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Commit d4f8f5b3 authored by lm's avatar lm
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Added correct MAVLink version to thirdparty directory

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thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Saturday, August 13 2011, 08:44 UTC
*/
#ifndef ARDUPILOTMEGA_H
#define ARDUPILOTMEGA_H
......@@ -33,12 +33,14 @@ extern "C" {
// MESSAGE DEFINITIONS
#include "./mavlink_msg_sensor_offsets.h"
#include "./mavlink_msg_set_mag_offsets.h"
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 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, 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, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/ardupilotmega/mavlink.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Saturday, August 13 2011, 08:44 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE SENSOR_OFFSETS PACKING
#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
typedef struct __mavlink_sensor_offsets_t
{
int16_t mag_ofs_x; ///< magnetometer X offset
int16_t mag_ofs_y; ///< magnetometer Y offset
int16_t mag_ofs_z; ///< magnetometer Z offset
float mag_declination; ///< magnetic declination (radians)
int32_t raw_press; ///< raw pressure from barometer
int32_t raw_temp; ///< raw temperature from barometer
float gyro_cal_x; ///< gyro X calibration
float gyro_cal_y; ///< gyro Y calibration
float gyro_cal_z; ///< gyro Z calibration
float accel_cal_x; ///< accel X calibration
float accel_cal_y; ///< accel Y calibration
float accel_cal_z; ///< accel Z calibration
} mavlink_sensor_offsets_t;
/**
* @brief Pack a sensor_offsets message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
* @param mag_declination magnetic declination (radians)
* @param raw_press raw pressure from barometer
* @param raw_temp raw temperature from barometer
* @param gyro_cal_x gyro X calibration
* @param gyro_cal_y gyro Y calibration
* @param gyro_cal_z gyro Z calibration
* @param accel_cal_x accel X calibration
* @param accel_cal_y accel Y calibration
* @param accel_cal_z accel Z calibration
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians)
i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer
i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer
i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration
i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration
i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration
i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration
i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration
i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a sensor_offsets message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
* @param mag_declination magnetic declination (radians)
* @param raw_press raw pressure from barometer
* @param raw_temp raw temperature from barometer
* @param gyro_cal_x gyro X calibration
* @param gyro_cal_y gyro Y calibration
* @param gyro_cal_z gyro Z calibration
* @param accel_cal_x accel X calibration
* @param accel_cal_y accel Y calibration
* @param accel_cal_z accel Z calibration
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians)
i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer
i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer
i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration
i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration
i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration
i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration
i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration
i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a sensor_offsets struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param sensor_offsets C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
{
return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
}
/**
* @brief Send a sensor_offsets message
* @param chan MAVLink channel to send the message
*
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
* @param mag_declination magnetic declination (radians)
* @param raw_press raw pressure from barometer
* @param raw_temp raw temperature from barometer
* @param gyro_cal_x gyro X calibration
* @param gyro_cal_y gyro Y calibration
* @param gyro_cal_z gyro Z calibration
* @param accel_cal_x accel X calibration
* @param accel_cal_y accel Y calibration
* @param accel_cal_z accel Z calibration
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
{
mavlink_message_t msg;
mavlink_msg_sensor_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE SENSOR_OFFSETS UNPACKING
/**
* @brief Get field mag_ofs_x from sensor_offsets message
*
* @return magnetometer X offset
*/
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload)[0];
r.b[0] = (msg->payload)[1];
return (int16_t)r.s;
}
/**
* @brief Get field mag_ofs_y from sensor_offsets message
*
* @return magnetometer Y offset
*/
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field mag_ofs_z from sensor_offsets message
*
* @return magnetometer Z offset
*/
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field mag_declination from sensor_offsets message
*
* @return magnetic declination (radians)
*/
static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[3];
return (float)r.f;
}
/**
* @brief Get field raw_press from sensor_offsets message
*
* @return raw pressure from barometer
*/
static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[3];
return (int32_t)r.i;
}
/**
* @brief Get field raw_temp from sensor_offsets message
*
* @return raw temperature from barometer
*/
static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
* @brief Get field gyro_cal_x from sensor_offsets message
*
* @return gyro X calibration
*/
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3];
return (float)r.f;
}
/**
* @brief Get field gyro_cal_y from sensor_offsets message
*
* @return gyro Y calibration
*/
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field gyro_cal_z from sensor_offsets message
*
* @return gyro Z calibration
*/
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field accel_cal_x from sensor_offsets message
*
* @return accel X calibration
*/
static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field accel_cal_y from sensor_offsets message
*
* @return accel Y calibration
*/
static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field accel_cal_z from sensor_offsets message
*
* @return accel Z calibration
*/
static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a sensor_offsets message into a struct
*
* @param msg The message to decode
* @param sensor_offsets C-struct to decode the message contents into
*/
static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets)
{
sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg);
sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg);
sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg);
sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg);
sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg);
sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg);
sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg);
sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg);
sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg);
sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg);
sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg);
sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg);
}
thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE SET_MAG_OFFSETS PACKING
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151
typedef struct __mavlink_set_mag_offsets_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int16_t mag_ofs_x; ///< magnetometer X offset
int16_t mag_ofs_y; ///< magnetometer Y offset
int16_t mag_ofs_z; ///< magnetometer Z offset
} mavlink_set_mag_offsets_t;
/**
* @brief Pack a set_mag_offsets message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a set_mag_offsets message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a set_mag_offsets struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param set_mag_offsets C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
{
return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
}
/**
* @brief Send a set_mag_offsets message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
mavlink_message_t msg;
mavlink_msg_set_mag_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE SET_MAG_OFFSETS UNPACKING
/**
* @brief Get field target_system from set_mag_offsets message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field target_component from set_mag_offsets message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field mag_ofs_x from set_mag_offsets message
*
* @return magnetometer X offset
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field mag_ofs_y from set_mag_offsets message
*
* @return magnetometer Y offset
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field mag_ofs_z from set_mag_offsets message
*
* @return magnetometer Z offset
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Decode a set_mag_offsets message into a struct
*
* @param msg The message to decode
* @param set_mag_offsets C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets)
{
set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg);
set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg);
set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg);
set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg);
set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg);
}
thirdParty/mavlink/include/common/common.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Monday, August 22 2011, 15:48 UTC
*/
#ifndef COMMON_H
#define COMMON_H
......@@ -55,7 +55,8 @@ enum MAV_CMD
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. | Relay number | Cycle count | Cycle time (seconds, decimal) | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Cycle count | Cycle time (seconds) | Empty | Empty | Empty | */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. | Camera ID (-1 for all) | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | Empty | Empty | Empty | */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera capturing. | Camera ID (-1 for all) | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | Empty | Empty | Empty | */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various devices such as cameras. | Region of interest mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple cameras etc.) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. | Gyro calibration: 0: no, 1: yes | Magnetometer calibration: 0: no, 1: yes | Ground pressure: 0: no, 1: yes | Radio calibration: 0: no, 1: yes | Empty | Empty | Empty | */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Reserved | Reserved | Empty | Empty | Empty | */
......@@ -77,13 +78,14 @@ enum MAV_DATA_STREAM
MAV_DATA_STREAM_ENUM_END
};
/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */
/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */
enum MAV_ROI
{
MAV_ROI_WPNEXT=0, /* Point toward next waypoint. | */
MAV_ROI_WPINDEX=1, /* Point toward given waypoint. | */
MAV_ROI_LOCATION=2, /* Point toward fixed location. | */
MAV_ROI_TARGET=3, /* Point toward of given id. | */
MAV_ROI_NONE=0, /* No region of interest. | */
MAV_ROI_WPNEXT=1, /* Point toward next waypoint. | */
MAV_ROI_WPINDEX=2, /* Point toward given waypoint. | */
MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
MAV_ROI_TARGET=4, /* Point toward of given id. | */
MAV_ROI_ENUM_END
};
......@@ -136,18 +138,25 @@ enum MAV_ROI
#include "./mavlink_msg_control_status.h"
#include "./mavlink_msg_safety_set_allowed_area.h"
#include "./mavlink_msg_safety_allowed_area.h"
#include "./mavlink_msg_attitude_controller_output.h"
#include "./mavlink_msg_position_controller_output.h"
#include "./mavlink_msg_set_roll_pitch_yaw_thrust.h"
#include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h"
#include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h"
#include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h"
#include "./mavlink_msg_nav_controller_output.h"
#include "./mavlink_msg_position_target.h"
#include "./mavlink_msg_state_correction.h"
#include "./mavlink_msg_set_altitude.h"
#include "./mavlink_msg_request_data_stream.h"
#include "./mavlink_msg_hil_state.h"
#include "./mavlink_msg_hil_controls.h"
#include "./mavlink_msg_manual_control.h"
#include "./mavlink_msg_rc_channels_override.h"
#include "./mavlink_msg_global_position_int.h"
#include "./mavlink_msg_vfr_hud.h"
#include "./mavlink_msg_command.h"
#include "./mavlink_msg_command_ack.h"
#include "./mavlink_msg_optical_flow.h"
#include "./mavlink_msg_object_detection_event.h"
#include "./mavlink_msg_debug_vect.h"
#include "./mavlink_msg_named_value_float.h"
#include "./mavlink_msg_named_value_int.h"
......@@ -158,7 +167,7 @@ enum MAV_ROI
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/common/mavlink.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Monday, August 22 2011, 15:48 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/common/mavlink_msg_full_state.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE FULL_STATE PACKING
#define MAVLINK_MSG_ID_FULL_STATE 67
typedef struct __mavlink_full_state_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
} mavlink_full_state_t;
/**
* @brief Pack a full_state message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_full_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_FULL_STATE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a full_state message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_full_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_FULL_STATE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a full_state struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param full_state C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_full_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_full_state_t* full_state)
{
return mavlink_msg_full_state_pack(system_id, component_id, msg, full_state->usec, full_state->roll, full_state->pitch, full_state->yaw, full_state->rollspeed, full_state->pitchspeed, full_state->yawspeed, full_state->lat, full_state->lon, full_state->alt, full_state->vx, full_state->vy, full_state->vz, full_state->xacc, full_state->yacc, full_state->zacc);
}
/**
* @brief Send a full_state message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_full_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
mavlink_message_t msg;
mavlink_msg_full_state_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE FULL_STATE UNPACKING
/**
* @brief Get field usec from full_state message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_full_state_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field roll from full_state message
*
* @return Roll angle (rad)
*/
static inline float mavlink_msg_full_state_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch from full_state message
*
* @return Pitch angle (rad)
*/
static inline float mavlink_msg_full_state_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw from full_state message
*
* @return Yaw angle (rad)
*/
static inline float mavlink_msg_full_state_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field rollspeed from full_state message
*
* @return Roll angular speed (rad/s)
*/
static inline float mavlink_msg_full_state_get_rollspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field pitchspeed from full_state message
*
* @return Pitch angular speed (rad/s)
*/
static inline float mavlink_msg_full_state_get_pitchspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yawspeed from full_state message
*
* @return Yaw angular speed (rad/s)
*/
static inline float mavlink_msg_full_state_get_yawspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field lat from full_state message
*
* @return Latitude, expressed as * 1E7
*/
static inline int32_t mavlink_msg_full_state_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (int32_t)r.i;
}
/**
* @brief Get field lon from full_state message
*
* @return Longitude, expressed as * 1E7
*/
static inline int32_t mavlink_msg_full_state_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
* @brief Get field alt from full_state message
*
* @return Altitude in meters, expressed as * 1000 (millimeters)
*/
static inline int32_t mavlink_msg_full_state_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
* @brief Get field vx from full_state message
*
* @return Ground X Speed (Latitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_full_state_get_vx(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field vy from full_state message
*
* @return Ground Y Speed (Longitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_full_state_get_vy(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field vz from full_state message
*
* @return Ground Z Speed (Altitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_full_state_get_vz(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field xacc from full_state message
*
* @return X acceleration (mg)
*/
static inline int16_t mavlink_msg_full_state_get_xacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field yacc from full_state message
*
* @return Y acceleration (mg)
*/
static inline int16_t mavlink_msg_full_state_get_yacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field zacc from full_state message
*
* @return Z acceleration (mg)
*/
static inline int16_t mavlink_msg_full_state_get_zacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Decode a full_state message into a struct
*
* @param msg The message to decode
* @param full_state C-struct to decode the message contents into
*/
static inline void mavlink_msg_full_state_decode(const mavlink_message_t* msg, mavlink_full_state_t* full_state)
{
full_state->usec = mavlink_msg_full_state_get_usec(msg);
full_state->roll = mavlink_msg_full_state_get_roll(msg);
full_state->pitch = mavlink_msg_full_state_get_pitch(msg);
full_state->yaw = mavlink_msg_full_state_get_yaw(msg);
full_state->rollspeed = mavlink_msg_full_state_get_rollspeed(msg);
full_state->pitchspeed = mavlink_msg_full_state_get_pitchspeed(msg);
full_state->yawspeed = mavlink_msg_full_state_get_yawspeed(msg);
full_state->lat = mavlink_msg_full_state_get_lat(msg);
full_state->lon = mavlink_msg_full_state_get_lon(msg);
full_state->alt = mavlink_msg_full_state_get_alt(msg);
full_state->vx = mavlink_msg_full_state_get_vx(msg);
full_state->vy = mavlink_msg_full_state_get_vy(msg);
full_state->vz = mavlink_msg_full_state_get_vz(msg);
full_state->xacc = mavlink_msg_full_state_get_xacc(msg);
full_state->yacc = mavlink_msg_full_state_get_yacc(msg);
full_state->zacc = mavlink_msg_full_state_get_zacc(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE HIL_CONTROLS PACKING
#define MAVLINK_MSG_ID_HIL_CONTROLS 68
typedef struct __mavlink_hil_controls_t
{
uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll_ailerons; ///< Control output -3 .. 1
float pitch_elevator; ///< Control output -1 .. 1
float yaw_rudder; ///< Control output -1 .. 1
float throttle; ///< Throttle 0 .. 1
uint8_t mode; ///< System mode (MAV_MODE)
uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
} mavlink_hil_controls_t;
/**
* @brief Pack a hil_controls message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll_ailerons Control output -3 .. 1
* @param pitch_elevator Control output -1 .. 1
* @param yaw_rudder Control output -1 .. 1
* @param throttle Throttle 0 .. 1
* @param mode System mode (MAV_MODE)
* @param nav_mode Navigation mode (MAV_NAV_MODE)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1
i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1
i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1
i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1
i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE)
i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE)
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a hil_controls message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll_ailerons Control output -3 .. 1
* @param pitch_elevator Control output -1 .. 1
* @param yaw_rudder Control output -1 .. 1
* @param throttle Throttle 0 .. 1
* @param mode System mode (MAV_MODE)
* @param nav_mode Navigation mode (MAV_NAV_MODE)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1
i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1
i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1
i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1
i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE)
i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a hil_controls struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param hil_controls C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
{
return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode);
}
/**
* @brief Send a hil_controls message
* @param chan MAVLink channel to send the message
*
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll_ailerons Control output -3 .. 1
* @param pitch_elevator Control output -1 .. 1
* @param yaw_rudder Control output -1 .. 1
* @param throttle Throttle 0 .. 1
