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| author | Julian Oes <julian@oes.ch> | 2013-12-27 00:04:32 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-12-27 00:04:32 +0100 |
| commit | 40f2d581bffacbf214edfcadac3a57756d605196 (patch) | |
| tree | e63077b8eeb2ac98a3a28772ffa9dbeb63f6f865 | |
| parent | 9d4ba6e4f64d631c67a419518a8398debade4641 (diff) | |
| parent | d3a71d1e420c595a9a242d12264d553759dd9e2a (diff) | |
| download | px4-firmware-40f2d581bffacbf214edfcadac3a57756d605196.tar.gz px4-firmware-40f2d581bffacbf214edfcadac3a57756d605196.tar.bz2 px4-firmware-40f2d581bffacbf214edfcadac3a57756d605196.zip | |
Merge branch 'fw_autoland_att_tecs_navigator_termination_controlgroups' into bottle_drop_navigator
Conflicts:
src/drivers/px4fmu/fmu.cpp
src/modules/dataman/dataman.c
src/modules/dataman/dataman.h
src/modules/mavlink/orb_listener.c
src/modules/mavlink/waypoints.c
src/modules/navigator/navigator_main.cpp
src/modules/navigator/navigator_mission.cpp
src/modules/navigator/navigator_mission.h
src/modules/uORB/topics/mission.h
135 files changed, 7685 insertions, 2551 deletions
diff --git a/ROMFS/px4fmu_common/init.d/102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker new file mode 100644 index 000000000..e5d21c321 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker @@ -0,0 +1,89 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + param set FW_P_P 60 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 1.1 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 100 + param set FW_R_RMAX 100 + param set FW_THR_CRUISE 0.65 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 4.0 + param set FW_Y_ROLLFF 1.1 + param set FW_L1_PERIOD 16 + param set RC_SCALE_ROLL 1.0 + param set RC_SCALE_PITCH 1.0 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +pwm disarmed -c 3 -p 1056 + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix +else + echo "Using /etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix +fi + +# +# Start common fixedwing apps +# +sh /etc/init.d/rc.fixedwing + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/12-13_hex index f83f6cfd0..a7578bcaf 100644 --- a/ROMFS/px4fmu_common/init.d/12-13_hex +++ b/ROMFS/px4fmu_common/init.d/12-13_hex @@ -78,7 +78,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix # # Set PWM output frequency to 400 Hz # -pwm rate -c 123456 -r 400 +pwm rate -a -r 400 # # Set disarmed, min and max PWM signals diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl index 8e0914d63..40b2ee68b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl +++ b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl @@ -97,9 +97,9 @@ fi # if [ $MKBLCTRL_FRAME == x ] then - mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + mixer load /dev/mkblctrl /etc/mixers/FMU_quad_x.mix else - mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix + mixer load /dev/mkblctrl /etc/mixers/FMU_quad_+.mix fi # diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index f17b650bc..070a4e7e3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -19,12 +19,18 @@ fi if mpu6000 start then echo "using MPU6000" - set BOARD fmuv1 -else - echo "using L3GD20 and LSM303D" - l3gd20 start - lsm303d start +fi + +if l3gd20 start +then + echo "using L3GD20(H)" +fi + +if lsm303d start +then set BOARD fmuv2 +else + set BOARD fmuv1 fi # Start airspeed sensors diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f318d2134..59d8cbc3a 100755..100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -8,6 +8,8 @@ # set MODE autostart +set logfile /fs/microsd/bootlog.txt + # # Try to mount the microSD card. # @@ -163,26 +165,49 @@ then nshterm /dev/ttyACM0 & fi - # # Upgrade PX4IO firmware # - if px4io detect + + if [ -f /etc/extras/px4io-v2_default.bin ] + then + set io_file /etc/extras/px4io-v2_default.bin + else + set io_file /etc/extras/px4io-v1_default.bin + fi + + if px4io start + then + echo "PX4IO OK" + echo "PX4IO OK" >> $logfile + fi + + if px4io checkcrc $io_file then - echo "PX4IO running, not upgrading" + echo "PX4IO CRC OK" + echo "PX4IO CRC OK" >> $logfile else - echo "Attempting to upgrade PX4IO" - if px4io update + echo "PX4IO CRC failure" + echo "PX4IO CRC failure" >> $logfile + tone_alarm MBABGP + if px4io forceupdate 14662 $io_file then - if [ -d /fs/microsd ] + usleep 200000 + if px4io start then - echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log + echo "PX4IO restart OK" + echo "PX4IO restart OK" >> $logfile + tone_alarm MSPAA + else + echo "PX4IO restart failed" + echo "PX4IO restart failed" >> $logfile + tone_alarm MNGGG + sh /etc/init.d/rc.error fi - - # Allow IO to safely kick back to app - usleep 200000 else - echo "No PX4IO to upgrade here" + echo "PX4IO update failed" + echo "PX4IO update failed" >> $logfile + tone_alarm MNGGG fi fi @@ -329,6 +354,12 @@ then sh /etc/init.d/101_hk_bixler set MODE custom fi + + if param compare SYS_AUTOSTART 102 + then + sh /etc/init.d/102_3dr_skywalker + set MODE custom + fi if param compare SYS_AUTOSTART 900 then diff --git a/ROMFS/px4fmu_logging/init.d/rcS b/ROMFS/px4fmu_logging/init.d/rcS new file mode 100644 index 000000000..7b8856719 --- /dev/null +++ b/ROMFS/px4fmu_logging/init.d/rcS @@ -0,0 +1,88 @@ +#!nsh +# +# PX4FMU startup script for logging purposes +# + +# +# Try to mount the microSD card. +# +echo "[init] looking for microSD..." +if mount -t vfat /dev/mmcsd0 /fs/microsd +then + echo "[init] card mounted at /fs/microsd" + # Start playing the startup tune + tone_alarm start +else + echo "[init] no microSD card found" + # Play SOS + tone_alarm error +fi + +uorb start + +# +# Start sensor drivers here. +# + +ms5611 start +adc start + +# mag might be external +if hmc5883 start +then + echo "using HMC5883" +fi + +if mpu6000 start +then + echo "using MPU6000" +fi + +if l3gd20 start +then + echo "using L3GD20(H)" +fi + +if lsm303d start +then + set BOARD fmuv2 +else + set BOARD fmuv1 +fi + +# Start airspeed sensors +if meas_airspeed start +then + echo "using MEAS airspeed sensor" +else + if ets_airspeed start + then + echo "using ETS airspeed sensor (bus 3)" + else + if ets_airspeed start -b 1 + then + echo "Using ETS airspeed sensor (bus 1)" + fi + fi +fi + +# +# Start the sensor collection task. +# IMPORTANT: this also loads param offsets +# ALWAYS start this task before the +# preflight_check. +# +if sensors start +then + echo "SENSORS STARTED" +fi + +sdlog2 start -r 250 -e -b 16 + +if sercon +then + echo "[init] USB interface connected" + + # Try to get an USB console + nshterm /dev/ttyACM0 & +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_logging/logging/conv.zip b/ROMFS/px4fmu_logging/logging/conv.zip Binary files differnew file mode 100644 index 000000000..7cb837e56 --- /dev/null +++ b/ROMFS/px4fmu_logging/logging/conv.zip diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index 7f161b053..6aa1d3d46 100755..100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -2,3 +2,11 @@ # # PX4FMU startup script for test hackery. # + +if sercon +then + echo "[init] USB interface connected" + + # Try to get an USB console + nshterm /dev/ttyACM0 & +fi
\ No newline at end of file diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index a2d7d371d..cce5e5e54 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -370,14 +370,17 @@ class uploader(object): self.port.close() def send_reboot(self): - # try reboot via NSH first - self.__send(uploader.NSH_INIT) - self.__send(uploader.NSH_REBOOT_BL) - self.__send(uploader.NSH_INIT) - self.__send(uploader.NSH_REBOOT) - # then try MAVLINK command - self.__send(uploader.MAVLINK_REBOOT_ID1) - self.__send(uploader.MAVLINK_REBOOT_ID0) + try: + # try reboot via NSH first + self.__send(uploader.NSH_INIT) + self.__send(uploader.NSH_REBOOT_BL) + self.__send(uploader.NSH_INIT) + self.__send(uploader.NSH_REBOOT) + # then try MAVLINK command + self.__send(uploader.MAVLINK_REBOOT_ID1) + self.__send(uploader.MAVLINK_REBOOT_ID0) + except: + return diff --git a/makefiles/config_px4fmu-v1_backside.mk b/makefiles/config_px4fmu-v1_backside.mk index c07f7ab1a..6da78b287 100644 --- a/makefiles/config_px4fmu-v1_backside.mk +++ b/makefiles/config_px4fmu-v1_backside.mk @@ -69,12 +69,13 @@ MODULES += modules/mavlink_onboard MODULES += modules/gpio_led # -# Estimation modules (EKF / other filters) +# Estimation modules (EKF/ SO3 / other filters) # #MODULES += modules/attitude_estimator_ekf MODULES += modules/att_pos_estimator_ekf #MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator +MODULES += modules/attitude_estimator_so3 # # Vehicle Control diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 1e1d0f419..f724962b2 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -69,9 +69,10 @@ MODULES += modules/mavlink_onboard MODULES += modules/gpio_led # -# Estimation modules (EKF / other filters) +# Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf +MODULES += modules/attitude_estimator_so3 MODULES += modules/att_pos_estimator_ekf MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 826b5131a..7516103e7 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -21,6 +21,7 @@ MODULES += drivers/px4fmu MODULES += drivers/px4io MODULES += drivers/boards/px4fmu-v2 MODULES += drivers/rgbled +MODULES += drivers/mpu6000 MODULES += drivers/lsm303d MODULES += drivers/l3gd20 MODULES += drivers/hmc5883 @@ -68,9 +69,10 @@ MODULES += modules/mavlink MODULES += modules/mavlink_onboard # -# Estimation modules (EKF / other filters) +# Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf +MODULES += modules/attitude_estimator_so3 MODULES += modules/att_pos_estimator_ekf MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator diff --git a/makefiles/config_px4fmu-v2_logging.mk b/makefiles/config_px4fmu-v2_logging.mk new file mode 100644 index 000000000..4e3cae5ee --- /dev/null +++ b/makefiles/config_px4fmu-v2_logging.mk @@ -0,0 +1,158 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# Use the configuration's ROMFS, copy the px4iov2 firmware into +# the ROMFS if it's available +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_logging +ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led +MODULES += drivers/px4fmu +MODULES += drivers/px4io +MODULES += drivers/boards/px4fmu-v2 +MODULES += drivers/rgbled +MODULES += drivers/mpu6000 +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 +MODULES += drivers/mb12xx +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += drivers/hott/hott_telemetry +MODULES += drivers/hott/hott_sensors +MODULES += drivers/blinkm +MODULES += drivers/roboclaw +MODULES += drivers/airspeed +MODULES += drivers/ets_airspeed +MODULES += drivers/meas_airspeed +MODULES += modules/sensors + +# Needs to be burned to the ground and re-written; for now, +# just don't build it. +#MODULES += drivers/mkblctrl + +# +# System commands +# +MODULES += systemcmds/ramtron +MODULES += systemcmds/bl_update +MODULES += systemcmds/boardinfo +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/esc_calib +MODULES += systemcmds/reboot +MODULES += systemcmds/top +MODULES += systemcmds/tests +MODULES += systemcmds/config +MODULES += systemcmds/nshterm + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/navigator +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard + +# +# Estimation modules (EKF/ SO3 / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/attitude_estimator_so3 +MODULES += modules/att_pos_estimator_ekf +MODULES += modules/position_estimator_inav +MODULES += examples/flow_position_estimator + +# +# Vehicle Control +# +#MODULES += modules/segway # XXX Needs GCC 4.7 fix +MODULES += modules/fw_pos_control_l1 +MODULES += modules/fw_att_control +MODULES += modules/multirotor_att_control +MODULES += modules/multirotor_pos_control + +# +# Logging +# +MODULES += modules/sdlog2 + +# +# Unit tests +# +#MODULES += modules/unit_test +#MODULES += modules/commander/commander_tests + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/controllib +MODULES += modules/uORB + +# +# Libraries +# +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +MODULES += lib/ecl +MODULES += lib/external_lgpl +MODULES += lib/geo +MODULES += lib/conversion +MODULES += modules/dataman + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control +#MODULES += examples/fixedwing_control + +# Hardware test +#MODULES += examples/hwtest + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h index 3aad8e678..4dc9aed26 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 48, 19, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 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, 42, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, MAVLINK_MESSAGE_INFO_RANGEFINDER, MAVLINK_MESSAGE_INFO_AIRSPEED_AUTOCAL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, MAVLINK_MESSAGE_INFO_RANGEFINDER, MAVLINK_MESSAGE_INFO_AIRSPEED_AUTOCAL, MAVLINK_MESSAGE_INFO_RALLY_POINT, MAVLINK_MESSAGE_INFO_RALLY_FETCH_POINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" @@ -79,6 +79,7 @@ enum MAV_CMD MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */ MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ 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| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ @@ -100,7 +101,8 @@ enum FENCE_ACTION FENCE_ACTION_NONE=0, /* Disable fenced mode | */ FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */ FENCE_ACTION_REPORT=2, /* Report fence breach, but don't take action | */ - FENCE_ACTION_ENUM_END=3, /* | */ + FENCE_ACTION_GUIDED_THR_PASS=3, /* Switched to guided mode to return point (fence point 0) with manual throttle control | */ + FENCE_ACTION_ENUM_END=4, /* | */ }; #endif @@ -144,6 +146,17 @@ enum LIMIT_MODULE }; #endif +/** @brief Flags in RALLY_POINT message */ +#ifndef HAVE_ENUM_RALLY_FLAGS +#define HAVE_ENUM_RALLY_FLAGS +enum RALLY_FLAGS +{ + FAVORABLE_WIND=1, /* Flag set when requiring favorable winds for landing. | */ + LAND_IMMEDIATELY=2, /* Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land. | */ + RALLY_FLAGS_ENUM_END=3, /* | */ +}; +#endif + #include "../common/common.h" // MAVLINK VERSION @@ -182,6 +195,8 @@ enum LIMIT_MODULE #include "./mavlink_msg_data96.h" #include "./mavlink_msg_rangefinder.h" #include "./mavlink_msg_airspeed_autocal.h" +#include "./mavlink_msg_rally_point.h" +#include "./mavlink_msg_rally_fetch_point.h" #ifdef __cplusplus } diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h new file mode 100644 index 000000000..f057e3c33 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h @@ -0,0 +1,221 @@ +// MESSAGE RALLY_FETCH_POINT PACKING + +#define MAVLINK_MSG_ID_RALLY_FETCH_POINT 176 + +typedef struct __mavlink_rally_fetch_point_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t idx; ///< point index (first point is 0) +} mavlink_rally_fetch_point_t; + +#define MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN 3 +#define MAVLINK_MSG_ID_176_LEN 3 + +#define MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC 234 +#define MAVLINK_MSG_ID_176_CRC 234 + + + +#define MAVLINK_MESSAGE_INFO_RALLY_FETCH_POINT { \ + "RALLY_FETCH_POINT", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_rally_fetch_point_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_rally_fetch_point_t, target_component) }, \ + { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_rally_fetch_point_t, idx) }, \ + } \ +} + + +/** + * @brief Pack a rally_fetch_point 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 idx point index (first point is 0) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rally_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t idx) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#else + mavlink_rally_fetch_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RALLY_FETCH_POINT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif +} + +/** + * @brief Pack a rally_fetch_point message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param idx point index (first point is 0) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rally_fetch_point_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,uint8_t idx) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#else + mavlink_rally_fetch_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RALLY_FETCH_POINT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif +} + +/** + * @brief Encode a rally_fetch_point struct + * + * @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 rally_fetch_point C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rally_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_fetch_point_t* rally_fetch_point) +{ + return mavlink_msg_rally_fetch_point_pack(system_id, component_id, msg, rally_fetch_point->target_system, rally_fetch_point->target_component, rally_fetch_point->idx); +} + +/** + * @brief Encode a rally_fetch_point struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param rally_fetch_point C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rally_fetch_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_fetch_point_t* rally_fetch_point) +{ + return mavlink_msg_rally_fetch_point_pack_chan(system_id, component_id, chan, msg, rally_fetch_point->target_system, rally_fetch_point->target_component, rally_fetch_point->idx); +} + +/** + * @brief Send a rally_fetch_point message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param idx point index (first point is 0) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_rally_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif +#else + mavlink_rally_fetch_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif +#endif +} + +#endif + +// MESSAGE RALLY_FETCH_POINT UNPACKING + + +/** + * @brief Get field target_system from rally_fetch_point message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_rally_fetch_point_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from rally_fetch_point message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_rally_fetch_point_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field idx from rally_fetch_point message + * + * @return point index (first point is 0) + */ +static inline uint8_t mavlink_msg_rally_fetch_point_get_idx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a rally_fetch_point message into a struct + * + * @param msg The message to decode + * @param rally_fetch_point C-struct to decode the message contents into + */ +static inline void mavlink_msg_rally_fetch_point_decode(const mavlink_message_t* msg, mavlink_rally_fetch_point_t* rally_fetch_point) +{ +#if MAVLINK_NEED_BYTE_SWAP + rally_fetch_point->target_system = mavlink_msg_rally_fetch_point_get_target_system(msg); + rally_fetch_point->target_component = mavlink_msg_rally_fetch_point_get_target_component(msg); + rally_fetch_point->idx = mavlink_msg_rally_fetch_point_get_idx(msg); +#else + memcpy(rally_fetch_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h new file mode 100644 index 000000000..2c21db4c0 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h @@ -0,0 +1,375 @@ +// MESSAGE RALLY_POINT PACKING + +#define MAVLINK_MSG_ID_RALLY_POINT 175 + +typedef struct __mavlink_rally_point_t +{ + int32_t lat; ///< Latitude of point in degrees * 1E7 + int32_t lng; ///< Longitude of point in degrees * 1E7 + int16_t alt; ///< Transit / loiter altitude in meters relative to home + int16_t break_alt; ///< Break altitude in meters relative to home + uint16_t land_dir; ///< Heading to aim for when landing. In centi-degrees. + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t idx; ///< point index (first point is 0) + uint8_t count; ///< total number of points (for sanity checking) + uint8_t flags; ///< See RALLY_FLAGS enum for definition of the bitmask. +} mavlink_rally_point_t; + +#define MAVLINK_MSG_ID_RALLY_POINT_LEN 19 +#define MAVLINK_MSG_ID_175_LEN 19 + +#define MAVLINK_MSG_ID_RALLY_POINT_CRC 138 +#define MAVLINK_MSG_ID_175_CRC 138 + + + +#define MAVLINK_MESSAGE_INFO_RALLY_POINT { \ + "RALLY_POINT", \ + 10, \ + { { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_rally_point_t, lat) }, \ + { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_rally_point_t, lng) }, \ + { "alt", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rally_point_t, alt) }, \ + { "break_alt", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rally_point_t, break_alt) }, \ + { "land_dir", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rally_point_t, land_dir) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_rally_point_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_rally_point_t, target_component) }, \ + { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rally_point_t, idx) }, \ + { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rally_point_t, count) }, \ + { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_rally_point_t, flags) }, \ + } \ +} + + +/** + * @brief Pack a rally_point 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 idx point index (first point is 0) + * @param count total number of points (for sanity checking) + * @param lat Latitude of point in degrees * 1E7 + * @param lng Longitude of point in degrees * 1E7 + * @param alt Transit / loiter altitude in meters relative to home + * @param break_alt Break altitude in meters relative to home + * @param land_dir Heading to aim for when landing. In centi-degrees. + * @param flags See RALLY_FLAGS enum for definition of the bitmask. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rally_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN]; + _mav_put_int32_t(buf, 0, lat); + _mav_put_int32_t(buf, 4, lng); + _mav_put_int16_t(buf, 8, alt); + _mav_put_int16_t(buf, 10, break_alt); + _mav_put_uint16_t(buf, 12, land_dir); + _mav_put_uint8_t(buf, 14, target_system); + _mav_put_uint8_t(buf, 15, target_component); + _mav_put_uint8_t(buf, 16, idx); + _mav_put_uint8_t(buf, 17, count); + _mav_put_uint8_t(buf, 18, flags); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#else + mavlink_rally_point_t packet; + packet.lat = lat; + packet.lng = lng; + packet.alt = alt; + packet.break_alt = break_alt; + packet.land_dir = land_dir; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + packet.count = count; + packet.flags = flags; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RALLY_POINT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif +} + +/** + * @brief Pack a rally_point message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param idx point index (first point is 0) + * @param count total number of points (for sanity checking) + * @param lat Latitude of point in degrees * 1E7 + * @param lng Longitude of point in degrees * 1E7 + * @param alt Transit / loiter altitude in meters relative to home + * @param break_alt Break altitude in meters relative to home + * @param land_dir Heading to aim for when landing. In centi-degrees. + * @param flags See RALLY_FLAGS enum for definition of the bitmask. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rally_point_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,uint8_t idx,uint8_t count,int32_t lat,int32_t lng,int16_t alt,int16_t break_alt,uint16_t land_dir,uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN]; + _mav_put_int32_t(buf, 0, lat); + _mav_put_int32_t(buf, 4, lng); + _mav_put_int16_t(buf, 8, alt); + _mav_put_int16_t(buf, 10, break_alt); + _mav_put_uint16_t(buf, 12, land_dir); + _mav_put_uint8_t(buf, 14, target_system); + _mav_put_uint8_t(buf, 15, target_component); + _mav_put_uint8_t(buf, 16, idx); + _mav_put_uint8_t(buf, 17, count); + _mav_put_uint8_t(buf, 18, flags); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#else + mavlink_rally_point_t packet; + packet.lat = lat; + packet.lng = lng; + packet.alt = alt; + packet.break_alt = break_alt; + packet.land_dir = land_dir; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + packet.count = count; + packet.flags = flags; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RALLY_POINT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif +} + +/** + * @brief Encode a rally_point struct + * + * @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 rally_point C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rally_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point) +{ + return mavlink_msg_rally_point_pack(system_id, component_id, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags); +} + +/** + * @brief Encode a rally_point struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param rally_point C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rally_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point) +{ + return mavlink_msg_rally_point_pack_chan(system_id, component_id, chan, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags); +} + +/** + * @brief Send a rally_point message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param idx point index (first point is 0) + * @param count total number of points (for sanity checking) + * @param lat Latitude of point in degrees * 1E7 + * @param lng Longitude of point in degrees * 1E7 + * @param alt Transit / loiter altitude in meters relative to home + * @param break_alt Break altitude in meters relative to home + * @param land_dir Heading to aim for when landing. In centi-degrees. + * @param flags See RALLY_FLAGS enum for definition of the bitmask. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_rally_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN]; + _mav_put_int32_t(buf, 0, lat); + _mav_put_int32_t(buf, 4, lng); + _mav_put_int16_t(buf, 8, alt); + _mav_put_int16_t(buf, 10, break_alt); + _mav_put_uint16_t(buf, 12, land_dir); + _mav_put_uint8_t(buf, 14, target_system); + _mav_put_uint8_t(buf, 15, target_component); + _mav_put_uint8_t(buf, 16, idx); + _mav_put_uint8_t(buf, 17, count); + _mav_put_uint8_t(buf, 18, flags); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif +#else + mavlink_rally_point_t packet; + packet.lat = lat; + packet.lng = lng; + packet.alt = alt; + packet.break_alt = break_alt; + packet.land_dir = land_dir; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + packet.count = count; + packet.flags = flags; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif +#endif +} + +#endif + +// MESSAGE RALLY_POINT UNPACKING + + +/** + * @brief Get field target_system from rally_point message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_rally_point_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 14); +} + +/** + * @brief Get field target_component from rally_point message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_rally_point_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 15); +} + +/** + * @brief Get field idx from rally_point message + * + * @return point index (first point is 0) + */ +static inline uint8_t mavlink_msg_rally_point_get_idx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + +/** + * @brief Get field count from rally_point message + * + * @return total number of points (for sanity checking) + */ +static inline uint8_t mavlink_msg_rally_point_get_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 17); +} + +/** + * @brief Get field lat from rally_point message + * + * @return Latitude of point in degrees * 1E7 + */ +static inline int32_t mavlink_msg_rally_point_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field lng from rally_point message + * + * @return Longitude of point in degrees * 1E7 + */ +static inline int32_t mavlink_msg_rally_point_get_lng(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field alt from rally_point message + * + * @return Transit / loiter altitude in meters relative to home + */ +static inline int16_t mavlink_msg_rally_point_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 8); +} + +/** + * @brief Get field break_alt from rally_point message + * + * @return Break altitude in meters relative to home + */ +static inline int16_t mavlink_msg_rally_point_get_break_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 10); +} + +/** + * @brief Get field land_dir from rally_point message + * + * @return Heading to aim for when landing. In centi-degrees. + */ +static inline uint16_t mavlink_msg_rally_point_get_land_dir(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field flags from rally_point message + * + * @return See RALLY_FLAGS enum for definition of the bitmask. + */ +static inline uint8_t mavlink_msg_rally_point_get_flags(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 18); +} + +/** + * @brief Decode a rally_point message into a struct + * + * @param msg The message to decode + * @param rally_point C-struct to decode the message contents into + */ +static inline void mavlink_msg_rally_point_decode(const mavlink_message_t* msg, mavlink_rally_point_t* rally_point) +{ +#if MAVLINK_NEED_BYTE_SWAP + rally_point->lat = mavlink_msg_rally_point_get_lat(msg); + rally_point->lng = mavlink_msg_rally_point_get_lng(msg); + rally_point->alt = mavlink_msg_rally_point_get_alt(msg); + rally_point->break_alt = mavlink_msg_rally_point_get_break_alt(msg); + rally_point->land_dir = mavlink_msg_rally_point_get_land_dir(msg); + rally_point->target_system = mavlink_msg_rally_point_get_target_system(msg); + rally_point->target_component = mavlink_msg_rally_point_get_target_component(msg); + rally_point->idx = mavlink_msg_rally_point_get_idx(msg); + rally_point->count = mavlink_msg_rally_point_get_count(msg); + rally_point->flags = mavlink_msg_rally_point_get_flags(msg); +#else + memcpy(rally_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h index 2c9cfef3d..eb3bc6a75 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h @@ -31,17 +31,17 @@ static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_sensor_offsets_t packet_in = { 17.0, - 963497672, - 963497880, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 19107, - 19211, - 19315, + }963497672, + }963497880, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }19107, + }19211, + }19315, }; mavlink_sensor_offsets_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -96,10 +96,10 @@ static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_set_mag_offsets_t packet_in = { 17235, - 17339, - 17443, - 151, - 218, + }17339, + }17443, + }151, + }218, }; mavlink_set_mag_offsets_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -147,7 +147,7 @@ static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlin uint16_t i; mavlink_meminfo_t packet_in = { 17235, - 17339, + }17339, }; mavlink_meminfo_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -192,11 +192,11 @@ static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink uint16_t i; mavlink_ap_adc_t packet_in = { 17235, - 17339, - 17443, - 