mavlink_msg_global_position_int.h
...ink/include/v1.0/common/mavlink_msg_global_position_int.h
+0
-320
mavlink_msg_global_position_setpoint_int.h
...de/v1.0/common/mavlink_msg_global_position_setpoint_int.h
+0
-232
mavlink_msg_global_vision_position_estimate.h
...v1.0/common/mavlink_msg_global_vision_position_estimate.h
+0
-276
mavlink_msg_gps_global_origin.h
mavlink/include/v1.0/common/mavlink_msg_gps_global_origin.h
+0
-188
mavlink_msg_gps_raw_int.h
mavlink/include/v1.0/common/mavlink_msg_gps_raw_int.h
+0
-342
mavlink_msg_gps_status.h
mavlink/include/v1.0/common/mavlink_msg_gps_status.h
+0
-252
mavlink_msg_heartbeat.h
mavlink/include/v1.0/common/mavlink_msg_heartbeat.h
+0
-251
mavlink_msg_hil_controls.h
mavlink/include/v1.0/common/mavlink_msg_hil_controls.h
+0
-364
mavlink_msg_hil_rc_inputs_raw.h
mavlink/include/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h
+0
-430
mavlink_msg_hil_state.h
mavlink/include/v1.0/common/mavlink_msg_hil_state.h
+0
-474
mavlink_msg_local_position_ned.h
mavlink/include/v1.0/common/mavlink_msg_local_position_ned.h
+0
-276
mavlink_msg_local_position_ned_system_global_offset.h
...mon/mavlink_msg_local_position_ned_system_global_offset.h
+0
-276
mavlink_msg_local_position_setpoint.h
...include/v1.0/common/mavlink_msg_local_position_setpoint.h
+0
-232
mavlink_msg_manual_control.h
mavlink/include/v1.0/common/mavlink_msg_manual_control.h
+0
-320
mavlink_msg_memory_vect.h
mavlink/include/v1.0/common/mavlink_msg_memory_vect.h
+0
-204
mavlink_msg_mission_ack.h
mavlink/include/v1.0/common/mavlink_msg_mission_ack.h
+0
-188
mavlink_msg_mission_clear_all.h
mavlink/include/v1.0/common/mavlink_msg_mission_clear_all.h
+0
-166
mavlink_msg_mission_count.h
mavlink/include/v1.0/common/mavlink_msg_mission_count.h
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-188
mavlink_msg_mission_current.h
mavlink/include/v1.0/common/mavlink_msg_mission_current.h
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-144
mavlink_msg_mission_item.h
mavlink/include/v1.0/common/mavlink_msg_mission_item.h
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-430
mavlink_msg_mission_item_reached.h
...nk/include/v1.0/common/mavlink_msg_mission_item_reached.h
+0
-144
mavlink_msg_mission_request.h
mavlink/include/v1.0/common/mavlink_msg_mission_request.h
+0
-188
mavlink_msg_mission_request_list.h
...nk/include/v1.0/common/mavlink_msg_mission_request_list.h
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-166
mavlink_msg_mission_request_partial_list.h
...de/v1.0/common/mavlink_msg_mission_request_partial_list.h
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-210
mavlink_msg_mission_set_current.h
...ink/include/v1.0/common/mavlink_msg_mission_set_current.h
+0
-188
mavlink_msg_mission_write_partial_list.h
...lude/v1.0/common/mavlink_msg_mission_write_partial_list.h
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-210
mavlink_msg_named_value_float.h
mavlink/include/v1.0/common/mavlink_msg_named_value_float.h
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-182
mavlink_msg_named_value_int.h
mavlink/include/v1.0/common/mavlink_msg_named_value_int.h
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-182
mavlink_msg_nav_controller_output.h
...k/include/v1.0/common/mavlink_msg_nav_controller_output.h
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-298
mavlink_msg_optical_flow.h
mavlink/include/v1.0/common/mavlink_msg_optical_flow.h
+0
-298
mavlink_msg_param_request_list.h
mavlink/include/v1.0/common/mavlink_msg_param_request_list.h
+0
-166
mavlink_msg_param_request_read.h
mavlink/include/v1.0/common/mavlink_msg_param_request_read.h
+0
-204
mavlink_msg_param_set.h
mavlink/include/v1.0/common/mavlink_msg_param_set.h
+0
-226
mavlink_msg_param_value.h
mavlink/include/v1.0/common/mavlink_msg_param_value.h
+0
-226
mavlink_msg_ping.h
mavlink/include/v1.0/common/mavlink_msg_ping.h
+0
-210
mavlink_msg_raw_imu.h
mavlink/include/v1.0/common/mavlink_msg_raw_imu.h