* @param mode System mode (MAV_MODE)
* @param nav_mode Navigation mode (MAV_NAV_MODE)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
{
mavlink_message_t msg;
mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE HIL_CONTROLS UNPACKING
/**
* @brief Get field time_us from hil_controls message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field roll_ailerons from hil_controls message
*
* @return Control output -3 .. 1
*/
static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch_elevator from hil_controls message
*
* @return Control output -1 .. 1
*/
static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw_rudder from hil_controls message
*
* @return Control output -1 .. 1
*/
static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field throttle from hil_controls message
*
* @return Throttle 0 .. 1
*/
static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field mode from hil_controls message
*
* @return System mode (MAV_MODE)
*/
static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
}
/**
* @brief Get field nav_mode from hil_controls message
*
* @return Navigation mode (MAV_NAV_MODE)
*/
static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
}
/**
* @brief Decode a hil_controls message into a struct
*
* @param msg The message to decode
* @param hil_controls C-struct to decode the message contents into
*/
static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
{
hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg);
hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_hil_state.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE HIL_STATE PACKING
#define MAVLINK_MSG_ID_HIL_STATE 67
typedef struct __mavlink_hil_state_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
} mavlink_hil_state_t;
/**
* @brief Pack a hil_state message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a hil_state message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a hil_state struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param hil_state C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
{
return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
}
/**
* @brief Send a hil_state message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
mavlink_message_t msg;
mavlink_msg_hil_state_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE HIL_STATE UNPACKING
/**
* @brief Get field usec from hil_state message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field roll from hil_state message
*
* @return Roll angle (rad)
*/
static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch from hil_state message
*
* @return Pitch angle (rad)
*/
static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw from hil_state message
*
* @return Yaw angle (rad)
*/
static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field rollspeed from hil_state message
*
* @return Roll angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field pitchspeed from hil_state message
*
* @return Pitch angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yawspeed from hil_state message
*
* @return Yaw angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field lat from hil_state message
*
* @return Latitude, expressed as * 1E7
*/
static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (int32_t)r.i;
}
/**
* @brief Get field lon from hil_state message
*
* @return Longitude, expressed as * 1E7
*/
static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
* @brief Get field alt from hil_state message
*
* @return Altitude in meters, expressed as * 1000 (millimeters)
*/
static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
* @brief Get field vx from hil_state message
*
* @return Ground X Speed (Latitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field vy from hil_state message
*
* @return Ground Y Speed (Longitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field vz from hil_state message
*
* @return Ground Z Speed (Altitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field xacc from hil_state message
*
* @return X acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field yacc from hil_state message
*
* @return Y acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field zacc from hil_state message
*
* @return Z acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Decode a hil_state message into a struct
*
* @param msg The message to decode
* @param hil_state C-struct to decode the message contents into
*/
static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
{
hil_state->usec = mavlink_msg_hil_state_get_usec(msg);
hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_object_detection_event.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE OBJECT_DETECTION_EVENT PACKING
#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT 140
typedef struct __mavlink_object_detection_event_t
{
uint32_t time; ///< Timestamp in milliseconds since system boot
uint16_t object_id; ///< Object ID
uint8_t type; ///< Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
char name[20]; ///< Name of the object as defined by the detector
uint8_t quality; ///< Detection quality / confidence. 0: bad, 255: maximum confidence
float bearing; ///< Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
float distance; ///< Ground distance in meters
} mavlink_object_detection_event_t;
#define MAVLINK_MSG_OBJECT_DETECTION_EVENT_FIELD_NAME_LEN 20
/**
* @brief Pack a object_detection_event message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_object_detection_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
i += put_uint32_t_by_index(time, i, msg->payload); // Timestamp in milliseconds since system boot
i += put_uint16_t_by_index(object_id, i, msg->payload); // Object ID
i += put_uint8_t_by_index(type, i, msg->payload); // Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
i += put_array_by_index((const int8_t*)name, sizeof(char)*20, i, msg->payload); // Name of the object as defined by the detector
i += put_uint8_t_by_index(quality, i, msg->payload); // Detection quality / confidence. 0: bad, 255: maximum confidence
i += put_float_by_index(bearing, i, msg->payload); // Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
i += put_float_by_index(distance, i, msg->payload); // Ground distance in meters
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a object_detection_event message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_object_detection_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
i += put_uint32_t_by_index(time, i, msg->payload); // Timestamp in milliseconds since system boot
i += put_uint16_t_by_index(object_id, i, msg->payload); // Object ID
i += put_uint8_t_by_index(type, i, msg->payload); // Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
i += put_array_by_index((const int8_t*)name, sizeof(char)*20, i, msg->payload); // Name of the object as defined by the detector
i += put_uint8_t_by_index(quality, i, msg->payload); // Detection quality / confidence. 0: bad, 255: maximum confidence
i += put_float_by_index(bearing, i, msg->payload); // Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
i += put_float_by_index(distance, i, msg->payload); // Ground distance in meters
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a object_detection_event struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param object_detection_event C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_object_detection_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_object_detection_event_t* object_detection_event)
{
return mavlink_msg_object_detection_event_pack(system_id, component_id, msg, object_detection_event->time, object_detection_event->object_id, object_detection_event->type, object_detection_event->name, object_detection_event->quality, object_detection_event->bearing, object_detection_event->distance);
}
/**
* @brief Send a object_detection_event message
* @param chan MAVLink channel to send the message
*
* @param time Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_object_detection_event_send(mavlink_channel_t chan, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance)
{
mavlink_message_t msg;
mavlink_msg_object_detection_event_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time, object_id, type, name, quality, bearing, distance);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE OBJECT_DETECTION_EVENT UNPACKING
/**
* @brief Get field time from object_detection_event message
*
* @return Timestamp in milliseconds since system boot
*/
static inline uint32_t mavlink_msg_object_detection_event_get_time(const mavlink_message_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 (uint32_t)r.i;
}
/**
* @brief Get field object_id from object_detection_event message
*
* @return Object ID
*/
static inline uint16_t mavlink_msg_object_detection_event_get_object_id(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint32_t))[0];
r.b[0] = (msg->payload+sizeof(uint32_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Get field type from object_detection_event message
*
* @return Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
*/
static inline uint8_t mavlink_msg_object_detection_event_get_type(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint16_t))[0];
}
/**
* @brief Get field name from object_detection_event message
*
* @return Name of the object as defined by the detector
*/
static inline uint16_t mavlink_msg_object_detection_event_get_name(const mavlink_message_t* msg, char* r_data)
{
memcpy(r_data, msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t), sizeof(char)*20);
return sizeof(char)*20;
}
/**
* @brief Get field quality from object_detection_event message
*
* @return Detection quality / confidence. 0: bad, 255: maximum confidence
*/
static inline uint8_t mavlink_msg_object_detection_event_get_quality(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20)[0];
}
/**
* @brief Get field bearing from object_detection_event message
*
* @return Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
*/
static inline float mavlink_msg_object_detection_event_get_bearing(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[3];
return (float)r.f;
}
/**
* @brief Get field distance from object_detection_event message
*
* @return Ground distance in meters
*/
static inline float mavlink_msg_object_detection_event_get_distance(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a object_detection_event message into a struct
*
* @param msg The message to decode
* @param object_detection_event C-struct to decode the message contents into
*/
static inline void mavlink_msg_object_detection_event_decode(const mavlink_message_t* msg, mavlink_object_detection_event_t* object_detection_event)
{
object_detection_event->time = mavlink_msg_object_detection_event_get_time(msg);
object_detection_event->object_id = mavlink_msg_object_detection_event_get_object_id(msg);
object_detection_event->type = mavlink_msg_object_detection_event_get_type(msg);
mavlink_msg_object_detection_event_get_name(msg, object_detection_event->name);
object_detection_event->quality = mavlink_msg_object_detection_event_get_quality(msg);
object_detection_event->bearing = mavlink_msg_object_detection_event_get_bearing(msg);
object_detection_event->distance = mavlink_msg_object_detection_event_get_distance(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE OPTICAL_FLOW PACKING
#define MAVLINK_MSG_ID_OPTICAL_FLOW 100
typedef struct __mavlink_optical_flow_t
{
uint64_t time; ///< Timestamp (UNIX)
uint8_t sensor_id; ///< Sensor ID
int16_t flow_x; ///< Flow in pixels in x-sensor direction
int16_t flow_y; ///< Flow in pixels in y-sensor direction
uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
float ground_distance; ///< Ground distance in meters
} mavlink_optical_flow_t;
/**
* @brief Pack a optical_flow message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
i += put_uint64_t_by_index(time, i, msg->payload); // Timestamp (UNIX)
i += put_uint8_t_by_index(sensor_id, i, msg->payload); // Sensor ID
i += put_int16_t_by_index(flow_x, i, msg->payload); // Flow in pixels in x-sensor direction
i += put_int16_t_by_index(flow_y, i, msg->payload); // Flow in pixels in y-sensor direction
i += put_uint8_t_by_index(quality, i, msg->payload); // Optical flow quality / confidence. 0: bad, 255: maximum quality
i += put_float_by_index(ground_distance, i, msg->payload); // Ground distance in meters
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a optical_flow message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
i += put_uint64_t_by_index(time, i, msg->payload); // Timestamp (UNIX)
i += put_uint8_t_by_index(sensor_id, i, msg->payload); // Sensor ID
i += put_int16_t_by_index(flow_x, i, msg->payload); // Flow in pixels in x-sensor direction
i += put_int16_t_by_index(flow_y, i, msg->payload); // Flow in pixels in y-sensor direction
i += put_uint8_t_by_index(quality, i, msg->payload); // Optical flow quality / confidence. 0: bad, 255: maximum quality
i += put_float_by_index(ground_distance, i, msg->payload); // Ground distance in meters
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a optical_flow struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param optical_flow C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
{
return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance);
}
/**
* @brief Send a optical_flow message
* @param chan MAVLink channel to send the message
*
* @param time Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
{
mavlink_message_t msg;
mavlink_msg_optical_flow_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time, sensor_id, flow_x, flow_y, quality, ground_distance);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE OPTICAL_FLOW UNPACKING
/**
* @brief Get field time from optical_flow message
*
* @return Timestamp (UNIX)
*/
static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field sensor_id from optical_flow message
*
* @return Sensor ID
*/
static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint64_t))[0];
}
/**
* @brief Get field flow_x from optical_flow message
*
* @return Flow in pixels in x-sensor direction
*/
static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field flow_y from optical_flow message
*
* @return Flow in pixels in y-sensor direction
*/
static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field quality from optical_flow message
*
* @return Optical flow quality / confidence. 0: bad, 255: maximum quality
*/
static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0];
}
/**
* @brief Get field ground_distance from optical_flow message
*
* @return Ground distance in meters
*/
static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[3];
return (float)r.f;
}
/**
* @brief Decode a optical_flow message into a struct
*
* @param msg The message to decode
* @param optical_flow C-struct to decode the message contents into
*/
static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
{
optical_flow->time = mavlink_msg_optical_flow_get_time(msg);
optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE RC_CHANNELS_OVERRIDE PACKING
#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE 70
typedef struct __mavlink_rc_channels_override_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
} mavlink_rc_channels_override_t;
/**
* @brief Pack a rc_channels_override message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param chan1_raw RC channel 1 value, in microseconds
* @param chan2_raw RC channel 2 value, in microseconds
* @param chan3_raw RC channel 3 value, in microseconds
* @param chan4_raw RC channel 4 value, in microseconds
* @param chan5_raw RC channel 5 value, in microseconds
* @param chan6_raw RC channel 6 value, in microseconds
* @param chan7_raw RC channel 7 value, in microseconds
* @param chan8_raw RC channel 8 value, in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a rc_channels_override message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param chan1_raw RC channel 1 value, in microseconds
* @param chan2_raw RC channel 2 value, in microseconds
* @param chan3_raw RC channel 3 value, in microseconds
* @param chan4_raw RC channel 4 value, in microseconds
* @param chan5_raw RC channel 5 value, in microseconds
* @param chan6_raw RC channel 6 value, in microseconds
* @param chan7_raw RC channel 7 value, in microseconds
* @param chan8_raw RC channel 8 value, in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_override_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a rc_channels_override struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param rc_channels_override C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rc_channels_override_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_override_t* rc_channels_override)
{
return mavlink_msg_rc_channels_override_pack(system_id, component_id, msg, rc_channels_override->target_system, rc_channels_override->target_component, rc_channels_override->chan1_raw, rc_channels_override->chan2_raw, rc_channels_override->chan3_raw, rc_channels_override->chan4_raw, rc_channels_override->chan5_raw, rc_channels_override->chan6_raw, rc_channels_override->chan7_raw, rc_channels_override->chan8_raw);
}
/**
* @brief Send a rc_channels_override message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param chan1_raw RC channel 1 value, in microseconds
* @param chan2_raw RC channel 2 value, in microseconds
* @param chan3_raw RC channel 3 value, in microseconds
* @param chan4_raw RC channel 4 value, in microseconds
* @param chan5_raw RC channel 5 value, in microseconds
* @param chan6_raw RC channel 6 value, in microseconds
* @param chan7_raw RC channel 7 value, in microseconds
* @param chan8_raw RC channel 8 value, in microseconds
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
{
mavlink_message_t msg;
mavlink_msg_rc_channels_override_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE RC_CHANNELS_OVERRIDE UNPACKING
/**
* @brief Get field target_system from rc_channels_override message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field target_component from rc_channels_override message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field chan1_raw from rc_channels_override message
*
* @return RC channel 1 value, in microseconds
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Get field chan2_raw from rc_channels_override message
*
* @return RC channel 2 value, in microseconds
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Get field chan3_raw from rc_channels_override message
*
* @return RC channel 3 value, in microseconds
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Get field chan4_raw from rc_channels_override message
*
* @return RC channel 4 value, in microseconds
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Get field chan5_raw from rc_channels_override message
*
* @return RC channel 5 value, in microseconds
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Get field chan6_raw from rc_channels_override message
*
* @return RC channel 6 value, in microseconds
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Get field chan7_raw from rc_channels_override message
*
* @return RC channel 7 value, in microseconds
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Get field chan8_raw from rc_channels_override message
*
* @return RC channel 8 value, in microseconds
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
}
/**
* @brief Decode a rc_channels_override message into a struct
*
* @param msg The message to decode
* @param rc_channels_override C-struct to decode the message contents into
*/
static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message_t* msg, mavlink_rc_channels_override_t* rc_channels_override)
{
rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg);
rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg);
rc_channels_override->chan1_raw = mavlink_msg_rc_channels_override_get_chan1_raw(msg);
rc_channels_override->chan2_raw = mavlink_msg_rc_channels_override_get_chan2_raw(msg);
rc_channels_override->chan3_raw = mavlink_msg_rc_channels_override_get_chan3_raw(msg);
rc_channels_override->chan4_raw = mavlink_msg_rc_channels_override_get_chan4_raw(msg);
rc_channels_override->chan5_raw = mavlink_msg_rc_channels_override_get_chan5_raw(msg);
rc_channels_override->chan6_raw = mavlink_msg_rc_channels_override_get_chan6_raw(msg);
rc_channels_override->chan7_raw = mavlink_msg_rc_channels_override_get_chan7_raw(msg);
rc_channels_override->chan8_raw = mavlink_msg_rc_channels_override_get_chan8_raw(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h
View file @ d4f8f5b3
......@@ -7,7 +7,7 @@ typedef struct __mavlink_request_data_stream_t
uint8_t target_system; ///< The target requested to send the message stream.
uint8_t target_component; ///< The target requested to send the message stream.
uint8_t req_stream_id; ///< The ID of the requested message type
uint16_t req_message_rate; ///< The requested interval between two messages of this type
uint16_t req_message_rate; ///< Update rate in Hertz
uint8_t start_stop; ///< 1 to start sending, 0 to stop sending.