17547, - 17651, - 17755, + }17339, + }17443, + }17547, + }17651, + }17755, }; mavlink_ap_adc_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -245,16 +245,16 @@ static void mavlink_test_digicam_configure(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_digicam_configure_t packet_in = { 17.0, - 17443, - 151, - 218, - 29, - 96, - 163, - 230, - 41, - 108, - 175, + }17443, + }151, + }218, + }29, + }96, + }163, + }230, + }41, + }108, + }175, }; mavlink_digicam_configure_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -308,15 +308,15 @@ static void mavlink_test_digicam_control(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_digicam_control_t packet_in = { 17.0, - 17, - 84, - 151, - 218, - 29, - 96, - 163, - 230, - 41, + }17, + }84, + }151, + }218, + }29, + }96, + }163, + }230, + }41, }; mavlink_digicam_control_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -369,11 +369,11 @@ static void mavlink_test_mount_configure(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_mount_configure_t packet_in = { 5, - 72, - 139, - 206, - 17, - 84, + }72, + }139, + }206, + }17, + }84, }; mavlink_mount_configure_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -422,11 +422,11 @@ static void mavlink_test_mount_control(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_mount_control_t packet_in = { 963497464, - 963497672, - 963497880, - 41, - 108, - 175, + }963497672, + }963497880, + }41, + }108, + }175, }; mavlink_mount_control_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -475,10 +475,10 @@ static void mavlink_test_mount_status(uint8_t system_id, uint8_t component_id, m uint16_t i; mavlink_mount_status_t packet_in = { 963497464, - 963497672, - 963497880, - 41, - 108, + }963497672, + }963497880, + }41, + }108, }; mavlink_mount_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -526,11 +526,11 @@ static void mavlink_test_fence_point(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_fence_point_t packet_in = { 17.0, - 45.0, - 29, - 96, - 163, - 230, + }45.0, + }29, + }96, + }163, + }230, }; mavlink_fence_point_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -579,8 +579,8 @@ static void mavlink_test_fence_fetch_point(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_fence_fetch_point_t packet_in = { 5, - 72, - 139, + }72, + }139, }; mavlink_fence_fetch_point_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -626,9 +626,9 @@ static void mavlink_test_fence_status(uint8_t system_id, uint8_t component_id, m uint16_t i; mavlink_fence_status_t packet_in = { 963497464, - 17443, - 151, - 218, + }17443, + }151, + }218, }; mavlink_fence_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -675,12 +675,12 @@ static void mavlink_test_ahrs(uint8_t system_id, uint8_t component_id, mavlink_m uint16_t i; mavlink_ahrs_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, }; mavlink_ahrs_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -730,16 +730,16 @@ static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavli uint16_t i; mavlink_simstate_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 963499336, - 963499544, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }963499336, + }963499544, }; mavlink_simstate_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -793,7 +793,7 @@ static void mavlink_test_hwstatus(uint8_t system_id, uint8_t component_id, mavli uint16_t i; mavlink_hwstatus_t packet_in = { 17235, - 139, + }139, }; mavlink_hwstatus_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -838,12 +838,12 @@ static void mavlink_test_radio(uint8_t system_id, uint8_t component_id, mavlink_ uint16_t i; mavlink_radio_t packet_in = { 17235, - 17339, - 17, - 84, - 151, - 218, - 29, + }17339, + }17, + }84, + }151, + }218, + }29, }; mavlink_radio_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -893,14 +893,14 @@ static void mavlink_test_limits_status(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_limits_status_t packet_in = { 963497464, - 963497672, - 963497880, - 963498088, - 18067, - 187, - 254, - 65, - 132, + }963497672, + }963497880, + }963498088, + }18067, + }187, + }254, + }65, + }132, }; mavlink_limits_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -952,8 +952,8 @@ static void mavlink_test_wind(uint8_t system_id, uint8_t component_id, mavlink_m uint16_t i; mavlink_wind_t packet_in = { 17.0, - 45.0, - 73.0, + }45.0, + }73.0, }; mavlink_wind_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -999,8 +999,8 @@ static void mavlink_test_data16(uint8_t system_id, uint8_t component_id, mavlink uint16_t i; mavlink_data16_t packet_in = { 5, - 72, - { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154 }, + }72, + }{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154 }, }; mavlink_data16_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1046,8 +1046,8 @@ static void mavlink_test_data32(uint8_t system_id, uint8_t component_id, mavlink uint16_t i; mavlink_data32_t packet_in = { 5, - 72, - { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170 }, + }72, + }{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170 }, }; mavlink_data32_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1093,8 +1093,8 @@ static void mavlink_test_data64(uint8_t system_id, uint8_t component_id, mavlink uint16_t i; mavlink_data64_t packet_in = { 5, - 72, - { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202 }, + }72, + }{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202 }, }; mavlink_data64_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1140,8 +1140,8 @@ static void mavlink_test_data96(uint8_t system_id, uint8_t component_id, mavlink uint16_t i; mavlink_data96_t packet_in = { 5, - 72, - { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234 }, + }72, + }{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234 }, }; mavlink_data96_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1187,7 +1187,7 @@ static void mavlink_test_rangefinder(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_rangefinder_t packet_in = { 17.0, - 45.0, + }45.0, }; mavlink_rangefinder_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1232,17 +1232,17 @@ static void mavlink_test_airspeed_autocal(uint8_t system_id, uint8_t component_i uint16_t i; mavlink_airspeed_autocal_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 269.0, - 297.0, - 325.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }297.0, + }325.0, }; mavlink_airspeed_autocal_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1290,6 +1290,114 @@ static void mavlink_test_airspeed_autocal(uint8_t system_id, uint8_t component_i MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_rally_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_rally_point_t packet_in = { + 963497464, + }963497672, + }17651, + }17755, + }17859, + }175, + }242, + }53, + }120, + }187, + }; + mavlink_rally_point_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.lat = packet_in.lat; + packet1.lng = packet_in.lng; + packet1.alt = packet_in.alt; + packet1.break_alt = packet_in.break_alt; + packet1.land_dir = packet_in.land_dir; + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + packet1.idx = packet_in.idx; + packet1.count = packet_in.count; + packet1.flags = packet_in.flags; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rally_point_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_rally_point_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rally_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags ); + mavlink_msg_rally_point_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rally_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags ); + mavlink_msg_rally_point_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_rally_point_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rally_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags ); + mavlink_msg_rally_point_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_rally_fetch_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_rally_fetch_point_t packet_in = { + 5, + }72, + }139, + }; + mavlink_rally_fetch_point_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + packet1.idx = packet_in.idx; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rally_fetch_point_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_rally_fetch_point_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rally_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx ); + mavlink_msg_rally_fetch_point_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rally_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx ); + mavlink_msg_rally_fetch_point_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_rally_fetch_point_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rally_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx ); + mavlink_msg_rally_fetch_point_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_test_sensor_offsets(system_id, component_id, last_msg); @@ -1316,6 +1424,8 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_test_data96(system_id, component_id, last_msg); mavlink_test_rangefinder(system_id, component_id, last_msg); mavlink_test_airspeed_autocal(system_id, component_id, last_msg); + mavlink_test_rally_point(system_id, component_id, last_msg); + mavlink_test_rally_fetch_point(system_id, component_id, last_msg); } #ifdef __cplusplus diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h index 1b285ff7b..3d9cb8054 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:25 2013" +#define MAVLINK_BUILD_DATE "Mon Dec 16 08:56:32 2013" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254 diff --git a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h index 216c7805d..281aa8975 100644 --- a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h +++ b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 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, 42, 241, 15, 241, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 241, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_AQ_TELEMETRY_F, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_AQ_TELEMETRY_F, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" diff --git a/mavlink/include/mavlink/v1.0/autoquad/testsuite.h b/mavlink/include/mavlink/v1.0/autoquad/testsuite.h index dbec869ce..4eafe7be5 100644 --- a/mavlink/include/mavlink/v1.0/autoquad/testsuite.h +++ b/mavlink/include/mavlink/v1.0/autoquad/testsuite.h @@ -31,26 +31,26 @@ static void mavlink_test_aq_telemetry_f(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_aq_telemetry_f_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 269.0, - 297.0, - 325.0, - 353.0, - 381.0, - 409.0, - 437.0, - 465.0, - 493.0, - 521.0, - 549.0, - 21395, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }297.0, + }325.0, + }353.0, + }381.0, + }409.0, + }437.0, + }465.0, + }493.0, + }521.0, + }549.0, + }21395, }; mavlink_aq_telemetry_f_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); diff --git a/mavlink/include/mavlink/v1.0/autoquad/version.h b/mavlink/include/mavlink/v1.0/autoquad/version.h index d8ba74f03..53e781807 100644 --- a/mavlink/include/mavlink/v1.0/autoquad/version.h +++ b/mavlink/include/mavlink/v1.0/autoquad/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:36 2013" +#define MAVLINK_BUILD_DATE "Mon Dec 16 09:03:20 2013" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254 diff --git a/mavlink/include/mavlink/v1.0/common/common.h b/mavlink/include/mavlink/v1.0/common/common.h index 9d3db3326..19152f2a0 100644 --- a/mavlink/include/mavlink/v1.0/common/common.h +++ b/mavlink/include/mavlink/v1.0/common/common.