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/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* 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
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @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];
}
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