} mavlink_request_data_stream_t;
......@@ -23,7 +23,7 @@ typedef struct __mavlink_request_data_stream_t
* @param target_system The target requested to send the message stream.
* @param target_component The target requested to send the message stream.
* @param req_stream_id The ID of the requested message type
* @param req_message_rate The requested interval between two messages of this type
* @param req_message_rate Update rate in Hertz
* @param start_stop 1 to start sending, 0 to stop sending.
* @return length of the message in bytes (excluding serial stream start sign)
*/
......@@ -35,7 +35,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u
i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // The requested interval between two messages of this type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz
i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending.
return mavlink_finalize_message(msg, system_id, component_id, i);
......@@ -50,7 +50,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u
* @param target_system The target requested to send the message stream.
* @param target_component The target requested to send the message stream.
* @param req_stream_id The ID of the requested message type
* @param req_message_rate The requested interval between two messages of this type
* @param req_message_rate Update rate in Hertz
* @param start_stop 1 to start sending, 0 to stop sending.
* @return length of the message in bytes (excluding serial stream start sign)
*/
......@@ -62,7 +62,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_
i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // The requested interval between two messages of this type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz
i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending.
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
......@@ -88,7 +88,7 @@ static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id,
* @param target_system The target requested to send the message stream.
* @param target_component The target requested to send the message stream.
* @param req_stream_id The ID of the requested message type
* @param req_message_rate The requested interval between two messages of this type
* @param req_message_rate Update rate in Hertz
* @param start_stop 1 to start sending, 0 to stop sending.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
......@@ -136,7 +136,7 @@ static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const ma
/**
* @brief Get field req_message_rate from request_data_stream message
*
* @return The requested interval between two messages of this type
* @return Update rate in Hertz
*/
static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg)
{
......
thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 58
typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
{
uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
float roll_speed; ///< Desired roll angular speed in rad/s
float pitch_speed; ///< Desired pitch angular speed in rad/s
float yaw_speed; ///< Desired yaw angular speed in rad/s
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_roll_pitch_yaw_speed_thrust_setpoint_t;
/**
* @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a roll_pitch_yaw_speed_thrust_setpoint struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
{
return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_us, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
}
/**
* @brief Send a roll_pitch_yaw_speed_thrust_setpoint message
* @param chan MAVLink channel to send the message
*
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
mavlink_message_t msg;
mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_speed, pitch_speed, yaw_speed, thrust);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
/**
* @brief Get field time_us from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Timestamp in micro seconds since unix epoch
*/
static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired roll angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired pitch angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired yaw angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct
*
* @param msg The message to decode
* @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
{
roll_pitch_yaw_speed_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(msg);
roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 57
typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t
{
uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
float roll; ///< Desired roll angle in radians
float pitch; ///< Desired pitch angle in radians
float yaw; ///< Desired yaw angle in radians
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_roll_pitch_yaw_thrust_setpoint_t;
/**
* @brief Pack a roll_pitch_yaw_thrust_setpoint message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll, float pitch, float yaw, float thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a roll_pitch_yaw_thrust_setpoint message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll, float pitch, float yaw, float thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a roll_pitch_yaw_thrust_setpoint struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
{
return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_us, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust);
}
/**
* @brief Send a roll_pitch_yaw_thrust_setpoint message
* @param chan MAVLink channel to send the message
*
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @param thrust Collective thrust, normalized to 0 .. 1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll, float pitch, float yaw, float thrust)
{
mavlink_message_t msg;
mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll, pitch, yaw, thrust);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING
/**
* @brief Get field time_us from roll_pitch_yaw_thrust_setpoint message
*
* @return Timestamp in micro seconds since unix epoch
*/
static inline uint64_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field roll from roll_pitch_yaw_thrust_setpoint message
*
* @return Desired roll angle in radians
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch from roll_pitch_yaw_thrust_setpoint message
*
* @return Desired pitch angle in radians
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw from roll_pitch_yaw_thrust_setpoint message
*
* @return Desired yaw angle in radians
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field thrust from roll_pitch_yaw_thrust_setpoint message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a roll_pitch_yaw_thrust_setpoint message into a struct
*
* @param msg The message to decode
* @param roll_pitch_yaw_thrust_setpoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
{
roll_pitch_yaw_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(msg);
roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg);
roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg);
roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg);
roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE SET_ROLL_PITCH_YAW PACKING
#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW 55
typedef struct __mavlink_set_roll_pitch_yaw_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
float roll; ///< Desired roll angle in radians
float pitch; ///< Desired pitch angle in radians
float yaw; ///< Desired yaw angle in radians
} mavlink_set_roll_pitch_yaw_t;
/**
* @brief Pack a set_roll_pitch_yaw message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a set_roll_pitch_yaw message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a set_roll_pitch_yaw struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param set_roll_pitch_yaw C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_t* set_roll_pitch_yaw)
{
return mavlink_msg_set_roll_pitch_yaw_pack(system_id, component_id, msg, set_roll_pitch_yaw->target_system, set_roll_pitch_yaw->target_component, set_roll_pitch_yaw->roll, set_roll_pitch_yaw->pitch, set_roll_pitch_yaw->yaw);
}
/**
* @brief Send a set_roll_pitch_yaw message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_roll_pitch_yaw_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw)
{
mavlink_message_t msg;
mavlink_msg_set_roll_pitch_yaw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll, pitch, yaw);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE SET_ROLL_PITCH_YAW UNPACKING
/**
* @brief Get field target_system from set_roll_pitch_yaw message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field target_component from set_roll_pitch_yaw message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field roll from set_roll_pitch_yaw message
*
* @return Desired roll angle in radians
*/
static inline float mavlink_msg_set_roll_pitch_yaw_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch from set_roll_pitch_yaw message
*
* @return Desired pitch angle in radians
*/
static inline float mavlink_msg_set_roll_pitch_yaw_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw from set_roll_pitch_yaw message
*
* @return Desired yaw angle in radians
*/
static inline float mavlink_msg_set_roll_pitch_yaw_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a set_roll_pitch_yaw message into a struct
*
* @param msg The message to decode
* @param set_roll_pitch_yaw C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_roll_pitch_yaw_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_t* set_roll_pitch_yaw)
{
set_roll_pitch_yaw->target_system = mavlink_msg_set_roll_pitch_yaw_get_target_system(msg);
set_roll_pitch_yaw->target_component = mavlink_msg_set_roll_pitch_yaw_get_target_component(msg);
set_roll_pitch_yaw->roll = mavlink_msg_set_roll_pitch_yaw_get_roll(msg);
set_roll_pitch_yaw->pitch = mavlink_msg_set_roll_pitch_yaw_get_pitch(msg);
set_roll_pitch_yaw->yaw = mavlink_msg_set_roll_pitch_yaw_get_yaw(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE SET_ROLL_PITCH_YAW_SPEED PACKING
#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED 56
typedef struct __mavlink_set_roll_pitch_yaw_speed_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
float roll_speed; ///< Desired roll angular speed in rad/s
float pitch_speed; ///< Desired pitch angular speed in rad/s
float yaw_speed; ///< Desired yaw angular speed in rad/s
} mavlink_set_roll_pitch_yaw_speed_t;
/**
* @brief Pack a set_roll_pitch_yaw_speed message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a set_roll_pitch_yaw_speed message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a set_roll_pitch_yaw_speed struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param set_roll_pitch_yaw_speed C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_speed_t* set_roll_pitch_yaw_speed)
{
return mavlink_msg_set_roll_pitch_yaw_speed_pack(system_id, component_id, msg, set_roll_pitch_yaw_speed->target_system, set_roll_pitch_yaw_speed->target_component, set_roll_pitch_yaw_speed->roll_speed, set_roll_pitch_yaw_speed->pitch_speed, set_roll_pitch_yaw_speed->yaw_speed);
}
/**
* @brief Send a set_roll_pitch_yaw_speed message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_roll_pitch_yaw_speed_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed)
{
mavlink_message_t msg;
mavlink_msg_set_roll_pitch_yaw_speed_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll_speed, pitch_speed, yaw_speed);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE SET_ROLL_PITCH_YAW_SPEED UNPACKING
/**
* @brief Get field target_system from set_roll_pitch_yaw_speed message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field target_component from set_roll_pitch_yaw_speed message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field roll_speed from set_roll_pitch_yaw_speed message
*
* @return Desired roll angular speed in rad/s
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_get_roll_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch_speed from set_roll_pitch_yaw_speed message
*
* @return Desired pitch angular speed in rad/s
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_get_pitch_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw_speed from set_roll_pitch_yaw_speed message
*
* @return Desired yaw angular speed in rad/s
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_get_yaw_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a set_roll_pitch_yaw_speed message into a struct
*
* @param msg The message to decode
* @param set_roll_pitch_yaw_speed C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_roll_pitch_yaw_speed_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_speed_t* set_roll_pitch_yaw_speed)
{
set_roll_pitch_yaw_speed->target_system = mavlink_msg_set_roll_pitch_yaw_speed_get_target_system(msg);
set_roll_pitch_yaw_speed->target_component = mavlink_msg_set_roll_pitch_yaw_speed_get_target_component(msg);
set_roll_pitch_yaw_speed->roll_speed = mavlink_msg_set_roll_pitch_yaw_speed_get_roll_speed(msg);
set_roll_pitch_yaw_speed->pitch_speed = mavlink_msg_set_roll_pitch_yaw_speed_get_pitch_speed(msg);
set_roll_pitch_yaw_speed->yaw_speed = mavlink_msg_set_roll_pitch_yaw_speed_get_yaw_speed(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST PACKING
#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST 56
typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
float roll_speed; ///< Desired roll angular speed in rad/s
float pitch_speed; ///< Desired pitch angular speed in rad/s
float yaw_speed; ///< Desired yaw angular speed in rad/s
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_set_roll_pitch_yaw_speed_thrust_t;
/**
* @brief Pack a set_roll_pitch_yaw_speed_thrust message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a set_roll_pitch_yaw_speed_thrust message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a set_roll_pitch_yaw_speed_thrust struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param set_roll_pitch_yaw_speed_thrust C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust)
{
return mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(system_id, component_id, msg, set_roll_pitch_yaw_speed_thrust->target_system, set_roll_pitch_yaw_speed_thrust->target_component, set_roll_pitch_yaw_speed_thrust->roll_speed, set_roll_pitch_yaw_speed_thrust->pitch_speed, set_roll_pitch_yaw_speed_thrust->yaw_speed, set_roll_pitch_yaw_speed_thrust->thrust);
}
/**
* @brief Send a set_roll_pitch_yaw_speed_thrust message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
mavlink_message_t msg;
mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST UNPACKING
/**
* @brief Get field target_system from set_roll_pitch_yaw_speed_thrust message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field target_component from set_roll_pitch_yaw_speed_thrust message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field roll_speed from set_roll_pitch_yaw_speed_thrust message
*
* @return Desired roll angular speed in rad/s
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch_speed from set_roll_pitch_yaw_speed_thrust message
*
* @return Desired pitch angular speed in rad/s
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw_speed from set_roll_pitch_yaw_speed_thrust message
*
* @return Desired yaw angular speed in rad/s
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field thrust from set_roll_pitch_yaw_speed_thrust message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a set_roll_pitch_yaw_speed_thrust message into a struct
*
* @param msg The message to decode
* @param set_roll_pitch_yaw_speed_thrust C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust)
{
set_roll_pitch_yaw_speed_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(msg);
set_roll_pitch_yaw_speed_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(msg);
set_roll_pitch_yaw_speed_thrust->roll_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(msg);
set_roll_pitch_yaw_speed_thrust->pitch_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(msg);
set_roll_pitch_yaw_speed_thrust->yaw_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(msg);
set_roll_pitch_yaw_speed_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE SET_ROLL_PITCH_YAW_THRUST PACKING
#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST 55
typedef struct __mavlink_set_roll_pitch_yaw_thrust_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
float roll; ///< Desired roll angle in radians
float pitch; ///< Desired pitch angle in radians
float yaw; ///< Desired yaw angle in radians
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_set_roll_pitch_yaw_thrust_t;
/**
* @brief Pack a set_roll_pitch_yaw_thrust message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a set_roll_pitch_yaw_thrust message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a set_roll_pitch_yaw_thrust struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param set_roll_pitch_yaw_thrust C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust)
{
return mavlink_msg_set_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_roll_pitch_yaw_thrust->target_system, set_roll_pitch_yaw_thrust->target_component, set_roll_pitch_yaw_thrust->roll, set_roll_pitch_yaw_thrust->pitch, set_roll_pitch_yaw_thrust->yaw, set_roll_pitch_yaw_thrust->thrust);
}
/**
* @brief Send a set_roll_pitch_yaw_thrust message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @param thrust Collective thrust, normalized to 0 .. 1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
{
mavlink_message_t msg;
mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll, pitch, yaw, thrust);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE SET_ROLL_PITCH_YAW_THRUST UNPACKING
/**
* @brief Get field target_system from set_roll_pitch_yaw_thrust message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field target_component from set_roll_pitch_yaw_thrust message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field roll from set_roll_pitch_yaw_thrust message
*
* @return Desired roll angle in radians
*/
static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch from set_roll_pitch_yaw_thrust message
*
* @return Desired pitch angle in radians
*/
static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw from set_roll_pitch_yaw_thrust message
*
* @return Desired yaw angle in radians
*/
static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field thrust from set_roll_pitch_yaw_thrust message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a set_roll_pitch_yaw_thrust message into a struct
*
* @param msg The message to decode
* @param set_roll_pitch_yaw_thrust C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust)
{
set_roll_pitch_yaw_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(msg);
set_roll_pitch_yaw_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(msg);
set_roll_pitch_yaw_thrust->roll = mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(msg);
set_roll_pitch_yaw_thrust->pitch = mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(msg);
set_roll_pitch_yaw_thrust->yaw = mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(msg);
set_roll_pitch_yaw_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(msg);
}
thirdParty/mavlink/include/minimal/mavlink.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/minimal/minimal.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef MINIMAL_H
#define MINIMAL_H
......