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 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, 42, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" @@ -50,7 +50,9 @@ enum MAV_AUTOPILOT MAV_AUTOPILOT_PX4=12, /* PX4 Autopilot - http://pixhawk.ethz.ch/px4/ | */ MAV_AUTOPILOT_SMACCMPILOT=13, /* SMACCMPilot - http://smaccmpilot.org | */ MAV_AUTOPILOT_AUTOQUAD=14, /* AutoQuad -- http://autoquad.org | */ - MAV_AUTOPILOT_ENUM_END=15, /* | */ + MAV_AUTOPILOT_ARMAZILA=15, /* Armazila -- http://armazila.com | */ + MAV_AUTOPILOT_AEROB=16, /* Aerob -- http://aerob.ru | */ + MAV_AUTOPILOT_ENUM_END=17, /* | */ }; #endif @@ -201,6 +203,35 @@ enum MAV_COMPONENT }; #endif +/** @brief These encode the sensors whose status is sent as part of the SYS_STATUS message. */ +#ifndef HAVE_ENUM_MAV_SYS_STATUS_SENSOR +#define HAVE_ENUM_MAV_SYS_STATUS_SENSOR +enum MAV_SYS_STATUS_SENSOR +{ + MAV_SYS_STATUS_SENSOR_3D_GYRO=1, /* 0x01 3D gyro | */ + MAV_SYS_STATUS_SENSOR_3D_ACCEL=2, /* 0x02 3D accelerometer | */ + MAV_SYS_STATUS_SENSOR_3D_MAG=4, /* 0x04 3D magnetometer | */ + MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE=8, /* 0x08 absolute pressure | */ + MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE=16, /* 0x10 differential pressure | */ + MAV_SYS_STATUS_SENSOR_GPS=32, /* 0x20 GPS | */ + MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW=64, /* 0x40 optical flow | */ + MAV_SYS_STATUS_SENSOR_VISION_POSITION=128, /* 0x80 computer vision position | */ + MAV_SYS_STATUS_SENSOR_LASER_POSITION=256, /* 0x100 laser based position | */ + MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH=512, /* 0x200 external ground truth (Vicon or Leica) | */ + MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL=1024, /* 0x400 3D angular rate control | */ + MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION=2048, /* 0x800 attitude stabilization | */ + MAV_SYS_STATUS_SENSOR_YAW_POSITION=4096, /* 0x1000 yaw position | */ + MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL=8192, /* 0x2000 z/altitude control | */ + MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL=16384, /* 0x4000 x/y position control | */ + MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS=32768, /* 0x8000 motor outputs / control | */ + MAV_SYS_STATUS_SENSOR_RC_RECEIVER=65536, /* 0x10000 rc receiver | */ + MAV_SYS_STATUS_SENSOR_3D_GYRO2=131072, /* 0x20000 2nd 3D gyro | */ + MAV_SYS_STATUS_SENSOR_3D_ACCEL2=262144, /* 0x40000 2nd 3D accelerometer | */ + MAV_SYS_STATUS_SENSOR_3D_MAG2=524288, /* 0x80000 2nd 3D magnetometer | */ + MAV_SYS_STATUS_SENSOR_ENUM_END=524289, /* | */ +}; +#endif + /** @brief */ #ifndef HAVE_ENUM_MAV_FRAME #define HAVE_ENUM_MAV_FRAME @@ -498,6 +529,13 @@ enum MAV_SEVERITY #include "./mavlink_msg_hil_gps.h" #include "./mavlink_msg_hil_optical_flow.h" #include "./mavlink_msg_hil_state_quaternion.h" +#include "./mavlink_msg_scaled_imu2.h" +#include "./mavlink_msg_log_request_list.h" +#include "./mavlink_msg_log_entry.h" +#include "./mavlink_msg_log_request_data.h" +#include "./mavlink_msg_log_data.h" +#include "./mavlink_msg_log_erase.h" +#include "./mavlink_msg_log_request_end.h" #include "./mavlink_msg_battery_status.h" #include "./mavlink_msg_setpoint_8dof.h" #include "./mavlink_msg_setpoint_6dof.h" diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h index c945aebae..03e4d569e 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h @@ -4,6 +4,8 @@ typedef struct __mavlink_battery_status_t { + int32_t current_consumed; ///< Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + int32_t energy_consumed; ///< Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate uint16_t voltage_cell_1; ///< Battery voltage of cell 1, in millivolts (1 = 1 millivolt) uint16_t voltage_cell_2; ///< Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell uint16_t voltage_cell_3; ///< Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell @@ -15,26 +17,28 @@ typedef struct __mavlink_battery_status_t int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery } mavlink_battery_status_t; -#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 16 -#define MAVLINK_MSG_ID_147_LEN 16 +#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 24 +#define MAVLINK_MSG_ID_147_LEN 24 -#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 42 -#define MAVLINK_MSG_ID_147_CRC 42 +#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 177 +#define MAVLINK_MSG_ID_147_CRC 177 #define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \ "BATTERY_STATUS", \ - 9, \ - { { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \ - { "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \ - { "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \ - { "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \ - { "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \ - { "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \ - { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_battery_status_t, current_battery) }, \ - { "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_battery_status_t, accu_id) }, \ - { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 15, offsetof(mavlink_battery_status_t, battery_remaining) }, \ + 11, \ + { { "current_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_battery_status_t, current_consumed) }, \ + { "energy_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_battery_status_t, energy_consumed) }, \ + { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \ + { "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \ + { "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \ + { "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \ + { "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \ + { "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \ + { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_battery_status_t, current_battery) }, \ + { "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_battery_status_t, accu_id) }, \ + { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 23, offsetof(mavlink_battery_status_t, battery_remaining) }, \ } \ } @@ -53,27 +57,33 @@ typedef struct __mavlink_battery_status_t * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining) + uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; - _mav_put_uint16_t(buf, 0, voltage_cell_1); - _mav_put_uint16_t(buf, 2, voltage_cell_2); - _mav_put_uint16_t(buf, 4, voltage_cell_3); - _mav_put_uint16_t(buf, 6, voltage_cell_4); - _mav_put_uint16_t(buf, 8, voltage_cell_5); - _mav_put_uint16_t(buf, 10, voltage_cell_6); - _mav_put_int16_t(buf, 12, current_battery); - _mav_put_uint8_t(buf, 14, accu_id); - _mav_put_int8_t(buf, 15, battery_remaining); + _mav_put_int32_t(buf, 0, current_consumed); + _mav_put_int32_t(buf, 4, energy_consumed); + _mav_put_uint16_t(buf, 8, voltage_cell_1); + _mav_put_uint16_t(buf, 10, voltage_cell_2); + _mav_put_uint16_t(buf, 12, voltage_cell_3); + _mav_put_uint16_t(buf, 14, voltage_cell_4); + _mav_put_uint16_t(buf, 16, voltage_cell_5); + _mav_put_uint16_t(buf, 18, voltage_cell_6); + _mav_put_int16_t(buf, 20, current_battery); + _mav_put_uint8_t(buf, 22, accu_id); + _mav_put_int8_t(buf, 23, battery_remaining); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #else mavlink_battery_status_t packet; + packet.current_consumed = current_consumed; + packet.energy_consumed = energy_consumed; packet.voltage_cell_1 = voltage_cell_1; packet.voltage_cell_2 = voltage_cell_2; packet.voltage_cell_3 = voltage_cell_3; @@ -109,28 +119,34 @@ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_ * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int8_t battery_remaining) + uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int32_t current_consumed,int32_t energy_consumed,int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; - _mav_put_uint16_t(buf, 0, voltage_cell_1); - _mav_put_uint16_t(buf, 2, voltage_cell_2); - _mav_put_uint16_t(buf, 4, voltage_cell_3); - _mav_put_uint16_t(buf, 6, voltage_cell_4); - _mav_put_uint16_t(buf, 8, voltage_cell_5); - _mav_put_uint16_t(buf, 10, voltage_cell_6); - _mav_put_int16_t(buf, 12, current_battery); - _mav_put_uint8_t(buf, 14, accu_id); - _mav_put_int8_t(buf, 15, battery_remaining); + _mav_put_int32_t(buf, 0, current_consumed); + _mav_put_int32_t(buf, 4, energy_consumed); + _mav_put_uint16_t(buf, 8, voltage_cell_1); + _mav_put_uint16_t(buf, 10, voltage_cell_2); + _mav_put_uint16_t(buf, 12, voltage_cell_3); + _mav_put_uint16_t(buf, 14, voltage_cell_4); + _mav_put_uint16_t(buf, 16, voltage_cell_5); + _mav_put_uint16_t(buf, 18, voltage_cell_6); + _mav_put_int16_t(buf, 20, current_battery); + _mav_put_uint8_t(buf, 22, accu_id); + _mav_put_int8_t(buf, 23, battery_remaining); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #else mavlink_battery_status_t packet; + packet.current_consumed = current_consumed; + packet.energy_consumed = energy_consumed; packet.voltage_cell_1 = voltage_cell_1; packet.voltage_cell_2 = voltage_cell_2; packet.voltage_cell_3 = voltage_cell_3; @@ -162,7 +178,7 @@ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, u */ static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status) { - return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining); + return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining); } /** @@ -176,7 +192,7 @@ static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint */ static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status) { - return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining); + return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining); } /** @@ -191,23 +207,27 @@ static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining) +static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; - _mav_put_uint16_t(buf, 0, voltage_cell_1); - _mav_put_uint16_t(buf, 2, voltage_cell_2); - _mav_put_uint16_t(buf, 4, voltage_cell_3); - _mav_put_uint16_t(buf, 6, voltage_cell_4); - _mav_put_uint16_t(buf, 8, voltage_cell_5); - _mav_put_uint16_t(buf, 10, voltage_cell_6); - _mav_put_int16_t(buf, 12, current_battery); - _mav_put_uint8_t(buf, 14, accu_id); - _mav_put_int8_t(buf, 15, battery_remaining); + _mav_put_int32_t(buf, 0, current_consumed); + _mav_put_int32_t(buf, 4, energy_consumed); + _mav_put_uint16_t(buf, 8, voltage_cell_1); + _mav_put_uint16_t(buf, 10, voltage_cell_2); + _mav_put_uint16_t(buf, 12, voltage_cell_3); + _mav_put_uint16_t(buf, 14, voltage_cell_4); + _mav_put_uint16_t(buf, 16, voltage_cell_5); + _mav_put_uint16_t(buf, 18, voltage_cell_6); + _mav_put_int16_t(buf, 20, current_battery); + _mav_put_uint8_t(buf, 22, accu_id); + _mav_put_int8_t(buf, 23, battery_remaining); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); @@ -216,6 +236,8 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8 #endif #else mavlink_battery_status_t packet; + packet.current_consumed = current_consumed; + packet.energy_consumed = energy_consumed; packet.voltage_cell_1 = voltage_cell_1; packet.voltage_cell_2 = voltage_cell_2; packet.voltage_cell_3 = voltage_cell_3; @@ -246,7 +268,7 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8 */ static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 14); + return _MAV_RETURN_uint8_t(msg, 22); } /** @@ -256,7 +278,7 @@ static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_messa */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 0); + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -266,7 +288,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 2); + return _MAV_RETURN_uint16_t(msg, 10); } /** @@ -276,7 +298,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 4); + return _MAV_RETURN_uint16_t(msg, 12); } /** @@ -286,7 +308,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 6); + return _MAV_RETURN_uint16_t(msg, 14); } /** @@ -296,7 +318,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 8); + return _MAV_RETURN_uint16_t(msg, 16); } /** @@ -306,7 +328,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 10); + return _MAV_RETURN_uint16_t(msg, 18); } /** @@ -316,7 +338,27 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavli */ static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg) { - return _MAV_RETURN_int16_t(msg, 12); + return _MAV_RETURN_int16_t(msg, 20); +} + +/** + * @brief Get field current_consumed from battery_status message + * + * @return Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + */ +static inline int32_t mavlink_msg_battery_status_get_current_consumed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field energy_consumed from battery_status message + * + * @return Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate + */ +static inline int32_t mavlink_msg_battery_status_get_energy_consumed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); } /** @@ -326,7 +368,7 @@ static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavli */ static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg) { - return _MAV_RETURN_int8_t(msg, 15); + return _MAV_RETURN_int8_t(msg, 23); } /** @@ -338,6 +380,8 @@ static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavl static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status) { #if MAVLINK_NEED_BYTE_SWAP + battery_status->current_consumed = mavlink_msg_battery_status_get_current_consumed(msg); + battery_status->energy_consumed = mavlink_msg_battery_status_get_energy_consumed(msg); battery_status->voltage_cell_1 = mavlink_msg_battery_status_get_voltage_cell_1(msg); battery_status->voltage_cell_2 = mavlink_msg_battery_status_get_voltage_cell_2(msg); battery_status->voltage_cell_3 = mavlink_msg_battery_status_get_voltage_cell_3(msg); diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h index 3054d4fda..a105f8cda 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h @@ -9,7 +9,7 @@ typedef struct __mavlink_gps_raw_int_t int32_t lon; ///< Longitude (WGS84), in degrees * 1E7 int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up) uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX - uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX + uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. @@ -53,7 +53,7 @@ typedef struct __mavlink_gps_raw_int_t * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX - * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX * @param satellites_visible Number of satellites visible. If unknown, set to 255 @@ -112,7 +112,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t c * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX - * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX * @param satellites_visible Number of satellites visible. If unknown, set to 255 @@ -197,7 +197,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_encode_chan(uint8_t system_id, ui * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX - * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX * @param satellites_visible Number of satellites visible. If unknown, set to 255 @@ -313,7 +313,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* /** * @brief Get field epv from gps_raw_int message * - * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX + * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX */ static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg) { diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h index 36a551872..91aec5b08 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h @@ -9,7 +9,7 @@ typedef struct __mavlink_hil_gps_t int32_t lon; ///< Longitude (WGS84), in degrees * 1E7 int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up) uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 - uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535 int16_t vn; ///< GPS velocity in cm/s in NORTH direction in earth-fixed NED frame int16_t ve; ///< GPS velocity in cm/s in EAST direction in earth-fixed NED frame @@ -59,7 +59,7 @@ typedef struct __mavlink_hil_gps_t * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 - * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame @@ -127,7 +127,7 @@ static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t compo * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 - * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame @@ -221,7 +221,7 @@ static inline uint16_t mavlink_msg_hil_gps_encode_chan(uint8_t system_id, uint8_ * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 - * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame @@ -346,7 +346,7 @@ static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg) /** * @brief Get field epv from hil_gps message * - * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 */ static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg) { diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h new file mode 100644 index 000000000..1cf5d15e4 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h @@ -0,0 +1,237 @@ +// MESSAGE LOG_DATA PACKING + +#define MAVLINK_MSG_ID_LOG_DATA 120 + +typedef struct __mavlink_log_data_t +{ + uint32_t ofs; ///< Offset into the log + uint16_t id; ///< Log id (from LOG_ENTRY reply) + uint8_t count; ///< Number of bytes (zero for end of log) + uint8_t data[90]; ///< log data +} mavlink_log_data_t; + +#define MAVLINK_MSG_ID_LOG_DATA_LEN 97 +#define MAVLINK_MSG_ID_120_LEN 97 + +#define MAVLINK_MSG_ID_LOG_DATA_CRC 134 +#define MAVLINK_MSG_ID_120_CRC 134 + +#define MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN 90 + +#define MAVLINK_MESSAGE_INFO_LOG_DATA { \ + "LOG_DATA", \ + 4, \ + { { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_data_t, ofs) }, \ + { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_log_data_t, id) }, \ + { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_log_data_t, count) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 90, 7, offsetof(mavlink_log_data_t, data) }, \ + } \ +} + + +/** + * @brief Pack a log_data 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 id Log id (from LOG_ENTRY reply) + * @param ofs Offset into the log + * @param count Number of bytes (zero for end of log) + * @param data log data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_DATA_LEN]; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint16_t(buf, 4, id); + _mav_put_uint8_t(buf, 6, count); + _mav_put_uint8_t_array(buf, 7, data, 90); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN); +#else + mavlink_log_data_t packet; + packet.ofs = ofs; + packet.id = id; + packet.count = count; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_DATA; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +} + +/** + * @brief Pack a log_data message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param id Log id (from LOG_ENTRY reply) + * @param ofs Offset into the log + * @param count Number of bytes (zero for end of log) + * @param data log data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t id,uint32_t ofs,uint8_t count,const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_DATA_LEN]; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint16_t(buf, 4, id); + _mav_put_uint8_t(buf, 