+0
-342
mavlink_msg_raw_pressure.h
mavlink/include/v1.0/common/mavlink_msg_raw_pressure.h
+0
-232
mavlink_msg_rc_channels_override.h
...nk/include/v1.0/common/mavlink_msg_rc_channels_override.h
+0
-342
mavlink_msg_rc_channels_raw.h
mavlink/include/v1.0/common/mavlink_msg_rc_channels_raw.h
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-364
mavlink_msg_rc_channels_scaled.h
mavlink/include/v1.0/common/mavlink_msg_rc_channels_scaled.h
+0
-364
mavlink_msg_request_data_stream.h
...ink/include/v1.0/common/mavlink_msg_request_data_stream.h
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-232
mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
...common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
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-232
mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
.../v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
+0
-232
mavlink_msg_safety_allowed_area.h
...ink/include/v1.0/common/mavlink_msg_safety_allowed_area.h
+0
-276
mavlink_msg_safety_set_allowed_area.h
...include/v1.0/common/mavlink_msg_safety_set_allowed_area.h
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-320
mavlink_msg_scaled_imu.h
mavlink/include/v1.0/common/mavlink_msg_scaled_imu.h
+0
-342
mavlink_msg_scaled_pressure.h
mavlink/include/v1.0/common/mavlink_msg_scaled_pressure.h
+0
-210
mavlink_msg_servo_output_raw.h
mavlink/include/v1.0/common/mavlink_msg_servo_output_raw.h
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-342
mavlink_msg_set_global_position_setpoint_int.h
...1.0/common/mavlink_msg_set_global_position_setpoint_int.h
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-232
mavlink_msg_set_gps_global_origin.h
...k/include/v1.0/common/mavlink_msg_set_gps_global_origin.h
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-210
mavlink_msg_set_local_position_setpoint.h
...ude/v1.0/common/mavlink_msg_set_local_position_setpoint.h
+0
-276
mavlink_msg_set_mode.h
mavlink/include/v1.0/common/mavlink_msg_set_mode.h
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-188
mavlink_msg_set_quad_motors_setpoint.h
...nclude/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h
+0
-232
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h
...common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h
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-236
mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
...v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
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-254
mavlink_msg_set_roll_pitch_yaw_thrust.h
...clude/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
+0
-254
mavlink_msg_state_correction.h
mavlink/include/v1.0/common/mavlink_msg_state_correction.h
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-320
mavlink_msg_statustext.h
mavlink/include/v1.0/common/mavlink_msg_statustext.h
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-160
mavlink_msg_sys_status.h
mavlink/include/v1.0/common/mavlink_msg_sys_status.h
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-408
mavlink_msg_system_time.h
mavlink/include/v1.0/common/mavlink_msg_system_time.h
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-166
mavlink_msg_vfr_hud.h
mavlink/include/v1.0/common/mavlink_msg_vfr_hud.h
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-254
mavlink_msg_vicon_position_estimate.h
...include/v1.0/common/mavlink_msg_vicon_position_estimate.h
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-276
mavlink_msg_vision_position_estimate.h
...nclude/v1.0/common/mavlink_msg_vision_position_estimate.h
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-276
mavlink_msg_vision_speed_estimate.h
...k/include/v1.0/common/mavlink_msg_vision_speed_estimate.h
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-210
testsuite.h
mavlink/include/v1.0/common/testsuite.h
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-4024
version.h
