Updated to latest MAVLink

src/QGCCore.cc

@@ -44,7 +44,6 @@ This file is part of the QGROUNDCONTROL project
 #include "configuration.h"
 #include "QGC.h"
 #include "QGCCore.h"
-#include "MG.h"
 #include "MainWindow.h"
 #include "GAudioOutput.h"
 

src/comm/MAVLinkProtocol.cc

@@ -17,7 +17,6 @@
 #include <QSettings>
 #include <QDesktopServices>
 
-//#include "MG.h"
 #include "MAVLinkProtocol.h"
 #include "UASInterface.h"
 #include "UASManager.h"
@@ -28,7 +27,6 @@
 #include "ArduPilotMegaMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
-//#include "MainWindow.h"
 #include "QGCMAVLink.h"
 #include "QGCMAVLinkUASFactory.h"
 #include "QGC.h"

src/comm/MAVLinkSimulationLink.cc

@@ -716,11 +716,11 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             }
             break;
             // EXECUTE OPERATOR ACTIONS
-            case MAVLINK_MSG_ID_ACTION: {
-                mavlink_action_t action;
-                mavlink_msg_action_decode(&msg, &action);
+            case MAVLINK_MSG_ID_COMMAND: {
+                mavlink_command_t action;
+                mavlink_msg_command_decode(&msg, &action);
 
-                qDebug() << "SIM" << "received action" << action.action << "for system" << action.target;
+                qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system;
 
                 // FIXME MAVLINKV10PORTINGNEEDED
 //                switch (action.action) {

src/comm/MAVLinkSimulationWaypointPlanner.cc

@@ -815,11 +815,11 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
         break;
     }
 
-    case MAVLINK_MSG_ID_ACTION: { // special action from ground station
-        mavlink_action_t action;
-        mavlink_msg_action_decode(msg, &action);
-        if(action.target == systemid) {
-            if (verbose) qDebug("Waypoint: received message with action %d\n", action.action);
+    case MAVLINK_MSG_ID_COMMAND: { // special action from ground station
+        mavlink_command_t action;
+        mavlink_msg_command_decode(msg, &action);
+        if(action.target_system == systemid) {
+            if (verbose) qDebug("Waypoint: received message with action %d\n", action.command);
 //            switch (action.action) {
 //				case MAV_ACTION_LAUNCH:
 //					if (verbose) std::cerr << "Launch received" << std::endl;

src/comm/QGCMAVLink.h

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

src/main.cc

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

src/uas/PxQuadMAV.cc

@@ -65,7 +65,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_msg_pattern_detected_decode(&message, &detected);
             QByteArray b;
             b.resize(256);
-            mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
+            mavlink_msg_pattern_detected_get_file(&message, b.data());
             b.append('\0');
             QString name = QString(b);
             if (detected.type == 0)

src/uas/UAS.cc

@@ -809,16 +809,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val);
             }
             break;
-        case MAVLINK_MSG_ID_ACTION_ACK:
-            mavlink_action_ack_t ack;
-            mavlink_msg_action_ack_decode(&message, &ack);
+        case MAVLINK_MSG_ID_CMD_ACK:
+            mavlink_cmd_ack_t ack;
+            mavlink_msg_cmd_ack_decode(&message, &ack);
             if (ack.result == 1)
             {
-                emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed action: %1").arg(ack.action));
+                emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed CMD: %1").arg(ack.cmd));
             }
             else
             {
-                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected action: %1").arg(ack.action));
+                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected CMD: %1").arg(ack.cmd));
             }
             break;
         case MAVLINK_MSG_ID_DEBUG:

thirdParty/mavlink/include/bittest.c

-#include <mavlink.h>
-#include <stdio.h>
-
-int main(int argc, char* argv[])
-{
-
-	uint8_t bitfield = 254; // 11111110
-
-	uint8_t mask = 128; // 10000000
-
-	uint8_t result = (bitfield & mask);
-
-	printf("0x%02x\n", bitfield);
-
-	// Transform into network order
-
-	generic_32bit bin;
-	bin.i = 1;
-	printf("First byte in (little endian) 0x%02x\n", bin.b[0]);
-	generic_32bit bout;
-	bout.b[0] = bin.b[3];
-	bout.b[1] = bin.b[2];
-	bout.b[2] = bin.b[1];
-	bout.b[3] = bin.b[0];
-	printf("Last byte out (big endian) 0x%02x\n", bout.b[3]);
-
-	uint8_t n = 5;
-	printf("Mask is 0x%02x\n", ((uint32_t)(1 << n)) - 1); // = 2^n - 1
-	
-	int32_t encoded = 2;
-	uint8_t bits = 2;
-	
-	uint8_t packet[MAVLINK_MAX_PACKET_LEN];
-	uint8_t packet_index = 0;
-	uint8_t bit_index = 0;
-	
-	put_bitfield_n_by_index(encoded, bits, packet_index, bit_index, &bit_index, packet);
-	
-}