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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file mavlink.c
 * Adapter functions expected by the protocol library
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdbool.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <systemlib/param/param.h>

/* define MAVLink specific parameters */
/**
 * MAVLink system ID
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
/**
 * MAVLink component ID
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
/**
 * MAVLink type
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
/**
 * Use/Accept HIL GPS message (even if not in HIL mode)
 *
 * If set to 1 incomming HIL GPS messages are parsed.
 *
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
/**
 * Forward external setpoint messages
 *
 * If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard
 * control mode
 *
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);

mavlink_system_t mavlink_system = {
	100,
	50
}; // System ID, 1-255, Component/Subsystem ID, 1-255

/*
 * Internal function to give access to the channel status for each channel
 */
extern mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
{
	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
	return &m_mavlink_status[channel];
}

/*
 * Internal function to give access to the channel buffer for each channel
 */
extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
{
	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
	return &m_mavlink_buffer[channel];
}