mavlink/include/v1.0/common/version.h
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-12
mavlink_helpers.h
mavlink/include/v1.0/mavlink_helpers.h
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-507
mavlink_protobuf_manager.hpp
mavlink/include/v1.0/mavlink_protobuf_manager.hpp
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-377
mavlink_types.h
mavlink/include/v1.0/mavlink_types.h
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-158
mavlink.h
mavlink/include/v1.0/pixhawk/mavlink.h
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-27
mavlink_msg_attitude_control.h
mavlink/include/v1.0/pixhawk/mavlink_msg_attitude_control.h
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-320
mavlink_msg_brief_feature.h
mavlink/include/v1.0/pixhawk/mavlink_msg_brief_feature.h
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-292
mavlink_msg_data_transmission_handshake.h
...de/v1.0/pixhawk/mavlink_msg_data_transmission_handshake.h
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-276
mavlink_msg_encapsulated_data.h
mavlink/include/v1.0/pixhawk/mavlink_msg_encapsulated_data.h
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-160
mavlink_msg_image_available.h
mavlink/include/v1.0/pixhawk/mavlink_msg_image_available.h
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-628
mavlink_msg_image_trigger_control.h
.../include/v1.0/pixhawk/mavlink_msg_image_trigger_control.h
+0
-144
mavlink_msg_image_triggered.h
mavlink/include/v1.0/pixhawk/mavlink_msg_image_triggered.h
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-386
mavlink_msg_marker.h
mavlink/include/v1.0/pixhawk/mavlink_msg_marker.h
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-276
mavlink_msg_pattern_detected.h
mavlink/include/v1.0/pixhawk/mavlink_msg_pattern_detected.h
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-204
mavlink_msg_point_of_interest.h
mavlink/include/v1.0/pixhawk/mavlink_msg_point_of_interest.h
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-292
mavlink_msg_point_of_interest_connection.h
...e/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h
+0
-358
mavlink_msg_position_control_setpoint.h
...lude/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h
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-232
mavlink_msg_raw_aux.h
mavlink/include/v1.0/pixhawk/mavlink_msg_raw_aux.h
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-276
mavlink_msg_set_cam_shutter.h
mavlink/include/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h
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-254
mavlink_msg_set_position_control_offset.h
...de/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h
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-254
mavlink_msg_watchdog_command.h
mavlink/include/v1.0/pixhawk/mavlink_msg_watchdog_command.h
+0
-210
mavlink_msg_watchdog_heartbeat.h
...ink/include/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h
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-166
mavlink_msg_watchdog_process_info.h
.../include/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h
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-227
mavlink_msg_watchdog_process_status.h
...nclude/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h
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-254
pixhawk.h
mavlink/include/v1.0/pixhawk/pixhawk.h
+0
-82
pixhawk.pb.h
mavlink/include/v1.0/pixhawk/pixhawk.pb.h
+0
-3663
testsuite.h
mavlink/include/v1.0/pixhawk/testsuite.h
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-1098
version.h
mavlink/include/v1.0/pixhawk/version.h
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-12
protocol.h
mavlink/include/v1.0/protocol.h
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-322
qgroundcontrol.pri
qgroundcontrol.pri
+11
-3
qgroundcontrol.pro
qgroundcontrol.pro
+1
-3
MAVLinkXMLParserV10.cc
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc
+2
-2
No files found.