thirdParty/mavlink/include/pixhawk/mavlink.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Wednesday, August 17 2011, 06:03 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/pixhawk/mavlink_msg_visual_odometry.h 0 → 100644
View file @ d4f8f5b3
// MESSAGE VISUAL_ODOMETRY PACKING
#define MAVLINK_MSG_ID_VISUAL_ODOMETRY 180
typedef struct __mavlink_visual_odometry_t
{
uint64_t frame1_time_us; ///< Time at which frame 1 was captured (in microseconds since unix epoch)
uint64_t frame2_time_us; ///< Time at which frame 2 was captured (in microseconds since unix epoch)
float x; ///< Relative X position
float y; ///< Relative Y position
float z; ///< Relative Z position
float roll; ///< Relative roll angle in rad
float pitch; ///< Relative pitch angle in rad
float yaw; ///< Relative yaw angle in rad
} mavlink_visual_odometry_t;
/**
* @brief Pack a visual_odometry message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
* @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
* @param x Relative X position
* @param y Relative Y position
* @param z Relative Z position
* @param roll Relative roll angle in rad
* @param pitch Relative pitch angle in rad
* @param yaw Relative yaw angle in rad
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_visual_odometry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY;
i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch)
i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch)
i += put_float_by_index(x, i, msg->payload); // Relative X position
i += put_float_by_index(y, i, msg->payload); // Relative Y position
i += put_float_by_index(z, i, msg->payload); // Relative Z position
i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad
i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad
i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a visual_odometry message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
* @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
* @param x Relative X position
* @param y Relative Y position
* @param z Relative Z position
* @param roll Relative roll angle in rad
* @param pitch Relative pitch angle in rad
* @param yaw Relative yaw angle in rad
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_visual_odometry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY;
i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch)
i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch)
i += put_float_by_index(x, i, msg->payload); // Relative X position
i += put_float_by_index(y, i, msg->payload); // Relative Y position
i += put_float_by_index(z, i, msg->payload); // Relative Z position
i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad
i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad
i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a visual_odometry struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param visual_odometry C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_visual_odometry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_visual_odometry_t* visual_odometry)
{
return mavlink_msg_visual_odometry_pack(system_id, component_id, msg, visual_odometry->frame1_time_us, visual_odometry->frame2_time_us, visual_odometry->x, visual_odometry->y, visual_odometry->z, visual_odometry->roll, visual_odometry->pitch, visual_odometry->yaw);
}
/**
* @brief Send a visual_odometry message
* @param chan MAVLink channel to send the message
*
* @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
* @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
* @param x Relative X position
* @param y Relative Y position
* @param z Relative Z position
* @param roll Relative roll angle in rad
* @param pitch Relative pitch angle in rad
* @param yaw Relative yaw angle in rad
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_visual_odometry_send(mavlink_channel_t chan, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw)
{
mavlink_message_t msg;
mavlink_msg_visual_odometry_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, frame1_time_us, frame2_time_us, x, y, z, roll, pitch, yaw);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE VISUAL_ODOMETRY UNPACKING
/**
* @brief Get field frame1_time_us from visual_odometry message
*
* @return Time at which frame 1 was captured (in microseconds since unix epoch)
*/
static inline uint64_t mavlink_msg_visual_odometry_get_frame1_time_us(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field frame2_time_us from visual_odometry message
*
* @return Time at which frame 2 was captured (in microseconds since unix epoch)
*/
static inline uint64_t mavlink_msg_visual_odometry_get_frame2_time_us(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload+sizeof(uint64_t))[0];
r.b[6] = (msg->payload+sizeof(uint64_t))[1];
r.b[5] = (msg->payload+sizeof(uint64_t))[2];
r.b[4] = (msg->payload+sizeof(uint64_t))[3];
r.b[3] = (msg->payload+sizeof(uint64_t))[4];
r.b[2] = (msg->payload+sizeof(uint64_t))[5];
r.b[1] = (msg->payload+sizeof(uint64_t))[6];
r.b[0] = (msg->payload+sizeof(uint64_t))[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field x from visual_odometry message
*
* @return Relative X position
*/
static inline float mavlink_msg_visual_odometry_get_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[3];
return (float)r.f;
}
/**
* @brief Get field y from visual_odometry message
*
* @return Relative Y position
*/
static inline float mavlink_msg_visual_odometry_get_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field z from visual_odometry message
*
* @return Relative Z position
*/
static inline float mavlink_msg_visual_odometry_get_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field roll from visual_odometry message
*
* @return Relative roll angle in rad
*/
static inline float mavlink_msg_visual_odometry_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field pitch from visual_odometry message
*
* @return Relative pitch angle in rad
*/
static inline float mavlink_msg_visual_odometry_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw from visual_odometry message
*
* @return Relative yaw angle in rad
*/
static inline float mavlink_msg_visual_odometry_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a visual_odometry message into a struct
*
* @param msg The message to decode
* @param visual_odometry C-struct to decode the message contents into
*/
static inline void mavlink_msg_visual_odometry_decode(const mavlink_message_t* msg, mavlink_visual_odometry_t* visual_odometry)
{
visual_odometry->frame1_time_us = mavlink_msg_visual_odometry_get_frame1_time_us(msg);
visual_odometry->frame2_time_us = mavlink_msg_visual_odometry_get_frame2_time_us(msg);
visual_odometry->x = mavlink_msg_visual_odometry_get_x(msg);
visual_odometry->y = mavlink_msg_visual_odometry_get_y(msg);
visual_odometry->z = mavlink_msg_visual_odometry_get_z(msg);
visual_odometry->roll = mavlink_msg_visual_odometry_get_roll(msg);
visual_odometry->pitch = mavlink_msg_visual_odometry_get_pitch(msg);
visual_odometry->yaw = mavlink_msg_visual_odometry_get_yaw(msg);
}
thirdParty/mavlink/include/pixhawk/pixhawk.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Wednesday, August 17 2011, 06:03 UTC
*/
#ifndef PIXHAWK_H
#define PIXHAWK_H
......@@ -66,12 +66,13 @@ enum DATA_TYPES
#include "./mavlink_msg_data_transmission_handshake.h"
#include "./mavlink_msg_encapsulated_data.h"
#include "./mavlink_msg_brief_feature.h"
#include "./mavlink_msg_visual_odometry.h"
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 42, 54, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 42, 54, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/slugs/mavlink.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/slugs/slugs.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef SLUGS_H
#define SLUGS_H
......@@ -48,7 +48,7 @@ extern "C" {
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 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, 4, 10, 24, 18, 0, 0, 30, 24, 0, 7, 13, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 14, 14, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 18, 20, 20, 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, 4, 10, 24, 18, 0, 0, 30, 24, 0, 7, 13, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/ualberta/mavlink.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/ualberta/ualberta.h
View file @ d4f8f5b3
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef UALBERTA_H
#define UALBERTA_H
......@@ -71,7 +71,7 @@ enum UALBERTA_PILOT_MODE
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 42, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 14, 14, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 18, 20, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 42, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/message_definitions/ardupilotmega.xml
View file @ d4f8f5b3
<?xml version="1.0"?>
<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<messages>
</messages>
<include>common.xml</include>
<!-- note that APM specific messages should use the command id
range from 150 to 250, to leave plenty of room for growth
of common.xml
If you prototype a message here, then you should consider if it
is general enough to move into common.xml later
-->
<messages>
<message id="150" name="SENSOR_OFFSETS">
<description>Offsets and calibrations values for hardware
sensors. This makes it easier to debug the calibration process.</description>
<field type="int16_t" name="mag_ofs_x">magnetometer X offset</field>
<field type="int16_t" name="mag_ofs_y">magnetometer Y offset</field>
<field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
<field type="float" name="mag_declination">magnetic declination (radians)</field>
<field type="int32_t" name="raw_press">raw pressure from barometer</field>
<field type="int32_t" name="raw_temp">raw temperature from barometer</field>
<field type="float" name="gyro_cal_x">gyro X calibration</field>
<field type="float" name="gyro_cal_y">gyro Y calibration</field>
<field type="float" name="gyro_cal_z">gyro Z calibration</field>
<field type="float" name="accel_cal_x">accel X calibration</field>
<field type="float" name="accel_cal_y">accel Y calibration</field>
<field type="float" name="accel_cal_z">accel Z calibration</field>
</message>
<message id="151" name="SET_MAG_OFFSETS">
<description>set the magnetometer offsets</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="int16_t" name="mag_ofs_x">magnetometer X offset</field>
<field type="int16_t" name="mag_ofs_y">magnetometer Y offset</field>
<field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
</message>
</messages>
</mavlink>
thirdParty/mavlink/message_definitions/common.xml
View file @ d4f8f5b3
This source diff could not be displayed because it is too large. You can view the blob instead.
thirdParty/mavlink/message_definitions/minimal.xml
View file @ d4f8f5b3
<?xml version='1.0'?>
<mavlink>
<version>2</version>
<enums/>
<messages>
<message id="0" name="HEARTBEAT">
<description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
<field type="uint8_t" name="type">Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)</field>
<field type="uint8_t" name="autopilot">Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM</field>
<field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version</field>
</message>
</messages>
<version>2</version>
<enums/>
<messages>
<message id="0" name="HEARTBEAT">
<description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
<field type="uint8_t" name="type">Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)</field>
<field type="uint8_t" name="autopilot">Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM</field>
<field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version</field>
</message>
</messages>
</mavlink>
thirdParty/mavlink/message_definitions/pixhawk.xml
View file @ d4f8f5b3
<?xml version="1.0"?>
<mavlink>
<include>common.xml</include>
<include>common.xml</include>
<enums>
<enum name="DATA_TYPES">
<description>Content Types for data transmission handshake</description>
<entry name = "DATA_TYPE_JPEG_IMAGE" value="1">
</entry>
<entry name = "DATA_TYPE_RAW_IMAGE" value="2">
</entry>
<entry name = "DATA_TYPE_KINECT" value="3">
</entry>
</enum>
</enums>
<messages>
<message name="ATTITUDE_CONTROL" id="85">
<field name="target" type="uint8_t">The system to be controlled</field>
<field name="roll" type="float">roll</field>
<field name="pitch" type="float">pitch</field>
<field name="yaw" type="float">yaw</field>
<field name="thrust" type="float">thrust</field>
<field name="roll_manual" type="uint8_t">roll control enabled auto:0, manual:1</field>
<field name="pitch_manual" type="uint8_t">pitch auto:0, manual:1</field>
<field name="yaw_manual" type="uint8_t">yaw auto:0, manual:1</field>
<field name="thrust_manual" type="uint8_t">thrust auto:0, manual:1</field>
</message>
<message name="SET_CAM_SHUTTER" id="100">
<field name="cam_no" type="uint8_t">Camera id</field>
<field name="cam_mode" type="uint8_t">Camera mode: 0 = auto, 1 = manual</field>
<field name="trigger_pin" type="uint8_t">Trigger pin, 0-3 for PtGrey FireFly</field>
<field name="interval" type="uint16_t">Shutter interval, in microseconds</field>
<field name="exposure" type="uint16_t">Exposure time, in microseconds</field>
<field name="gain" type="float">Camera gain</field>
</message>
<message name="IMAGE_TRIGGERED" id="101">
<field name="timestamp" type="uint64_t">Timestamp</field>
<field name="seq" type="uint32_t">IMU seq</field>
<field name="roll" type="float">Roll angle in rad</field>
<field name="pitch" type="float">Pitch angle in rad</field>
<field name="yaw" type="float">Yaw angle in rad</field>
<field name="local_z" type="float">Local frame Z coordinate (height over ground)</field>
<field name="lat" type="float">GPS X coordinate</field>
<field name="lon" type="float">GPS Y coordinate</field>
<field name="alt" type="float">Global frame altitude</field>
<field name="ground_x" type="float">Ground truth X</field>
<field name="ground_y" type="float">Ground truth Y</field>
<field name="ground_z" type="float">Ground truth Z</field>
</message>
<message name="IMAGE_TRIGGER_CONTROL" id="102">
<field name="enable" type="uint8_t">0 to disable, 1 to enable</field>
</message>
<message name="IMAGE_AVAILABLE" id="103">
<field name="cam_id" type="uint64_t">Camera id</field>
<field name="cam_no" type="uint8_t">Camera # (starts with 0)</field>
<field name="timestamp" type="uint64_t">Timestamp</field>
<field name="valid_until" type="uint64_t">Until which timestamp this buffer will stay valid</field>
<field name="img_seq" type="uint32_t">The image sequence number</field>
<field name="img_buf_index" type="uint32_t">Position of the image in the buffer, starts with 0</field>
<field name="width" type="uint16_t">Image width</field>
<field name="height" type="uint16_t">Image height</field>
<field name="depth" type="uint16_t">Image depth</field>
<field name="channels" type="uint8_t">Image channels</field>
<field name="key" type="uint32_t">Shared memory area key</field>
<field name="exposure" type="uint32_t">Exposure time, in microseconds</field>
<field name="gain" type="float">Camera gain</field>
<field name="roll" type="float">Roll angle in rad</field>
<field name="pitch" type="float">Pitch angle in rad</field>
<field name="yaw" type="float">Yaw angle in rad</field>
<field name="local_z" type="float">Local frame Z coordinate (height over ground)</field>
<field name="lat" type="float">GPS X coordinate</field>
<field name="lon" type="float">GPS Y coordinate</field>
<field name="alt" type="float">Global frame altitude</field>
<field name="ground_x" type="float">Ground truth X</field>
<field name="ground_y" type="float">Ground truth Y</field>
<field name="ground_z" type="float">Ground truth Z</field>
</message>
<message name="VISION_POSITION_ESTIMATE" id="111">
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
<field name="x" type="float">Global X position</field>
<field name="y" type="float">Global Y position</field>
<field name="z" type="float">Global Z position</field>
<field name="roll" type="float">Roll angle in rad</field>
<field name="pitch" type="float">Pitch angle in rad</field>
<field name="yaw" type="float">Yaw angle in rad</field>
</message>
<message name="VICON_POSITION_ESTIMATE" id="112">
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
<field name="x" type="float">Global X position</field>
<field name="y" type="float">Global Y position</field>
<field name="z" type="float">Global Z position</field>
<field name="roll" type="float">Roll angle in rad</field>
<field name="pitch" type="float">Pitch angle in rad</field>
<field name="yaw" type="float">Yaw angle in rad</field>
</message>
<message name="VISION_SPEED_ESTIMATE" id="113">
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
<field name="x" type="float">Global X speed</field>
<field name="y" type="float">Global Y speed</field>
<field name="z" type="float">Global Z speed</field>
</message>
<message name="POSITION_CONTROL_SETPOINT_SET" id="120">
<description>Message sent to the MAV to set a new position as reference for the controller</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="id" type="uint16_t">ID of waypoint, 0 for plain position</field>
<field name="x" type="float">x position</field>
<field name="y" type="float">y position</field>
<field name="z" type="float">z position</field>
<field name="yaw" type="float">yaw orientation in radians, 0 = NORTH</field>
</message>
<message name="POSITION_CONTROL_OFFSET_SET" id="154">
<description>Message sent to the MAV to set a new offset from the currently controlled position</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="x" type="float">x position offset</field>
<field name="y" type="float">y position offset</field>
<field name="z" type="float">z position offset</field>
<field name="yaw" type="float">yaw orientation offset in radians, 0 = NORTH</field>
</message>
<!-- Message sent by the MAV once it sets a new position as reference in the controller -->
<message name="POSITION_CONTROL_SETPOINT" id="121">
<field name="id" type="uint16_t">ID of waypoint, 0 for plain position</field>
<field name="x" type="float">x position</field>
<field name="y" type="float">y position</field>
<field name="z" type="float">z position</field>
<field name="yaw" type="float">yaw orientation in radians, 0 = NORTH</field>
</message>
<message name="MARKER" id="130">
<field name="id" type="uint16_t">ID</field>
<field name="x" type="float">x position</field>
<field name="y" type="float">y position</field>
<field name="z" type="float">z position</field>
<field name="roll" type="float">roll orientation</field>
<field name="pitch" type="float">pitch orientation</field>
<field name="yaw" type="float">yaw orientation</field>
</message>
<message name="RAW_AUX" id="141">
<field name="adc1" type="uint16_t">ADC1 (J405 ADC3, LPC2148 AD0.6)</field>
<field name="adc2" type="uint16_t">ADC2 (J405 ADC5, LPC2148 AD0.2)</field>
<field name="adc3" type="uint16_t">ADC3 (J405 ADC6, LPC2148 AD0.1)</field>
<field name="adc4" type="uint16_t">ADC4 (J405 ADC7, LPC2148 AD1.3)</field>
<field name="vbat" type="uint16_t">Battery voltage</field>
<field name="temp" type="int16_t">Temperature (degrees celcius)</field>
<field name="baro" type="int32_t">Barometric pressure (hecto Pascal)</field>
</message>
<message name="AUX_STATUS" id="142">
<field name="load" type="uint16_t">Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000</field>
<field name="i2c0_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="i2c1_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="spi0_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="spi1_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="uart_total_err_count" type="uint16_t">Number of I2C errors since startup</field>
</message>
<message name="WATCHDOG_HEARTBEAT" id="150">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_count" type="uint16_t">Number of processes</field>
</message>
<message name="WATCHDOG_PROCESS_INFO" id="151">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="name" type="array[100]">Process name</field>
<field name="arguments" type="array[147]">Process arguments</field>
<field name="timeout" type="int32_t">Timeout (seconds)</field>
</message>
<message name="WATCHDOG_PROCESS_STATUS" id="152">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="state" type="uint8_t">Is running / finished / suspended / crashed</field>
<field name="muted" type="uint8_t">Is muted</field>
<field name="pid" type="int32_t">PID</field>
<field name="crashes" type="uint16_t">Number of crashes</field>
</message>
<message name="WATCHDOG_COMMAND" id="153">
<field name="target_system_id" type="uint8_t">Target system ID</field>
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="command_id" type="uint8_t">Command ID</field>
</message>
<message name="PATTERN_DETECTED" id="160">
<field name="type" type="uint8_t">0: Pattern, 1: Letter</field>
<field name="confidence" type="float">Confidence of detection</field>
<field name="file" type="array[100]">Pattern file name</field>
<field name="detected" type="uint8_t">Accepted as true detection, 0 no, 1 yes</field>
</message>
<message name="POINT_OF_INTEREST" id="161">
<description>Notifies the operator about a point of interest (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map.