files/mavlink_generator/C/include_v0.9/checksum.h
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#ifdef __cplusplus
extern
"C"
{
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
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
);
*
crcAccum
=
(
*
crcAccum
>>
8
)
^
(
tmp
<<
8
)
^
(
tmp
<<
3
)
^
(
tmp
>>
4
);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static
inline
void
crc_init
(
uint16_t
*
crcAccum
)
{
*
crcAccum
=
X25_INIT_CRC
;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static
inline
uint16_t
crc_calculate
(
const
uint8_t
*
pBuffer
,
uint16_t
length
)
{
uint16_t
crcTmp
;
crc_init
(
&
crcTmp
);
while
(
length
--
)
{
crc_accumulate
(
*
pBuffer
++
,
&
crcTmp
);
}
return
crcTmp
;
}
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static
inline
void
crc_accumulate_buffer
(
uint16_t
*
crcAccum
,
const
char
*
pBuffer
,
uint8_t
length
)
{
const
uint8_t
*
p
=
(
const
uint8_t
*
)
pBuffer
;
while
(
length
--
)
{
crc_accumulate
(
*
p
++
,
crcAccum
);
}
}
#endif
/* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
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files/mavlink_generator/C/include_v0.9/protocol.h
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files/mavlink_generator/C/include_v0.9/test/mavlink.h
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 85
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 0
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 0
#endif
#include "version.h"
#include "test.h"
#endif // MAVLINK_H
files/mavlink_generator/C/include_v0.9/test/mavlink_msg_test_types.h
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files/mavlink_generator/C/include_v0.9/test/test.h
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/** @file
* @brief MAVLink comm protocol generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_H
#define TEST_H
#ifdef __cplusplus
extern
"C"
{
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {91, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_TEST
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
#include "./mavlink_msg_test_types.h"
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_H
files/mavlink_generator/C/include_v0.9/test/testsuite.h
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/** @file
* @brief MAVLink comm protocol testsuite generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_TESTSUITE_H
#define TEST_TESTSUITE_H
#ifdef __cplusplus
extern
"C"
{
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static
void
mavlink_test_test
(
uint8_t
,
uint8_t
,
mavlink_message_t
*
last_msg
);
static
void
mavlink_test_all
(
uint8_t
system_id
,
uint8_t
component_id
,
mavlink_message_t
*
last_msg
)
{
mavlink_test_test
(
system_id
,
component_id
,
last_msg
);
}
#endif
static
void
mavlink_test_test_types
(
uint8_t
system_id
,
uint8_t
component_id
,
mavlink_message_t
*
last_msg
)
{
mavlink_message_t
msg
;
uint8_t
buffer
[
MAVLINK_MAX_PACKET_LEN
];
uint16_t
i
;
mavlink_test_types_t
packet_in
=
{
'A'
,
"BCDEFGHIJ"
,
230
,
17859
,
963498192
,
93372036854776941ULL
,
211
,
18639
,
963498972
,
93372036854777886LL
,
304
.
0
,
438
.
0
,
{
228
,
229
,
230
},
{
20147
,
20148
,
20149
},
{
963500688
,
963500689
,
963500690
},
{
93372036854780469
,
93372036854780470
,
93372036854780471
},
{
171
,
172
,
173
},
{
22487
,
22488
,
22489
},
{
963503028
,
963503029
,
963503030
},
{
93372036854783304
,
93372036854783305
,
93372036854783306
},
{
1018
.
0
,
1019
.
0
,
1020
.
0
},
{
1208
.
0
,
1209
.
0
,
1210
.
0
},
};
mavlink_test_types_t
packet1
,
packet2
;
memset
(
&
packet1
,
0
,
sizeof
(
packet1
));
packet1
.
c
=
packet_in
.
c
;
packet1
.
u8
=
packet_in
.
u8
;
packet1
.
u16
=
packet_in
.
u16
;
packet1
.
u32
=
packet_in
.
u32
;
packet1
.
u64
=
packet_in
.
u64
;
packet1
.
s8
=
packet_in
.
s8
;
packet1
.
s16
=
packet_in
.
s16
;
packet1
.
s32
=
packet_in
.
s32
;
packet1
.
s64
=
packet_in
.
s64
;
packet1
.
f
=
packet_in
.
f
;
packet1
.
d
=
packet_in
.
d
;
mav_array_memcpy
(
packet1
.
s
,
packet_in
.
s
,
sizeof
(
char
)
*
10
);
mav_array_memcpy
(
packet1
.
u8_array
,
packet_in
.
u8_array
,
sizeof
(
uint8_t
)
*
3
);
mav_array_memcpy
(
packet1
.
u16_array
,
packet_in
.
u16_array
,
sizeof
(
uint16_t
)
*
3
);
mav_array_memcpy
(
packet1
.
u32_array
,
packet_in
.
u32_array
,
sizeof
(
uint32_t
)
*
3
);
mav_array_memcpy
(
packet1
.
u64_array
,
packet_in
.