</description>
<field name="type" type="uint8_t">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field name="color" type="uint8_t">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field name="coordinate_system" type="uint8_t">0: global, 1:local</field>
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field>
<field name="x" type="float">X Position</field>
<field name="y" type="float">Y Position</field>
<field name="z" type="float">Z Position</field>
<field name="name" type="array[25]">POI name</field>
</message>
<message name="POINT_OF_INTEREST_CONNECTION" id="162">
<description>Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map.
</description>
<field name="type" type="uint8_t">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field name="color" type="uint8_t">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field name="coordinate_system" type="uint8_t">0: global, 1:local</field>
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field>
<field name="xp1" type="float">X1 Position</field>
<field name="yp1" type="float">Y1 Position</field>
<field name="zp1" type="float">Z1 Position</field>
<field name="xp2" type="float">X2 Position</field>
<field name="yp2" type="float">Y2 Position</field>
<field name="zp2" type="float">Z2 Position</field>
<field name="name" type="array[25]">POI connection name</field>
</message>
<message name="DATA_TRANSMISSION_HANDSHAKE" id="170">
<field name="type" type="uint8_t">type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)</field>
<field name="size" type="uint32_t">total data size in bytes (set on ACK only)</field>
<field name="packets" type="uint8_t">number of packets beeing sent (set on ACK only)</field>
<field name="payload" type="uint8_t">payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)</field>
<field name="jpg_quality" type="uint8_t">JPEG quality out of [1,100]</field>
</message>
<message name="ENCAPSULATED_DATA" id="171">
<field name="seqnr" type="uint16_t">sequence number (starting with 0 on every transmission)</field>
<field name="data" type="uint8_t[253]">image data bytes</field>
</message>
<message name="BRIEF_FEATURE" id="172">
<field name="x" type="float">x position in m</field>
<field name="y" type="float">y position in m</field>
<field name="z" type="float">z position in m</field>
<field name="orientation_assignment" type="uint8_t">Orientation assignment 0: false, 1:true</field>
<field name="size" type="uint16_t">Size in pixels</field>
<field name="orientation" type="uint16_t">Orientation</field>
<field name="descriptor" type="uint8_t[32]">Descriptor</field>
<field name="response" type="float">Harris operator response at this location</field>
</message>
<enums>
<enum name="DATA_TYPES">
<description>Content Types for data transmission handshake</description>
<entry name = "DATA_TYPE_JPEG_IMAGE" value="1">
</entry>
<entry name = "DATA_TYPE_RAW_IMAGE" value="2">
</entry>
<entry name = "DATA_TYPE_KINECT" value="3">
</entry>
</enum>
</enums>
<messages>
<message name="ATTITUDE_CONTROL" id="85">
<field name="target" type="uint8_t">The system to be controlled</field>
<field name="roll" type="float">roll</field>
<field name="pitch" type="float">pitch</field>
<field name="yaw" type="float">yaw</field>
<field name="thrust" type="float">thrust</field>
<field name="roll_manual" type="uint8_t">roll control enabled auto:0, manual:1</field>
<field name="pitch_manual" type="uint8_t">pitch auto:0, manual:1</field>
<field name="yaw_manual" type="uint8_t">yaw auto:0, manual:1</field>
<field name="thrust_manual" type="uint8_t">thrust auto:0, manual:1</field>
</message>
<message name="SET_CAM_SHUTTER" id="100">
<field name="cam_no" type="uint8_t">Camera id</field>
<field name="cam_mode" type="uint8_t">Camera mode: 0 = auto, 1 = manual</field>
<field name="trigger_pin" type="uint8_t">Trigger pin, 0-3 for PtGrey FireFly</field>
<field name="interval" type="uint16_t">Shutter interval, in microseconds</field>
<field name="exposure" type="uint16_t">Exposure time, in microseconds</field>
<field name="gain" type="float">Camera gain</field>
</message>
<message name="IMAGE_TRIGGERED" id="101">
<field name="timestamp" type="uint64_t">Timestamp</field>
<field name="seq" type="uint32_t">IMU seq</field>
<field name="roll" type="float">Roll angle in rad</field>
<field name="pitch" type="float">Pitch angle in rad</field>
<field name="yaw" type="float">Yaw angle in rad</field>
<field name="local_z" type="float">Local frame Z coordinate (height over ground)</field>
<field name="lat" type="float">GPS X coordinate</field>
<field name="lon" type="float">GPS Y coordinate</field>
<field name="alt" type="float">Global frame altitude</field>
<field name="ground_x" type="float">Ground truth X</field>
<field name="ground_y" type="float">Ground truth Y</field>
<field name="ground_z" type="float">Ground truth Z</field>
</message>
<message name="IMAGE_TRIGGER_CONTROL" id="102">
<field name="enable" type="uint8_t">0 to disable, 1 to enable</field>
</message>
<message name="IMAGE_AVAILABLE" id="103">
<field name="cam_id" type="uint64_t">Camera id</field>
<field name="cam_no" type="uint8_t">Camera # (starts with 0)</field>
<field name="timestamp" type="uint64_t">Timestamp</field>
<field name="valid_until" type="uint64_t">Until which timestamp this buffer will stay valid</field>
<field name="img_seq" type="uint32_t">The image sequence number</field>
<field name="img_buf_index" type="uint32_t">Position of the image in the buffer, starts with 0</field>
<field name="width" type="uint16_t">Image width</field>
<field name="height" type="uint16_t">Image height</field>
<field name="depth" type="uint16_t">Image depth</field>
<field name="channels" type="uint8_t">Image channels</field>
<field name="key" type="uint32_t">Shared memory area key</field>
<field name="exposure" type="uint32_t">Exposure time, in microseconds</field>
<field name="gain" type="float">Camera gain</field>
<field name="roll" type="float">Roll angle in rad</field>
<field name="pitch" type="float">Pitch angle in rad</field>
<field name="yaw" type="float">Yaw angle in rad</field>
<field name="local_z" type="float">Local frame Z coordinate (height over ground)</field>
<field name="lat" type="float">GPS X coordinate</field>
<field name="lon" type="float">GPS Y coordinate</field>
<field name="alt" type="float">Global frame altitude</field>
<field name="ground_x" type="float">Ground truth X</field>
<field name="ground_y" type="float">Ground truth Y</field>
<field name="ground_z" type="float">Ground truth Z</field>
</message>
<message name="VISION_POSITION_ESTIMATE" id="111">
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
<field name="x" type="float">Global X position</field>
<field name="y" type="float">Global Y position</field>
<field name="z" type="float">Global Z position</field>
<field name="roll" type="float">Roll angle in rad</field>
<field name="pitch" type="float">Pitch angle in rad</field>
<field name="yaw" type="float">Yaw angle in rad</field>
</message>
<message name="VICON_POSITION_ESTIMATE" id="112">
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
<field name="x" type="float">Global X position</field>
<field name="y" type="float">Global Y position</field>
<field name="z" type="float">Global Z position</field>
<field name="roll" type="float">Roll angle in rad</field>
<field name="pitch" type="float">Pitch angle in rad</field>
<field name="yaw" type="float">Yaw angle in rad</field>
</message>
<message name="VISION_SPEED_ESTIMATE" id="113">
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
<field name="x" type="float">Global X speed</field>
<field name="y" type="float">Global Y speed</field>
<field name="z" type="float">Global Z speed</field>
</message>
<message name="POSITION_CONTROL_SETPOINT_SET" id="120">
<description>Message sent to the MAV to set a new position as reference for the controller</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="id" type="uint16_t">ID of waypoint, 0 for plain position</field>
<field name="x" type="float">x position</field>
<field name="y" type="float">y position</field>
<field name="z" type="float">z position</field>
<field name="yaw" type="float">yaw orientation in radians, 0 = NORTH</field>
</message>
<message name="POSITION_CONTROL_OFFSET_SET" id="154">
<description>Message sent to the MAV to set a new offset from the currently controlled position</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="x" type="float">x position offset</field>
<field name="y" type="float">y position offset</field>
<field name="z" type="float">z position offset</field>
<field name="yaw" type="float">yaw orientation offset in radians, 0 = NORTH</field>
</message>
<!-- Message sent by the MAV once it sets a new position as reference in the controller -->
<message name="POSITION_CONTROL_SETPOINT" id="121">
<field name="id" type="uint16_t">ID of waypoint, 0 for plain position</field>
<field name="x" type="float">x position</field>
<field name="y" type="float">y position</field>
<field name="z" type="float">z position</field>
<field name="yaw" type="float">yaw orientation in radians, 0 = NORTH</field>
</message>
<message name="MARKER" id="130">
<field name="id" type="uint16_t">ID</field>
<field name="x" type="float">x position</field>
<field name="y" type="float">y position</field>
<field name="z" type="float">z position</field>
<field name="roll" type="float">roll orientation</field>
<field name="pitch" type="float">pitch orientation</field>
<field name="yaw" type="float">yaw orientation</field>
</message>
<message name="RAW_AUX" id="141">
<field name="adc1" type="uint16_t">ADC1 (J405 ADC3, LPC2148 AD0.6)</field>
<field name="adc2" type="uint16_t">ADC2 (J405 ADC5, LPC2148 AD0.2)</field>
<field name="adc3" type="uint16_t">ADC3 (J405 ADC6, LPC2148 AD0.1)</field>
<field name="adc4" type="uint16_t">ADC4 (J405 ADC7, LPC2148 AD1.3)</field>
<field name="vbat" type="uint16_t">Battery voltage</field>
<field name="temp" type="int16_t">Temperature (degrees celcius)</field>
<field name="baro" type="int32_t">Barometric pressure (hecto Pascal)</field>
</message>
<message name="AUX_STATUS" id="142">
<field name="load" type="uint16_t">Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000</field>
<field name="i2c0_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="i2c1_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="spi0_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="spi1_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="uart_total_err_count" type="uint16_t">Number of I2C errors since startup</field>
</message>
<message name="WATCHDOG_HEARTBEAT" id="150">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_count" type="uint16_t">Number of processes</field>
</message>
<message name="WATCHDOG_PROCESS_INFO" id="151">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="name" type="array[100]">Process name</field>
<field name="arguments" type="array[147]">Process arguments</field>
<field name="timeout" type="int32_t">Timeout (seconds)</field>
</message>
<message name="WATCHDOG_PROCESS_STATUS" id="152">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="state" type="uint8_t">Is running / finished / suspended / crashed</field>
<field name="muted" type="uint8_t">Is muted</field>
<field name="pid" type="int32_t">PID</field>
<field name="crashes" type="uint16_t">Number of crashes</field>
</message>
<message name="WATCHDOG_COMMAND" id="153">
<field name="target_system_id" type="uint8_t">Target system ID</field>
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="command_id" type="uint8_t">Command ID</field>
</message>
<message name="PATTERN_DETECTED" id="160">
<field name="type" type="uint8_t">0: Pattern, 1: Letter</field>
<field name="confidence" type="float">Confidence of detection</field>
<field name="file" type="array[100]">Pattern file name</field>
<field name="detected" type="uint8_t">Accepted as true detection, 0 no, 1 yes</field>
</message>
<message name="POINT_OF_INTEREST" id="161">
<description>Notifies the operator about a point of interest (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map.</description>
<field name="type" type="uint8_t">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field name="color" type="uint8_t">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field name="coordinate_system" type="uint8_t">0: global, 1:local</field>
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field>
<field name="x" type="float">X Position</field>
<field name="y" type="float">Y Position</field>
<field name="z" type="float">Z Position</field>
<field name="name" type="array[25]">POI name</field>
</message>
<message name="POINT_OF_INTEREST_CONNECTION" id="162">
<description>Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map.</description>
<field name="type" type="uint8_t">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field name="color" type="uint8_t">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field name="coordinate_system" type="uint8_t">0: global, 1:local</field>
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field>
<field name="xp1" type="float">X1 Position</field>
<field name="yp1" type="float">Y1 Position</field>
<field name="zp1" type="float">Z1 Position</field>
<field name="xp2" type="float">X2 Position</field>
<field name="yp2" type="float">Y2 Position</field>
<field name="zp2" type="float">Z2 Position</field>
<field name="name" type="array[25]">POI connection name</field>
</message>
<message name="DATA_TRANSMISSION_HANDSHAKE" id="170">
<field name="type" type="uint8_t">type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)</field>
<field name="size" type="uint32_t">total data size in bytes (set on ACK only)</field>
<field name="packets" type="uint8_t">number of packets beeing sent (set on ACK only)</field>
<field name="payload" type="uint8_t">payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)</field>
<field name="jpg_quality" type="uint8_t">JPEG quality out of [1,100]</field>
</message>
<message name="ENCAPSULATED_DATA" id="171">
<field name="seqnr" type="uint16_t">sequence number (starting with 0 on every transmission)</field>
<field name="data" type="uint8_t[253]">image data bytes</field>
</message>
<message name="BRIEF_FEATURE" id="172">
<field name="x" type="float">x position in m</field>
<field name="y" type="float">y position in m</field>
<field name="z" type="float">z position in m</field>
<field name="orientation_assignment" type="uint8_t">Orientation assignment 0: false, 1:true</field>
<field name="size" type="uint16_t">Size in pixels</field>
<field name="orientation" type="uint16_t">Orientation</field>
<field name="descriptor" type="uint8_t[32]">Descriptor</field>
<field name="response" type="float">Harris operator response at this location</field>
</message>
</messages>
<message name="VISUAL_ODOMETRY" id="180">
<description>Visual odometry estimate describing relative pose between two frames</description>
<field name="frame1_time_us" type="uint64_t">Time at which frame 1 was captured (in microseconds since unix epoch)</field>
<field name="frame2_time_us" type="uint64_t">Time at which frame 2 was captured (in microseconds since unix epoch)</field>
<field name="x" type="float">Relative X position</field>
<field name="y" type="float">Relative Y position</field>
<field name="z" type="float">Relative Z position</field>
<field name="roll" type="float">Relative roll angle in rad</field>
<field name="pitch" type="float">Relative pitch angle in rad</field>
<field name="yaw" type="float">Relative yaw angle in rad</field>
</message>
</messages>
</mavlink>
thirdParty/mavlink/message_definitions/slugs.xml
View file @ d4f8f5b3
<?xml version="1.0"?>
<mavlink>
<include>common.xml</include>
<!-- <enums>
<include>common.xml</include>
<!-- <enums>
<enum name="SLUGS_ACTION" >
<description> Slugs Actions </description>
<entry name = "SLUGS_ACTION_NONE">
......@@ -33,110 +33,112 @@
</enum>
</enums> -->
<messages>
<message name="CPU_LOAD" id="170">
Sensor and DSC control loads.
<field name="sensLoad" type="uint8_t">Sensor DSC Load</field>
<field name="ctrlLoad" type="uint8_t">Control DSC Load</field>
<field name="batVolt" type="uint16_t">Battery Voltage in millivolts</field>
</message>
<message name="AIR_DATA" id="171">
Air data for altitude and airspeed computation.
<field name="dynamicPressure" type="float">Dynamic pressure (Pa)</field>
<field name="staticPressure" type="float">Static pressure (Pa)</field>
<field name="temperature" type="uint16_t">Board temperature</field>
</message>
<message name="SENSOR_BIAS" id="172">
Accelerometer and gyro biases.
<field name="axBias" type="float">Accelerometer X bias (m/s)</field>
<field name="ayBias" type="float">Accelerometer Y bias (m/s)</field>
<field name="azBias" type="float">Accelerometer Z bias (m/s)</field>
<field name="gxBias" type="float">Gyro X bias (rad/s)</field>
<field name="gyBias" type="float">Gyro Y bias (rad/s)</field>
<field name="gzBias" type="float">Gyro Z bias (rad/s)</field>
</message>
<message name="DIAGNOSTIC" id="173">
Configurable diagnostic messages.
<field name="diagFl1" type="float">Diagnostic float 1</field>
<field name="diagFl2" type="float">Diagnostic float 2</field>
<field name="diagFl3" type="float">Diagnostic float 3</field>
<field name="diagSh1" type="int16_t">Diagnostic short 1</field>
<field name="diagSh2" type="int16_t">Diagnostic short 2</field>
<field name="diagSh3" type="int16_t">Diagnostic short 3</field>
</message>
<message name="SLUGS_NAVIGATION" id="176">
Data used in the navigation algorithm.
<field name="u_m" type="float">Measured Airspeed prior to the Nav Filter</field>
<field name="phi_c" type="float">Commanded Roll</field>
<field name="theta_c" type="float">Commanded Pitch</field>
<field name="psiDot_c" type="float">Commanded Turn rate</field>
<field name="ay_body" type="float">Y component of the body acceleration</field>
<field name="totalDist" type="float">Total Distance to Run on this leg of Navigation</field>
<field name="dist2Go" type="float">Remaining distance to Run on this leg of Navigation</field>
<field name="fromWP" type="uint8_t">Origin WP</field>
<field name="toWP" type="uint8_t">Destination WP</field>
</message>
<message name="DATA_LOG" id="177">
Configurable data log probes to be used inside Simulink
<field name="fl_1" type="float">Log value 1 </field>
<field name="fl_2" type="float">Log value 2 </field>
<field name="fl_3" type="float">Log value 3 </field>
<field name="fl_4" type="float">Log value 4 </field>
<field name="fl_5" type="float">Log value 5 </field>
<field name="fl_6" type="float">Log value 6 </field>
</message>
<message name="GPS_DATE_TIME" id="179">
Pilot console PWM messges.
<field name="year" type="uint8_t">Year reported by Gps </field>
<field name="month" type="uint8_t">Month reported by Gps </field>
<field name="day" type="uint8_t">Day reported by Gps </field>
<field name="hour" type="uint8_t">Hour reported by Gps </field>
<field name="min" type="uint8_t">Min reported by Gps </field>
<field name="sec" type="uint8_t">Sec reported by Gps </field>
<field name="visSat" type="uint8_t">Visible sattelites reported by Gps </field>
</message>
<message name="MID_LVL_CMDS" id="180">
Mid Level commands sent from the GS to the autopilot. These are only sent when being opperated in mid-level commands mode from the ground; for periodic report of these commands generated from the autopilot see message XXXX.
<field name="target" type="uint8_t">The system setting the commands</field>
<field name="hCommand" type="float">Commanded Airspeed</field>
<field name="uCommand" type="float">Log value 2 </field>
<field name="rCommand" type="float">Log value 3 </field>
</message>
<message name="CTRL_SRFC_PT" id="181">
This message configures the Selective Passthrough mode. it allows to select which control surfaces the Pilot can control from his console. It is implemented as a bitfield as follows:
Position Bit Code
=================================
15-8 Reserved
7 dt_pass 128
6 dla_pass 64
5 dra_pass 32
4 dr_pass 16
3 dle_pass 8
2 dre_pass 4
1 dlf_pass 2
0 drf_pass 1
Where Bit 15 is the MSb. 0 = AP has control of the surface; 1 = Pilot Console has control of the surface.
<field name="target" type="uint8_t">The system setting the commands</field>
<field name="bitfieldPt" type="uint16_t">Bitfield containing the PT configuration</field>
</message>
<message name="SLUGS_ACTION" id="183">
Action messages focused on the SLUGS AP.
<field name="target" type="uint8_t">The system reporting the action</field>
<field name="actionId" type="uint8_t">Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names</field>
<field name="actionVal" type="uint16_t">Value associated with the action</field>
</message>
</messages>
</mavlink>
\ No newline at end of file
<messages>
<message name="CPU_LOAD" id="170">
Sensor and DSC control loads.
<field name="sensLoad" type="uint8_t">Sensor DSC Load</field>
<field name="ctrlLoad" type="uint8_t">Control DSC Load</field>
<field name="batVolt" type="uint16_t">Battery Voltage in millivolts</field>
</message>
<message name="AIR_DATA" id="171">
Air data for altitude and airspeed computation.
<field name="dynamicPressure" type="float">Dynamic pressure (Pa)</field>
<field name="staticPressure" type="float">Static pressure (Pa)</field>
<field name="temperature" type="uint16_t">Board temperature</field>
</message>
<message name="SENSOR_BIAS" id="172">
Accelerometer and gyro biases.
<field name="axBias" type="float">Accelerometer X bias (m/s)</field>
<field name="ayBias" type="float">Accelerometer Y bias (m/s)</field>
<field name="azBias" type="float">Accelerometer Z bias (m/s)</field>
<field name="gxBias" type="float">Gyro X bias (rad/s)</field>
<field name="gyBias" type="float">Gyro Y bias (rad/s)</field>
<field name="gzBias" type="float">Gyro Z bias (rad/s)</field>
</message>
<message name="DIAGNOSTIC" id="173">
Configurable diagnostic messages.
<field name="diagFl1" type="float">Diagnostic float 1</field>
<field name="diagFl2" type="float">Diagnostic float 2</field>
<field name="diagFl3" type="float">Diagnostic float 3</field>
<field name="diagSh1" type="int16_t">Diagnostic short 1</field>
<field name="diagSh2" type="int16_t">Diagnostic short 2</field>
<field name="diagSh3" type="int16_t">Diagnostic short 3</field>
</message>
<message name="SLUGS_NAVIGATION" id="176">
Data used in the navigation algorithm.
<field name="u_m" type="float">Measured Airspeed prior to the Nav Filter</field>
<field name="phi_c" type="float">Commanded Roll</field>
<field name="theta_c" type="float">Commanded Pitch</field>
<field name="psiDot_c" type="float">Commanded Turn rate</field>
<field name="ay_body" type="float">Y component of the body acceleration</field>
<field name="totalDist" type="float">Total Distance to Run on this leg of Navigation</field>
<field name="dist2Go" type="float">Remaining distance to Run on this leg of Navigation</field>
<field name="fromWP" type="uint8_t">Origin WP</field>
<field name="toWP" type="uint8_t">Destination WP</field>
</message>
<message name="DATA_LOG" id="177">
Configurable data log probes to be used inside Simulink
<field name="fl_1" type="float">Log value 1 </field>
<field name="fl_2" type="float">Log value 2 </field>
<field name="fl_3" type="float">Log value 3 </field>
<field name="fl_4" type="float">Log value 4 </field>
<field name="fl_5" type="float">Log value 5 </field>
<field name="fl_6" type="float">Log value 6 </field>
</message>
<message name="GPS_DATE_TIME" id="179">
Pilot console PWM messges.
<field name="year" type="uint8_t">Year reported by Gps </field>
<field name="month" type="uint8_t">Month reported by Gps </field>
<field name="day" type="uint8_t">Day reported by Gps </field>
<field name="hour" type="uint8_t">Hour reported by Gps </field>
<field name="min" type="uint8_t">Min reported by Gps </field>
<field name="sec" type="uint8_t">Sec reported by Gps </field>
<field name="visSat" type="uint8_t">Visible sattelites reported by Gps </field>
</message>
<message name="MID_LVL_CMDS" id="180">
Mid Level commands sent from the GS to the autopilot. These are only sent when being opperated in mid-level commands mode from the ground; for periodic report of these commands generated from the autopilot see message XXXX.
<field name="target" type="uint8_t">The system setting the commands</field>
<field name="hCommand" type="float">Commanded Airspeed</field>
<field name="uCommand" type="float">Log value 2 </field>
<field name="rCommand" type="float">Log value 3 </field>
</message>
<message name="CTRL_SRFC_PT" id="181">
This message configures the Selective Passthrough mode. it allows to select which control surfaces the Pilot can control from his console. It is implemented as a bitfield as follows:
Position Bit Code
=================================
15-8 Reserved
7 dt_pass 128
6 dla_pass 64
5 dra_pass 32
4 dr_pass 16
3 dle_pass 8
2 dre_pass 4
1 dlf_pass 2
0 drf_pass 1
Where Bit 15 is the MSb. 0 = AP has control of the surface; 1 = Pilot Console has control of the surface.
<field name="target" type="uint8_t">The system setting the commands</field>
<field name="bitfieldPt" type="uint16_t">Bitfield containing the PT configuration</field>
</message>
<message name="SLUGS_ACTION" id="183">
Action messages focused on the SLUGS AP.
<field name="target" type="uint8_t">The system reporting the action</field>
<field name="actionId" type="uint8_t">Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names</field>
<field name="actionVal" type="uint16_t">Value associated with the action</field>
</message>
</messages>
</mavlink>
thirdParty/mavlink/message_definitions/ualberta.xml
View file @ d4f8f5b3
<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<enums>
<enum name="UALBERTA_AUTOPILOT_MODE">
<description>Available autopilot modes for ualberta uav</description>
<entry name="MODE_MANUAL_DIRECT">Raw input pulse widts sent to output</entry>
<entry name="MODE_MANUAL_SCALED">Inputs are normalized using calibration, the converted back to raw pulse widths for output</entry>
<entry name="MODE_AUTO_PID_ATT"> dfsdfs</entry>
<entry name="MODE_AUTO_PID_VEL"> dfsfds</entry>
<entry name="MODE_AUTO_PID_POS"> dfsdfsdfs</entry>
</enum>
<enum name="UALBERTA_NAV_MODE">
<description>Navigation filter mode</description>
<entry name="NAV_AHRS_INIT" />
<entry name="NAV_AHRS">AHRS mode</entry>
<entry name="NAV_INS_GPS_INIT">INS/GPS initialization mode</entry>
<entry name="NAV_INS_GPS">INS/GPS mode</entry>
</enum>
<enum name="UALBERTA_PILOT_MODE">
<description>Mode currently commanded by pilot</description>
<entry name="PILOT_MANUAL"> sdf</entry>
<entry name="PILOT_AUTO"> dfs</entry>
<entry name="PILOT_ROTO"> Rotomotion mode </entry>
</enum>
</enums>
<messages>
<message id="220" name="NAV_FILTER_BIAS">
<description>Accelerometer and Gyro biases from the navigation filter</description>
<field type="uint64_t" name="usec">Timestamp (microseconds)</field>
<field type="float" name="accel_0">b_f[0]</field>
<field type="float" name="accel_1">b_f[1]</field>
<field type="float" name="accel_2">b_f[2]</field>
<field type="float" name="gyro_0">b_f[0]</field>
<field type="float" name="gyro_1">b_f[1]</field>
<field type="float" name="gyro_2">b_f[2]</field>
</message>
<message id="221" name="RADIO_CALIBRATION">
<description>Complete set of calibration parameters for the radio</description>
<field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field>
<field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field>
<field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field>
<field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field>
<field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field>
<field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field>
</message>
<message id="222" name="UALBERTA_SYS_STATUS">
<description>System status specific to ualberta uav</description>
<field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field>
<field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field>
<field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field>
</message>
</messages>
<include>common.xml</include>
<enums>
<enum name="UALBERTA_AUTOPILOT_MODE">
<description>Available autopilot modes for ualberta uav</description>
<entry name="MODE_MANUAL_DIRECT">Raw input pulse widts sent to output</entry>
<entry name="MODE_MANUAL_SCALED">Inputs are normalized using calibration, the converted back to raw pulse widths for output</entry>
<entry name="MODE_AUTO_PID_ATT"> dfsdfs</entry>
<entry name="MODE_AUTO_PID_VEL"> dfsfds</entry>
<entry name="MODE_AUTO_PID_POS"> dfsdfsdfs</entry>
</enum>
<enum name="UALBERTA_NAV_MODE">
<description>Navigation filter mode</description>
<entry name="NAV_AHRS_INIT" />
<entry name="NAV_AHRS">AHRS mode</entry>
<entry name="NAV_INS_GPS_INIT">INS/GPS initialization mode</entry>
<entry name="NAV_INS_GPS">INS/GPS mode</entry>
</enum>
<enum name="UALBERTA_PILOT_MODE">
<description>Mode currently commanded by pilot</description>
<entry name="PILOT_MANUAL"> sdf</entry>
<entry name="PILOT_AUTO"> dfs</entry>
<entry name="PILOT_ROTO"> Rotomotion mode </entry>
</enum>
</enums>
<messages>
<message id="220" name="NAV_FILTER_BIAS">
<description>Accelerometer and Gyro biases from the navigation filter</description>
<field type="uint64_t" name="usec">Timestamp (microseconds)</field>
<field type="float" name="accel_0">b_f[0]</field>
<field type="float" name="accel_1">b_f[1]</field>
<field type="float" name="accel_2">b_f[2]</field>
<field type="float" name="gyro_0">b_f[0]</field>
<field type="float" name="gyro_1">b_f[1]</field>
<field type="float" name="gyro_2">b_f[2]</field>
</message>
<message id="221" name="RADIO_CALIBRATION">
<description>Complete set of calibration parameters for the radio</description>
<field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field>
<field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field>
<field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field>
<field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field>
<field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field>
<field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field>
</message>
<message id="222" name="UALBERTA_SYS_STATUS">
<description>System status specific to ualberta uav</description>
<field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field>
<field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field>
<field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field>
</message>
</messages>
</mavlink>
thirdParty/mavlink/missionlib/testing/main.c 0 → 100644
View file @ d4f8f5b3
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
and Bryan Godbolt godbolt ( a t ) ualberta.ca
adapted from example written by Bryan Godbolt godbolt ( a t ) ualberta.ca
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
/*
This program sends some data to qgroundcontrol using the mavlink protocol. The sent packets
cause qgroundcontrol to respond with heartbeats. Any settings or custom commands sent from
qgroundcontrol are printed by this program along with the heartbeats.