u64_array
,
sizeof
(
uint64_t
)
*
3
);
mav_array_memcpy
(
packet1
.
s8_array
,
packet_in
.
s8_array
,
sizeof
(
int8_t
)
*
3
);
mav_array_memcpy
(
packet1
.
s16_array
,
packet_in
.
s16_array
,
sizeof
(
int16_t
)
*
3
);
mav_array_memcpy
(
packet1
.
s32_array
,
packet_in
.
s32_array
,
sizeof
(
int32_t
)
*
3
);
mav_array_memcpy
(
packet1
.
s64_array
,
packet_in
.
s64_array
,
sizeof
(
int64_t
)
*
3
);
mav_array_memcpy
(
packet1
.
f_array
,
packet_in
.
f_array
,
sizeof
(
float
)
*
3
);
mav_array_memcpy
(
packet1
.
d_array
,
packet_in
.
d_array
,
sizeof
(
double
)
*
3
);
memset
(
&
packet2
,
0
,
sizeof
(
packet2
));
mavlink_msg_test_types_encode
(
system_id
,
component_id
,
&
msg
,
&
packet1
);
mavlink_msg_test_types_decode
(
&
msg
,
&
packet2
);
MAVLINK_ASSERT
(
memcmp
(
&
packet1
,
&
packet2
,
sizeof
(
packet1
))
==
0
);
memset
(
&
packet2
,
0
,
sizeof
(
packet2
));
mavlink_msg_test_types_pack
(
system_id
,
component_id
,
&
msg
,
packet1
.
c
,
packet1
.
s
,
packet1
.
u8
,
packet1
.
u16
,
packet1
.
u32
,
packet1
.
u64
,
packet1
.
s8
,
packet1
.
s16
,
packet1
.
s32
,
packet1
.
s64
,
packet1
.
f
,
packet1
.
d
,
packet1
.
u8_array
,
packet1
.
u16_array
,
packet1
.
u32_array
,
packet1
.
u64_array
,
packet1
.
s8_array
,
packet1
.
s16_array
,
packet1
.
s32_array
,
packet1
.
s64_array
,
packet1
.
f_array
,
packet1
.
d_array
);
mavlink_msg_test_types_decode
(
&
msg
,
&
packet2
);
MAVLINK_ASSERT
(
memcmp
(
&
packet1
,
&
packet2
,
sizeof
(
packet1
))
==
0
);
memset
(
&
packet2
,
0
,
sizeof
(
packet2
));
mavlink_msg_test_types_pack_chan
(
system_id
,
component_id
,
MAVLINK_COMM_0
,
&
msg
,
packet1
.
c
,
packet1
.
s
,
packet1
.
u8
,
packet1
.
u16
,
packet1
.
u32
,
packet1
.
u64
,
packet1
.
s8
,
packet1
.
s16
,
packet1
.
s32
,
packet1
.
s64
,
packet1
.
f
,
packet1
.
d
,
packet1
.
u8_array
,
packet1
.
u16_array
,
packet1
.
u32_array
,
packet1
.
u64_array
,
packet1
.
s8_array
,
packet1
.
s16_array
,
packet1
.
s32_array
,
packet1
.
s64_array
,
packet1
.
f_array
,
packet1
.
d_array
);
mavlink_msg_test_types_decode
(
&
msg
,
&
packet2
);
MAVLINK_ASSERT
(
memcmp
(
&
packet1
,
&
packet2
,
sizeof
(
packet1
))
==
0
);
memset
(
&
packet2
,
0
,
sizeof
(
packet2
));
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
for
(
i
=
0
;
i
<
mavlink_msg_get_send_buffer_length
(
&
msg
);
i
++
)
{
comm_send_ch
(
MAVLINK_COMM_0
,
buffer
[
i
]);
}
mavlink_msg_test_types_decode
(
last_msg
,
&
packet2
);
MAVLINK_ASSERT
(
memcmp
(
&
packet1
,
&
packet2
,
sizeof
(
packet1
))
==
0
);
memset
(
&
packet2
,
0
,
sizeof
(
packet2
));
mavlink_msg_test_types_send
(
MAVLINK_COMM_1
,
packet1
.