I compiled this program sucessfully on Ubuntu 10.04 with the following command
gcc -I ../../pixhawk/mavlink/include -o udp-server udp.c
the rt library is needed for the clock_gettime on linux
*/
/* These headers are for QNX, but should all be standard on unix/linux */
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <unistd.h>
#include <stdlib.h>
#include <fcntl.h>
#include <time.h>
#if (defined __QNX__) | (defined __QNXNTO__)
/* QNX specific headers */
#include <unix.h>
#else
/* Linux / MacOS POSIX timer headers */
#include <sys/time.h>
#include <time.h>
#include <arpa/inet.h>
#endif
/* 0: Include MAVLink types */
#include <../mavlink_types.h>
/* 1: Define mavlink system storage */
mavlink_system_t mavlink_system;
/* 2: Include actual protocol, REQUIRES mavlink_system */
#include <mavlink.h>
/* 3: Define waypoint helper functions */
void mavlink_wpm_send_message(mavlink_message_t* msg);
void mavlink_wpm_send_gcs_string(const char* string);
uint64_t mavlink_wpm_get_system_timestamp();
/* 4: Include waypoint protocol */
#include "waypoints.h"
mavlink_wpm_storage wpm;
#define BUFFER_LENGTH 2041 // minimum buffer size that can be used with qnx (I don't know why)
char help[] = "--help";
char target_ip[100];
float position[6] = {};
int sock;
struct sockaddr_in gcAddr;
struct sockaddr_in locAddr;
uint8_t buf[BUFFER_LENGTH];
ssize_t recsize;
socklen_t fromlen;
int bytes_sent;
mavlink_message_t msg;
uint16_t len;
int i = 0;
unsigned int temp = 0;
uint64_t microsSinceEpoch();
/* Provide the interface functions for the waypoint manager */
/*
* @brief Sends a MAVLink message over UDP
*/
void mavlink_wpm_send_message(mavlink_message_t* msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
uint16_t bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
printf("SENT %d bytes", bytes_sent);
}
void mavlink_wpm_send_gcs_string(const char* string)
{
printf("%s",string);
}
uint64_t mavlink_wpm_get_system_timestamp()
{
struct timeval tv;
gettimeofday(&tv, NULL);
return ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec;
}
int main(int argc, char* argv[])
{
// Initialize MAVLink
mavlink_wpm_init(&wpm);
mavlink_system.sysid = 1;
mavlink_system.compid = MAV_COMP_ID_WAYPOINTPLANNER;
// Create socket
sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
// Check if --help flag was used
if ((argc == 2) && (strcmp(argv[1], help) == 0))
{
printf("\n");
printf("\tUsage:\n\n");
printf("\t");
printf("%s", argv[0]);
printf(" <ip address of QGroundControl>\n");
printf("\tDefault for localhost: udp-server 127.0.0.1\n\n");
exit(EXIT_FAILURE);
}
// Change the target ip if parameter was given
strcpy(target_ip, "127.0.0.1");
if (argc == 2)
{
strcpy(target_ip, argv[1]);
}
memset(&locAddr, 0, sizeof(locAddr));
locAddr.sin_family = AF_INET;
locAddr.sin_addr.s_addr = INADDR_ANY;
locAddr.sin_port = htons(14551);
/* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */
if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr)))
{
perror("error bind failed");
close(sock);
exit(EXIT_FAILURE);
}
/* Attempt to make it non blocking */
if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0)
{
fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno));
close(sock);
exit(EXIT_FAILURE);
}
memset(&gcAddr, 0, sizeof(gcAddr));
gcAddr.sin_family = AF_INET;
gcAddr.sin_addr.s_addr = inet_addr(target_ip);
gcAddr.sin_port = htons(14550);
printf("MAVLINK MISSION LIBRARY EXAMPLE PROCESS INITIALIZATION DONE, RUNNING..\n");
for (;;)
{
/*Send Heartbeat */
mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_HELICOPTER, MAV_CLASS_GENERIC);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send Status */
mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED, MAV_NAV_HOLD, MAV_STATE_ACTIVE, 500, 7500, 0, 0);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
/* Send Local Position */
mavlink_msg_local_position_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(),
position[0], position[1], position[2],
position[3], position[4], position[5]);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send attitude */
mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
memset(buf, 0, BUFFER_LENGTH);
recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
if (recsize > 0)
{
// Something received - print out all bytes and parse packet
mavlink_message_t msg;
mavlink_status_t status;
printf("Bytes Received: %d\nDatagram: ", (int)recsize);
for (i = 0; i < recsize; ++i)
{
temp = buf[i];
printf("%02x ", (unsigned char)temp);
if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
{
// Packet received
printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid);
// Handle packet with waypoint component
mavlink_wpm_message_handler(&msg);
// Handle packet with parameter component
}
}
printf("\n");
}
memset(buf, 0, BUFFER_LENGTH);
usleep(50000); // Sleep one second
}
}
/* QNX timer version */
#if (defined __QNX__) | (defined __QNXNTO__)
uint64_t microsSinceEpoch()
{
struct timespec time;
uint64_t micros = 0;
clock_gettime(CLOCK_REALTIME, &time);
micros = (uint64_t)time.tv_sec * 100000 + time.tv_nsec/1000;
return micros;
}
#else
uint64_t microsSinceEpoch()
{
struct timeval tv;
uint64_t micros = 0;
gettimeofday(&tv, NULL);
micros = ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec;
return micros;
}
#endif
\ No newline at end of file
thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/project.pbxproj 0 → 100644
View file @ d4f8f5b3
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thirdParty/mavlink/missionlib/waypoints.c 0 → 100644
View file @ d4f8f5b3
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
#include "waypoints.h"
#include <math.h>
bool debug = true;
bool verbose = true;
extern mavlink_system_t mavlink_system;
extern mavlink_wpm_storage wpm;
extern void mavlink_wpm_send_message(mavlink_message_t* msg);
extern void mavlink_wpm_send_gcs_string(const char* string);
extern uint64_t mavlink_wpm_get_system_timestamp();
#define MAVLINK_WPM_NO_PRINTF
void mavlink_wpm_init(mavlink_wpm_storage* state)
{
// Set all waypoints to zero
// Set count to zero
state->size = 0;
state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
state->current_state = MAVLINK_WPM_STATE_IDLE;
state->current_partner_sysid = 0;
state->current_partner_compid = 0;
state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0;
state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT;
state->idle = false; ///< indicates if the system is following the waypoints or is waiting
state->current_active_wp_id = -1; ///< id of current waypoint
state->yaw_reached = false; ///< boolean for yaw attitude reached
state->pos_reached = false; ///< boolean for position reached
state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value
state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value
}
/*
* @brief Sends an waypoint ack message
*/
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_waypoint_ack_t wpa;
wpa.target_system = wpm.current_partner_sysid;
wpa.target_component = wpm.current_partner_compid;
wpa.type = type;
mavlink_msg_waypoint_ack_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wpa);
mavlink_wpm_send_message(&msg);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
if (MAVLINK_WPM_TEXT_FEEDBACK)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("Sent waypoint ACK");
#else
if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system);
#endif
mavlink_wpm_send_gcs_string("Sent waypoint ACK");
}
}
/*
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void mavlink_wpm_send_waypoint_current(uint16_t seq)
{
if(seq < wpm.size)
{
mavlink_waypoint_t *cur = &(wpm.waypoints[seq]);
mavlink_message_t msg;
mavlink_waypoint_current_t wpc;
wpc.seq = cur->seq;
mavlink_msg_waypoint_current_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wpc);
mavlink_wpm_send_message(&msg);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Broadcasted new current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq);
}
else
{
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: index out of bounds\n");
}
}
/*
* @brief Directs the MAV to fly to a position
*
* Sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void mavlink_wpm_send_setpoint(uint16_t seq)
{
if(seq < wpm.size)
{
mavlink_waypoint_t *cur = &(wpm.waypoints[seq]);
mavlink_message_t msg;
mavlink_local_position_setpoint_set_t position_control_set_point;
// Send new NED or ENU setpoint to onbaord autopilot
if (cur->frame == MAV_FRAME_LOCAL_NED || cur->frame == MAV_FRAME_LOCAL_ENU)
{
position_control_set_point.target_system = mavlink_system.sysid;
position_control_set_point.target_component = MAV_COMP_ID_IMU;
position_control_set_point.x = cur->x;
position_control_set_point.y = cur->y;
position_control_set_point.z = cur->z;
position_control_set_point.yaw = cur->param4;
mavlink_msg_local_position_setpoint_set_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &position_control_set_point);
mavlink_wpm_send_message(&msg);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}
else
{
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("No new setpoint set because of invalid coordinate frame of waypoint");//// if (verbose) // printf("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq);
}
wpm.timestamp_last_send_setpoint = mavlink_wpm_get_system_timestamp();
}
else
{
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n");
}
}
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
mavlink_message_t msg;
mavlink_waypoint_count_t wpc;
wpc.target_system = wpm.current_partner_sysid;
wpc.target_component = wpm.current_partner_compid;
wpc.count = count;
mavlink_msg_waypoint_count_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wpc);
mavlink_wpm_send_message(&msg);
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < wpm.size)
{
mavlink_message_t msg;
mavlink_waypoint_t *wp = &(wpm.waypoints[seq]);
wp->target_system = wpm.current_partner_sysid;
wp->target_component = wpm.current_partner_compid;
mavlink_msg_waypoint_encode(mavlink_system.sysid, mavlink_system.compid, &msg, wp);
mavlink_wpm_send_message(&msg);
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}
else
{
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: Waypoint index out of bounds\n");
}
}
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < wpm.max_size)
{
mavlink_message_t msg;
mavlink_waypoint_request_t wpr;
wpr.target_system = wpm.current_partner_sysid;
wpr.target_component = wpm.current_partner_compid;
wpr.seq = seq;
mavlink_msg_waypoint_request_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wpr);
mavlink_wpm_send_message(&msg);
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}
else
{
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n");
}
}
/*
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void mavlink_wpm_send_waypoint_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_waypoint_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_waypoint_reached_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &wp_reached);
mavlink_wpm_send_message(&msg);
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}
//float mavlink_wpm_distance_to_segment(uint16_t seq, float x, float y, float z)
//{
// if (seq < wpm.size)
// {
// mavlink_waypoint_t *cur = waypoints->at(seq);
//
// const PxVector3 A(cur->x, cur->y, cur->z);
// const PxVector3 C(x, y, z);
//
// // seq not the second last waypoint
// if ((uint16_t)(seq+1) < wpm.size)
// {
// mavlink_waypoint_t *next = waypoints->at(seq+1);
// const PxVector3 B(next->x, next->y, next->z);
// const float r = (B-A).dot(C-A) / (B-A).lengthSquared();
// if (r >= 0 && r <= 1)
// {
// const PxVector3 P(A + r*(B-A));
// return (P-C).length();
// }
// else if (r < 0.f)
// {
// return (C-A).length();
// }
// else
// {
// return (C-B).length();
// }
// }
// else
// {
// return (C-A).length();
// }
// }
// else
// {
// // if (verbose) // printf("ERROR: index out of bounds\n");
// }
// return -1.f;
//}
float mavlink_wpm_distance_to_point(uint16_t seq, float x, float y, float z)
{
// if (seq < wpm.size)
// {
// mavlink_waypoint_t *cur = waypoints->at(seq);
//
// const PxVector3 A(cur->x, cur->y, cur->z);
// const PxVector3 C(x, y, z);
//
// return (C-A).length();
// }
// else
// {
// // if (verbose) // printf("ERROR: index out of bounds\n");
// }
return -1.f;
}
void mavlink_wpm_message_handler(const mavlink_message_t* msg)
{
// Handle param messages
//paramClient->handleMAVLinkPacket(msg);
//check for timed-out operations
uint64_t now = mavlink_wpm_get_system_timestamp();
if (now-wpm.timestamp_lastaction > wpm.timeout && wpm.current_state != MAVLINK_WPM_STATE_IDLE)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("Operation timeout switching -> IDLE");
#else
if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm.current_state);
#endif
wpm.current_state = MAVLINK_WPM_STATE_IDLE;
wpm.current_count = 0;
wpm.current_partner_sysid = 0;
wpm.current_partner_compid = 0;
wpm.current_wp_id = -1;
if(wpm.size == 0)
{
wpm.current_active_wp_id = -1;
}
}
if(now-wpm.timestamp_last_send_setpoint > wpm.delay_setpoint && wpm.current_active_wp_id < wpm.size)
{
mavlink_wpm_send_setpoint(wpm.current_active_wp_id);
}
switch(msg->msgid)
{
case MAVLINK_MSG_ID_ATTITUDE:
{
if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size)
{
mavlink_waypoint_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]);
if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED)
{
mavlink_attitude_t att;
mavlink_msg_attitude_decode(msg, &att);
float yaw_tolerance = wpm.accept_range_yaw;
//compare current yaw
if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI)
{
if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4)
wpm.yaw_reached = true;
}
else if(att.yaw - yaw_tolerance < 0.0f)
{
float lowerBound = 360.0f + att.yaw - yaw_tolerance;
if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance)
wpm.yaw_reached = true;
}
else
{
float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI;
if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound)
wpm.yaw_reached = true;
}
}
}
break;
}
case MAVLINK_MSG_ID_LOCAL_POSITION:
{
if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size)
{
mavlink_waypoint_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]);
if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED)
{
mavlink_local_position_t pos;
mavlink_msg_local_position_decode(msg, &pos);
//// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z);
wpm.pos_reached = false;
// compare current position (given in message) with current waypoint
float orbit = wp->param1;
float dist;
if (wp->param2 == 0)
{
// FIXME segment distance
//dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z);
}
else
{
dist = mavlink_wpm_distance_to_point(wpm.current_active_wp_id, pos.x, pos.y, pos.z);
}
if (dist >= 0.f && dist <= orbit && wpm.yaw_reached)
{
wpm.pos_reached = true;
}
}
}
break;
}
// case MAVLINK_MSG_ID_CMD: // special action from ground station
// {
// mavlink_cmd_t action;
// mavlink_msg_cmd_decode(msg, &action);
// if(action.target == mavlink_system.sysid)
// {
// // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl;
// switch (action.action)
// {
// // case MAV_ACTION_LAUNCH:
// // // if (verbose) std::cerr << "Launch received" << std::endl;
// // current_active_wp_id = 0;
// // if (wpm.size>0)
// // {
// // setActive(waypoints[current_active_wp_id]);
// // }
// // else
// // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl;
// // break;
//
// // case MAV_ACTION_CONTINUE:
// // // if (verbose) std::c
// // err << "Continue received" << std::endl;
// // idle = false;
// // setActive(waypoints[current_active_wp_id]);
// // break;
//
// // case MAV_ACTION_HALT:
// // // if (verbose) std::cerr << "Halt received" << std::endl;
// // idle = true;
// // break;
//
// // default:
// // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl;
// // break;
// }
// }
// break;
// }
case MAVLINK_MSG_ID_WAYPOINT_ACK:
{
mavlink_waypoint_ack_t wpa;
mavlink_msg_waypoint_ack_decode(msg, &wpa);
if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_system.compid*/))
{
wpm.timestamp_lastaction = now;
if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)