c
,
packet1
.
s
,
packet1
.
u8
,
packet1
.
u16
,
packet1
.
u32
,
packet1
.
u64
,
packet1
.
s8
,
packet1
.
s16
,
packet1
.
s32
,
packet1
.
s64
,
packet1
.
f
,
packet1
.
d
,
packet1
.
u8_array
,
packet1
.
u16_array
,
packet1
.
u32_array
,
packet1
.
u64_array
,
packet1
.
s8_array
,
packet1
.
s16_array
,
packet1
.
s32_array
,
packet1
.
s64_array
,
packet1
.
f_array
,
packet1
.
d_array
);
mavlink_msg_test_types_decode
(
last_msg
,
&
packet2
);
MAVLINK_ASSERT
(
memcmp
(
&
packet1
,
&
packet2
,
sizeof
(
packet1
))
==
0
);
}
static
void
mavlink_test_test
(
uint8_t
system_id
,
uint8_t
component_id
,
mavlink_message_t
*
last_msg
)
{
mavlink_test_test_types
(
system_id
,
component_id
,
last_msg
);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_TESTSUITE_H
files/mavlink_generator/C/include_v0.9/test/version.h
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:54 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
#endif // MAVLINK_VERSION_H
files/mavlink_generator/C/include_v1.0/checksum.h
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#ifdef __cplusplus
extern
"C"
{
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
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
);
*
crcAccum
=
(
*
crcAccum
>>
8
)
^
(
tmp
<<
8
)
^
(
tmp
<<
3
)
^
(
tmp
>>
4
);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static
inline
void
crc_init
(
uint16_t
*
crcAccum
)
{
*
crcAccum
=
X25_INIT_CRC
;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static
inline
uint16_t
crc_calculate
(
const
uint8_t
*
pBuffer
,
uint16_t
length
)
{
uint16_t
crcTmp
;
crc_init
(
&
crcTmp
);
while
(
length
--
)
{
crc_accumulate
(
*
pBuffer
++
,
&
crcTmp
);
}
return
crcTmp
;
}
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static
inline
void
crc_accumulate_buffer
(
uint16_t
*
crcAccum
,
const
char
*
pBuffer
,
uint8_t
length
)
{
const
uint8_t
*
p
=
(
const
uint8_t
*
)
pBuffer
;
while
(
length
--
)
{
crc_accumulate
(
*
p
++
,
crcAccum
);
}
}
#endif
/* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
files/mavlink_generator/C/include_v1.0/mavlink_helpers.h
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files/mavlink_generator/C/include_v1.0/mavlink_protobuf_manager.hpp
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#ifndef MAVLINKPROTOBUFMANAGER_HPP
#define MAVLINKPROTOBUFMANAGER_HPP
#include <deque>
#include <google/protobuf/message.h>
#include <iostream>
#include <tr1/memory>
#include <checksum.h>
#include <common/mavlink.h>
#include <mavlink_types.h>
#include <pixhawk/pixhawk.pb.h>
namespace
mavlink
{
class
ProtobufManager
{
public:
ProtobufManager
()
:
mRegisteredTypeCount
(
0
)
,
mStreamID
(
0
)
,
mVerbose
(
false
)
,
kExtendedHeaderSize
(
MAVLINK_EXTENDED_HEADER_LEN
)
,
kExtendedPayloadMaxSize
(
MAVLINK_MAX_EXTENDED_PAYLOAD_LEN
)
{
// register GLOverlay
{
std
::
tr1
::
shared_ptr
<
px
::
GLOverlay
>
msg
(
new
px
::
GLOverlay
);
registerType
(
msg
);
}
// register ObstacleList
{
std
::
tr1
::
shared_ptr
<
px
::
ObstacleList
>
msg
(
new
px
::
ObstacleList
);
registerType
(
msg
);
}
// register ObstacleMap
{
std
::
tr1
::
shared_ptr
<
px
::
ObstacleMap
>
msg
(
new
px
::
ObstacleMap
);
registerType
(
msg
);
}
// register Path
{
std
::
tr1
::
shared_ptr
<
px
::
Path
>
msg
(
new
px
::
Path
);
registerType
(
msg
);
}
// register PointCloudXYZI
{
std
::
tr1
::
shared_ptr
<
px
::
PointCloudXYZI
>
msg
(
new
px
::
PointCloudXYZI
);
registerType
(
msg
);
}
// register PointCloudXYZRGB
{
std
::
tr1
::
shared_ptr
<
px
::
PointCloudXYZRGB
>
msg
(
new
px
::
PointCloudXYZRGB
);
registerType
(
msg
);
}
// register RGBDImage
{
std
::
tr1
::
shared_ptr
<
px
::
RGBDImage
>
msg
(
new
px
::
RGBDImage
);
registerType
(
msg
);
}
srand
(
time
(
NULL
));
mStreamID
=
rand
()
+
1
;
}
bool
fragmentMessage
(
uint8_t
system_id
,
uint8_t
component_id
,
uint8_t
target_system
,
uint8_t
target_component
,
const
google
::
protobuf
::
Message
&
protobuf_msg
,
std
::
vector
<
mavlink_extended_message_t
>&
fragments
)
const
{
TypeMap
::
const_iterator
it
=
mTypeMap
.
find
(
protobuf_msg
.
GetTypeName
());
if
(
it
==
mTypeMap
.
end
())
{
std
::
cout
<<
"# WARNING: Protobuf message with type "
<<
protobuf_msg
.
GetTypeName
()
<<
" is not registered."
<<
std
::
endl
;
return
false
;
}
uint8_t
typecode
=
it
->
second
;
std
::
string
data
=
protobuf_msg
.
SerializeAsString
();
int
fragmentCount
=
(
protobuf_msg
.
ByteSize
()
+
kExtendedPayloadMaxSize
-
1
)
/
kExtendedPayloadMaxSize
;
unsigned
int
offset
=
0
;
for
(
int
i
=
0
;
i
<
fragmentCount
;
++
i
)
{
mavlink_extended_message_t
fragment
;
// write extended header data
uint8_t
*
payload
=
reinterpret_cast
<
uint8_t
*>
(
fragment
.
base_msg
.
payload64
);
unsigned
int
length
=
0
;
uint8_t
flags
=
0
;
if
(
i
<
fragmentCount
-
1
)
{
length
=
kExtendedPayloadMaxSize
;
flags
|=
0x1
;
}
else
{
length
=
protobuf_msg
.
ByteSize
()
-
kExtendedPayloadMaxSize
*
(
fragmentCount
-
1
);
}
memcpy
(
payload
,
&
target_system
,
1
);
memcpy
(
payload
+
1
,
&
target_component
,
1
);
memcpy
(
payload
+
2
,
&
typecode
,
1
);
memcpy
(
payload
+
3
,
&
length
,
4
);
memcpy
(
payload
+
7
,
&
mStreamID
,
2
);
memcpy
(
payload
+
9
,
&
offset
,
4
);
memcpy
(
payload
+
13
,
&
flags
,
1
);
fragment
.
base_msg
.
msgid
=
MAVLINK_MSG_ID_EXTENDED_MESSAGE
;
mavlink_finalize_message
(
&
fragment
.
base_msg
,
system_id
,
component_id
,
kExtendedHeaderSize
,
0
);
// write extended payload data
fragment
.
extended_payload_len
=
length
;
memcpy
(
fragment
.
extended_payload
,
&
data
[
offset
],
length
);
fragments
.
push_back
(
fragment
);
offset
+=
length
;
}
if
(
mVerbose
)
{
std
::
cerr
<<
"# INFO: Split extended message with size "
<<
protobuf_msg
.
ByteSize
()
<<
" into "
<<
fragmentCount
<<
" fragments."
<<
std
::
endl
;
}
return
true
;
}
bool
cacheFragment
(
mavlink_extended_message_t
&
msg
)
{
if
(
!
validFragment
(
msg
))
{
if
(
mVerbose
)
{
std
::
cerr
<<
"# WARNING: Message is not a valid fragment. "
<<
"Dropping message..."
<<
std
::
endl
;
}
return
false
;
<