{
if (wpm.current_wp_id == wpm.size-1)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("Got last WP ACK state -> IDLE");
#else
if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n");
#endif
wpm.current_state = MAVLINK_WPM_STATE_IDLE;
wpm.current_wp_id = 0;
}
}
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: curr partner id mismatch");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
}
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
{
mavlink_waypoint_set_current_t wpc;
mavlink_msg_waypoint_set_current_decode(msg, &wpc);
if(wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_system.compid*/)
{
wpm.timestamp_lastaction = now;
if (wpm.current_state == MAVLINK_WPM_STATE_IDLE)
{
if (wpc.seq < wpm.size)
{
// if (verbose) // printf("Received MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT\n");
wpm.current_active_wp_id = wpc.seq;
uint32_t i;
for(i = 0; i < wpm.size; i++)
{
if (i == wpm.current_active_wp_id)
{
wpm.waypoints[i].current = true;
}
else
{
wpm.waypoints[i].current = false;
}
}
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("NEW WP SET");
#else
if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm.current_active_wp_id);
#endif
wpm.yaw_reached = false;
wpm.pos_reached = false;
mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id);
mavlink_wpm_send_setpoint(wpm.current_active_wp_id);
wpm.timestamp_firstinside_orbit = 0;
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("IGN WP CURR CMD: Not in list");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: Index out of bounds\n");
#endif
}
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("IGN WP CURR CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n");
#endif
}
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
}
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
{
mavlink_waypoint_request_list_t wprl;
mavlink_msg_waypoint_request_list_decode(msg, &wprl);
if(wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_system.compid*/)
{
wpm.timestamp_lastaction = now;
if (wpm.current_state == MAVLINK_WPM_STATE_IDLE || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST)
{
if (wpm.size > 0)
{
if (verbose && wpm.current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
if (verbose && wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
wpm.current_state = MAVLINK_WPM_STATE_SENDLIST;
wpm.current_wp_id = 0;
wpm.current_partner_sysid = msg->sysid;
wpm.current_partner_compid = msg->compid;
}
else
{
// if (verbose) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid);
}
wpm.current_count = wpm.size;
mavlink_wpm_send_waypoint_count(msg->sysid,msg->compid, wpm.current_count);
}
else
{
// if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm.current_state);
}
}
else
{
// if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n");
}
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
{
mavlink_waypoint_request_t wpr;
mavlink_msg_waypoint_request_decode(msg, &wpr);
if(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_system.compid*/)
{
wpm.timestamp_lastaction = now;
//ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
if ((wpm.current_state == MAVLINK_WPM_STATE_SENDLIST && wpr.seq == 0) || (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm.current_wp_id || wpr.seq == wpm.current_wp_id + 1) && wpr.seq < wpm.size))
{
if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("GOT WP REQ, state -> SEND");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
}
if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id + 1)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("GOT 2nd WP REQ");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
}
if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("GOT 2nd WP REQ");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
}
wpm.current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
wpm.current_wp_id = wpr.seq;
mavlink_wpm_send_waypoint(wpm.current_partner_sysid, wpm.current_partner_compid, wpr.seq);
}
else
{
// if (verbose)
{
if (!(wpm.current_state == MAVLINK_WPM_STATE_SENDLIST || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS))
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because i'm doing something else already (state=%i).\n", wpm.current_state);
#endif
break;
}
else if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST)
{
if (wpr.seq != 0)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: First id != 0");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq);
#endif
}
}
else if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)
{
if (wpr.seq != wpm.current_wp_id && wpr.seq != wpm.current_wp_id + 1)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm.current_wp_id, wpm.current_wp_id+1);
#endif
}
else if (wpr.seq >= wpm.size)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: Req. WP not in list");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq);
#endif
}
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: ?");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST - FIXME: missed error description\n");
#endif
}
}
}
}
else
{
//we we're target but already communicating with someone else
if((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_system.compid*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid))
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm.current_partner_sysid);
#endif
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
}
}
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT:
{
mavlink_waypoint_count_t wpc;
mavlink_msg_waypoint_count_decode(msg, &wpc);
if(wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_system.compid*/)
{
wpm.timestamp_lastaction = now;
if (wpm.current_state == MAVLINK_WPM_STATE_IDLE || (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id == 0))
{
if (wpc.count > 0)
{
if (wpm.current_state == MAVLINK_WPM_STATE_IDLE)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("WP CMD OK: state -> GETLIST");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid);
#endif
}
if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("WP CMD OK AGAIN");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) again from %u\n", wpc.count, msg->sysid);
#endif
}
wpm.current_state = MAVLINK_WPM_STATE_GETLIST;
wpm.current_wp_id = 0;
wpm.current_partner_sysid = msg->sysid;
wpm.current_partner_compid = msg->compid;
wpm.current_count = wpc.count;
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("CLR RCV BUF: READY");
#else
if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n");
#endif
wpm.rcv_size = 0;
//while(waypoints_receive_buffer->size() > 0)
// {
// delete waypoints_receive_buffer->back();
// waypoints_receive_buffer->pop_back();
// }
mavlink_wpm_send_waypoint_request(wpm.current_partner_sysid, wpm.current_partner_compid, wpm.current_wp_id);
}
else if (wpc.count == 0)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("COUNT 0");
#else
if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n");
#endif
wpm.rcv_size = 0;
//while(waypoints_receive_buffer->size() > 0)
// {
// delete waypoints->back();
// waypoints->pop_back();
// }
wpm.current_active_wp_id = -1;
wpm.yaw_reached = false;
wpm.pos_reached = false;
break;
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("IGN WP CMD");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_WAYPOINT_COUNT from %u with count of %u\n", msg->sysid, wpc.count);
#endif
}
}
else
{
if (!(wpm.current_state == MAVLINK_WPM_STATE_IDLE || wpm.current_state == MAVLINK_WPM_STATE_GETLIST))
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm doing something else already (state=%i).\n", wpm.current_state);
#endif
}
else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id != 0)
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm already receiving waypoint %u.\n", wpm.current_wp_id);
#endif
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: ?");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT - FIXME: missed error description\n");
#endif
}
}
}
else
{
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
}
}
break;
case MAVLINK_MSG_ID_WAYPOINT:
{
mavlink_waypoint_t wp;
mavlink_msg_waypoint_decode(msg, &wp);
// if (verbose) // printf("GOT WAYPOINT!");
if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_system.compid*/))
{
wpm.timestamp_lastaction = now;
//ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids
if ((wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id && wp.seq < wpm.current_count))
{
if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid);
if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u from %u\n", wp.seq, msg->sysid);
if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u (again) from %u\n", wp.seq, msg->sysid);
wpm.current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
mavlink_waypoint_t* newwp = &(wpm.rcv_waypoints[wp.seq]);
memcpy(newwp, &wp, sizeof(mavlink_waypoint_t));
wpm.current_wp_id = wp.seq + 1;
// if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4);
if(wpm.current_wp_id == wpm.current_count && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)
{
// if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm.current_count);
mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0);
if (wpm.current_active_wp_id > wpm.rcv_size-1)
{
wpm.current_active_wp_id = wpm.rcv_size-1;
}
// switch the waypoints list
// FIXME CHECK!!!
for (int i = 0; i < wpm.current_count; ++i)
{
wpm.waypoints[i] = wpm.rcv_waypoints[i];
}
wpm.size = wpm.current_count;
//get the new current waypoint
uint32_t i;
for(i = 0; i < wpm.size; i++)
{
if (wpm.waypoints[i].current == 1)
{
wpm.current_active_wp_id = i;
//// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id);
wpm.yaw_reached = false;
wpm.pos_reached = false;
mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id);
mavlink_wpm_send_setpoint(wpm.current_active_wp_id);
wpm.timestamp_firstinside_orbit = 0;
break;
}
}
if (i == wpm.size)
{
wpm.current_active_wp_id = -1;
wpm.yaw_reached = false;
wpm.pos_reached = false;
wpm.timestamp_firstinside_orbit = 0;
}
wpm.current_state = MAVLINK_WPM_STATE_IDLE;
}
else
{
mavlink_wpm_send_waypoint_request(wpm.current_partner_sysid, wpm.current_partner_compid, wpm.current_wp_id);
}
}
else
{
if (wpm.current_state == MAVLINK_WPM_STATE_IDLE)
{
//we're done receiving waypoints, answer with ack.
mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0);
// printf("Received MAVLINK_MSG_ID_WAYPOINT while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n");
}
// if (verbose)
{
if (!(wpm.current_state == MAVLINK_WPM_STATE_GETLIST || wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS))
{
// printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u because i'm doing something else already (state=%i).\n", wp.seq, wpm.current_state);
break;
}
else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST)
{
if(!(wp.seq == 0))
{
// printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the first waypoint ID (%u) was not 0.\n", wp.seq);
}
else
{
// printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq);
}
}
else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)
{
if (!(wp.seq == wpm.current_wp_id))
{
// printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm.current_wp_id);
}
else if (!(wp.seq < wpm.current_count))
{
// printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the waypoint ID (%u) was out of bounds.\n", wp.seq);
}
else
{
// printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq);
}
}
else
{
// printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq);
}
}
}
}
else
{
//we we're target but already communicating with someone else
if((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_system.compid*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && wpm.current_state != MAVLINK_WPM_STATE_IDLE)
{
// if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm.current_partner_sysid);
}
else if(wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_system.compid*/)
{
// if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid);
}
}
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
{
mavlink_waypoint_clear_all_t wpca;
mavlink_msg_waypoint_clear_all_decode(msg, &wpca);
if(wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_system.compid */ && wpm.current_state == MAVLINK_WPM_STATE_IDLE)
{
wpm.timestamp_lastaction = now;
// if (verbose) // printf("Got MAVLINK_MSG_ID_WAYPOINT_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid);
// Delete all waypoints
wpm.size = 0;
wpm.current_active_wp_id = -1;
wpm.yaw_reached = false;
wpm.pos_reached = false;
}
else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_system.compid */ && wpm.current_state != MAVLINK_WPM_STATE_IDLE)
{
// if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm.current_state);
}
break;
}
default:
{
// if (debug) // printf("Waypoint: received message of unknown type");
break;
}
}
//check if the current waypoint was reached
if (wpm.pos_reached /*wpm.yaw_reached &&*/ && !wpm.idle)
{
if (wpm.current_active_wp_id < wpm.size)
{
mavlink_waypoint_t *cur_wp = &(wpm.waypoints[wpm.current_active_wp_id]);
if (wpm.timestamp_firstinside_orbit == 0)
{
// Announce that last waypoint was reached
// if (verbose) // printf("*** Reached waypoint %u ***\n", cur_wp->seq);
mavlink_wpm_send_waypoint_reached(cur_wp->seq);
wpm.timestamp_firstinside_orbit = now;
}
// check if the MAV was long enough inside the waypoint orbit
//if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
if(now-wpm.timestamp_firstinside_orbit >= cur_wp->param2*1000)
{
if (cur_wp->autocontinue)
{
cur_wp->current = 0;
if (wpm.current_active_wp_id == wpm.size - 1 && wpm.size > 1)
{
//the last waypoint was reached, if auto continue is
//activated restart the waypoint list from the beginning
wpm.current_active_wp_id = 1;
}
else
{
if ((uint16_t)(wpm.current_active_wp_id + 1) < wpm.size)
wpm.current_active_wp_id++;
}
// Fly to next waypoint
wpm.timestamp_firstinside_orbit = 0;
mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id);
mavlink_wpm_send_setpoint(wpm.current_active_wp_id);
wpm.waypoints[wpm.current_active_wp_id].current = true;
wpm.pos_reached = false;
wpm.yaw_reached = false;
// if (verbose) // printf("Set new waypoint (%u)\n", wpm.current_active_wp_id);
}
}
}
}
else
{
wpm.timestamp_lastoutside_orbit = now;
}
}
thirdParty/mavlink/missionlib/waypoints.h 0 → 100644
View file @ d4f8f5b3
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
/* This assumes you have the mavlink headers on your include path
or in the same folder as this source file */
#include <mavlink.h>
#include <stdbool.h>
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES
{
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES
{
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
/* WAYPOINT MANAGER - MISSION LIB */
#define MAVLINK_WPM_MAX_WP_COUNT 100
#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates
#define MAVLINK_WPM_TEXT_FEEDBACK 1 ///< Report back status information as text
#define MAVLINK_WPM_SYSTEM_ID 1
#define MAVLINK_WPM_COMPONENT_ID 1
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 2000000
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40
struct mavlink_wpm_storage {
mavlink_waypoint_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints
#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE
mavlink_waypoint_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints
#endif
uint16_t size;
uint16_t max_size;
uint16_t rcv_size;
enum MAVLINK_WPM_STATES current_state;
uint16_t current_wp_id; ///< Waypoint in current transmission
uint16_t current_active_wp_id; ///< Waypoint the system is currently heading towards
uint16_t current_count;
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint64_t timestamp_firstinside_orbit;
uint64_t timestamp_lastoutside_orbit;
uint32_t timeout;
uint32_t delay_setpoint;
float accept_range_yaw;
float accept_range_distance;
bool yaw_reached;
bool pos_reached;
bool idle;
};
typedef struct mavlink_wpm_storage mavlink_wpm_storage;
void mavlink_wpm_init(mavlink_wpm_storage* state);
void mavlink_wpm_message_handler(const mavlink_message_t* msg);
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