6, count); + _mav_put_uint8_t_array(buf, 7, data, 90); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN); +#else + mavlink_log_data_t packet; + packet.ofs = ofs; + packet.id = id; + packet.count = count; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_DATA; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +} + +/** + * @brief Encode a log_data struct + * + * @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 log_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_data_t* log_data) +{ + return mavlink_msg_log_data_pack(system_id, component_id, msg, log_data->id, log_data->ofs, log_data->count, log_data->data); +} + +/** + * @brief Encode a log_data struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param log_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_data_t* log_data) +{ + return mavlink_msg_log_data_pack_chan(system_id, component_id, chan, msg, log_data->id, log_data->ofs, log_data->count, log_data->data); +} + +/** + * @brief Send a log_data message + * @param chan MAVLink channel to send the message + * + * @param id Log id (from LOG_ENTRY reply) + * @param ofs Offset into the log + * @param count Number of bytes (zero for end of log) + * @param data log data + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_log_data_send(mavlink_channel_t chan, uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_DATA_LEN]; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint16_t(buf, 4, id); + _mav_put_uint8_t(buf, 6, count); + _mav_put_uint8_t_array(buf, 7, data, 90); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +#else + mavlink_log_data_t packet; + packet.ofs = ofs; + packet.id = id; + packet.count = count; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +#endif +} + +#endif + +// MESSAGE LOG_DATA UNPACKING + + +/** + * @brief Get field id from log_data message + * + * @return Log id (from LOG_ENTRY reply) + */ +static inline uint16_t mavlink_msg_log_data_get_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field ofs from log_data message + * + * @return Offset into the log + */ +static inline uint32_t mavlink_msg_log_data_get_ofs(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field count from log_data message + * + * @return Number of bytes (zero for end of log) + */ +static inline uint8_t mavlink_msg_log_data_get_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field data from log_data message + * + * @return log data + */ +static inline uint16_t mavlink_msg_log_data_get_data(const mavlink_message_t* msg, uint8_t *data) +{ + return _MAV_RETURN_uint8_t_array(msg, data, 90, 7); +} + +/** + * @brief Decode a log_data message into a struct + * + * @param msg The message to decode + * @param log_data C-struct to decode the message contents into + */ +static inline void mavlink_msg_log_data_decode(const mavlink_message_t* msg, mavlink_log_data_t* log_data) +{ +#if MAVLINK_NEED_BYTE_SWAP + log_data->ofs = mavlink_msg_log_data_get_ofs(msg); + log_data->id = mavlink_msg_log_data_get_id(msg); + log_data->count = mavlink_msg_log_data_get_count(msg); + mavlink_msg_log_data_get_data(msg, log_data->data); +#else + memcpy(log_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h new file mode 100644 index 000000000..681d8f07c --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h @@ -0,0 +1,265 @@ +// MESSAGE LOG_ENTRY PACKING + +#define MAVLINK_MSG_ID_LOG_ENTRY 118 + +typedef struct __mavlink_log_entry_t +{ + uint32_t time_utc; ///< UTC timestamp of log in seconds since 1970, or 0 if not available + uint32_t size; ///< Size of the log (may be approximate) in bytes + uint16_t id; ///< Log id + uint16_t num_logs; ///< Total number of logs + uint16_t last_log_num; ///< High log number +} mavlink_log_entry_t; + +#define MAVLINK_MSG_ID_LOG_ENTRY_LEN 14 +#define MAVLINK_MSG_ID_118_LEN 14 + +#define MAVLINK_MSG_ID_LOG_ENTRY_CRC 56 +#define MAVLINK_MSG_ID_118_CRC 56 + + + +#define MAVLINK_MESSAGE_INFO_LOG_ENTRY { \ + "LOG_ENTRY", \ + 5, \ + { { "time_utc", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_entry_t, time_utc) }, \ + { "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_log_entry_t, size) }, \ + { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_log_entry_t, id) }, \ + { "num_logs", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_log_entry_t, num_logs) }, \ + { "last_log_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_log_entry_t, last_log_num) }, \ + } \ +} + + +/** + * @brief Pack a log_entry 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 id Log id + * @param num_logs Total number of logs + * @param last_log_num High log number + * @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available + * @param size Size of the log (may be approximate) in bytes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_entry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t id, uint16_t num_logs, uint16_t last_log_num, uint32_t time_utc, uint32_t size) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN]; + _mav_put_uint32_t(buf, 0, time_utc); + _mav_put_uint32_t(buf, 4, size); + _mav_put_uint16_t(buf, 8, id); + _mav_put_uint16_t(buf, 10, num_logs); + _mav_put_uint16_t(buf, 12, last_log_num); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#else + mavlink_log_entry_t packet; + packet.time_utc = time_utc; + packet.size = size; + packet.id = id; + packet.num_logs = num_logs; + packet.last_log_num = last_log_num; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_ENTRY; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif +} + +/** + * @brief Pack a log_entry message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param id Log id + * @param num_logs Total number of logs + * @param last_log_num High log number + * @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available + * @param size Size of the log (may be approximate) in bytes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_entry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t id,uint16_t num_logs,uint16_t last_log_num,uint32_t time_utc,uint32_t size) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN]; + _mav_put_uint32_t(buf, 0, time_utc); + _mav_put_uint32_t(buf, 4, size); + _mav_put_uint16_t(buf, 8, id); + _mav_put_uint16_t(buf, 10, num_logs); + _mav_put_uint16_t(buf, 12, last_log_num); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#else + mavlink_log_entry_t packet; + packet.time_utc = time_utc; + packet.size = size; + packet.id = id; + packet.num_logs = num_logs; + packet.last_log_num = last_log_num; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_ENTRY; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif +} + +/** + * @brief Encode a log_entry struct + * + * @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 log_entry C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_entry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_entry_t* log_entry) +{ + return mavlink_msg_log_entry_pack(system_id, component_id, msg, log_entry->id, log_entry->num_logs, log_entry->last_log_num, log_entry->time_utc, log_entry->size); +} + +/** + * @brief Encode a log_entry struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param log_entry C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_entry_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_entry_t* log_entry) +{ + return mavlink_msg_log_entry_pack_chan(system_id, component_id, chan, msg, log_entry->id, log_entry->num_logs, log_entry->last_log_num, log_entry->time_utc, log_entry->size); +} + +/** + * @brief Send a log_entry message + * @param chan MAVLink channel to send the message + * + * @param id Log id + * @param num_logs Total number of logs + * @param last_log_num High log number + * @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available + * @param size Size of the log (may be approximate) in bytes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_log_entry_send(mavlink_channel_t chan, uint16_t id, uint16_t num_logs, uint16_t last_log_num, uint32_t time_utc, uint32_t size) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN]; + _mav_put_uint32_t(buf, 0, time_utc); + _mav_put_uint32_t(buf, 4, size); + _mav_put_uint16_t(buf, 8, id); + _mav_put_uint16_t(buf, 10, num_logs); + _mav_put_uint16_t(buf, 12, last_log_num); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif +#else + mavlink_log_entry_t packet; + packet.time_utc = time_utc; + packet.size = size; + packet.id = id; + packet.num_logs = num_logs; + packet.last_log_num = last_log_num; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, (const char *)&packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, (const char *)&packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif +#endif +} + +#endif + +// MESSAGE LOG_ENTRY UNPACKING + + +/** + * @brief Get field id from log_entry message + * + * @return Log id + */ +static inline uint16_t mavlink_msg_log_entry_get_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field num_logs from log_entry message + * + * @return Total number of logs + */ +static inline uint16_t mavlink_msg_log_entry_get_num_logs(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Get field last_log_num from log_entry message + * + * @return High log number + */ +static inline uint16_t mavlink_msg_log_entry_get_last_log_num(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field time_utc from log_entry message + * + * @return UTC timestamp of log in seconds since 1970, or 0 if not available + */ +static inline uint32_t mavlink_msg_log_entry_get_time_utc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field size from log_entry message + * + * @return Size of the log (may be approximate) in bytes + */ +static inline uint32_t mavlink_msg_log_entry_get_size(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 4); +} + +/** + * @brief Decode a log_entry message into a struct + * + * @param msg The message to decode + * @param log_entry C-struct to decode the message contents into + */ +static inline void mavlink_msg_log_entry_decode(const mavlink_message_t* msg, mavlink_log_entry_t* log_entry) +{ +#if MAVLINK_NEED_BYTE_SWAP + log_entry->time_utc = mavlink_msg_log_entry_get_time_utc(msg); + log_entry->size = mavlink_msg_log_entry_get_size(msg); + log_entry->id = mavlink_msg_log_entry_get_id(msg); + log_entry->num_logs = mavlink_msg_log_entry_get_num_logs(msg); + log_entry->last_log_num = mavlink_msg_log_entry_get_last_log_num(msg); +#else + memcpy(log_entry, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h new file mode 100644 index 000000000..feafeaf16 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h @@ -0,0 +1,199 @@ +// MESSAGE LOG_ERASE PACKING + +#define MAVLINK_MSG_ID_LOG_ERASE 121 + +typedef struct __mavlink_log_erase_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_log_erase_t; + +#define MAVLINK_MSG_ID_LOG_ERASE_LEN 2 +#define MAVLINK_MSG_ID_121_LEN 2 + +#define MAVLINK_MSG_ID_LOG_ERASE_CRC 237 +#define MAVLINK_MSG_ID_121_CRC 237 + + + +#define MAVLINK_MESSAGE_INFO_LOG_ERASE { \ + "LOG_ERASE", \ + 2, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_log_erase_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_log_erase_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a log_erase 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 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_erase_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#else + mavlink_log_erase_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_ERASE; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif +} + +/** + * @brief Pack a log_erase message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_erase_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) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#else + mavlink_log_erase_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_ERASE; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif +} + +/** + * @brief Encode a log_erase struct + * + * @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 log_erase C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_erase_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_erase_t* log_erase) +{ + return mavlink_msg_log_erase_pack(system_id, component_id, msg, log_erase->target_system, log_erase->target_component); +} + +/** + * @brief Encode a log_erase struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param log_erase C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_erase_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_erase_t* log_erase) +{ + return mavlink_msg_log_erase_pack_chan(system_id, component_id, chan, msg, log_erase->target_system, log_erase->target_component); +} + +/** + * @brief Send a log_erase message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_log_erase_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, buf, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, buf, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif +#else + mavlink_log_erase_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, (const char *)&packet, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, (const char *)&packet, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif +#endif +} + +#endif + +// MESSAGE LOG_ERASE UNPACKING + + +/** + * @brief Get field target_system from log_erase message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_log_erase_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from log_erase message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_log_erase_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a log_erase message into a struct + * + * @param msg The message to decode + * @param log_erase C-struct to decode the message contents into + */ +static inline void mavlink_msg_log_erase_decode(const mavlink_message_t* msg, mavlink_log_erase_t* log_erase) +{ +#if MAVLINK_NEED_BYTE_SWAP + log_erase->target_system = mavlink_msg_log_erase_get_target_system(msg); + log_erase->target_component = mavlink_msg_log_erase_get_target_component(msg); +#else + memcpy(log_erase, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h new file mode 100644 index 000000000..5be9eea47 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h @@ -0,0 +1,265 @@ +// MESSAGE LOG_REQUEST_DATA PACKING + +#define MAVLINK_MSG_ID_LOG_REQUEST_DATA 119 + +typedef struct __mavlink_log_request_data_t +{ + uint32_t ofs; ///< Offset into the log + uint32_t count; ///< Number of bytes + uint16_t id; ///< Log id (from LOG_ENTRY reply) + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_log_request_data_t; + +#define MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN 12 +#define MAVLINK_MSG_ID_119_LEN 12 + +#define MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC 116 +#define MAVLINK_MSG_ID_119_CRC 116 + + + +#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA { \ + "LOG_REQUEST_DATA", \ + 5, \ + { { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_request_data_t, ofs) }, \ + { "count", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_log_request_data_t, count) }, \ + { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_log_request_data_t, id) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_log_request_data_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_log_request_data_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a log_request_data 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 id Log id (from LOG_ENTRY reply) + * @param ofs Offset into the log + * @param count Number of bytes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_request_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t id, uint32_t ofs, uint32_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN]; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint32_t(buf, 4, count); + _mav_put_uint16_t(buf, 8, id); + _mav_put_uint8_t(buf, 10, target_system); + _mav_put_uint8_t(buf, 11, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#else + mavlink_log_request_data_t packet; + packet.ofs = ofs; + packet.count = count; + packet.id = id; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_DATA; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif +} + +/** + * @brief Pack a log_request_data message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param id Log id (from LOG_ENTRY reply) + * @param ofs Offset into the log + * @param count Number of bytes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_request_data_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 id,uint32_t ofs,uint32_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN]; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint32_t(buf, 4, count); + _mav_put_uint16_t(buf, 8, id); + _mav_put_uint8_t(buf, 10, target_system); + _mav_put_uint8_t(buf, 11, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#else + mavlink_log_request_data_t packet; + packet.ofs = ofs; + packet.count = count; + packet.id = id; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_DATA; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif +} + +/** + * @brief Encode a log_request_data struct + * + * @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 log_request_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_request_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_data_t* log_request_data) +{ + return mavlink_msg_log_request_data_pack(system_id, component_id, msg, log_request_data->target_system, log_request_data->target_component, log_request_data->id, log_request_data->ofs, log_request_data->count); +} + +/** + * @brief Encode a log_request_data struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param log_request_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_request_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_data_t* log_request_data) +{ + return mavlink_msg_log_request_data_pack_chan(system_id, component_id, chan, msg, log_request_data->target_system, log_request_data->target_component, log_request_data->id, log_request_data->ofs, log_request_data->count); +} + +/** + * @brief Send a log_request_data message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param id Log id (from LOG_ENTRY reply) + * @param ofs Offset into the log + * @param count Number of bytes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_log_request_data_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t id, uint32_t ofs, uint32_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN]; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint32_t(buf, 4, count); + _mav_put_uint16_t(buf, 8, id); + _mav_put_uint8_t(buf, 10, target_system); + _mav_put_uint8_t(buf, 11, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif +#else + mavlink_log_request_data_t packet; + packet.ofs = ofs; + packet.count = count; + packet.id = id; + packet.target_system = target_system; + packet.target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif +#endif +} + +#endif + +// MESSAGE LOG_REQUEST_DATA UNPACKING + + +/** + * @brief Get field target_system from log_request_data message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_log_request_data_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 10); +} + +/** + * @brief Get field target_component from log_request_data message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_log_request_data_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 11); +} + +/** + * @brief Get field id from log_request_data message + * + * @return Log id (from LOG_ENTRY reply) + */ +static inline uint16_t mavlink_msg_log_request_data_get_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field ofs from log_request_data message + * + * @return Offset into the log + */ +static inline uint32_t mavlink_msg_log_request_data_get_ofs(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field count from log_request_data message + * + * @return Number of bytes + */ +static inline uint32_t mavlink_msg_log_request_data_get_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 4); +} + +/** + * @brief Decode a log_request_data message into a struct + * + * @param msg The message to decode + * @param log_request_data C-struct to decode the message contents into + */ +static inline void mavlink_msg_log_request_data_decode(const mavlink_message_t* msg, mavlink_log_request_data_t* log_request_data) +{ +#if MAVLINK_NEED_BYTE_SWAP + log_request_data->ofs = mavlink_msg_log_request_data_get_ofs(msg); + log_request_data->count = mavlink_msg_log_request_data_get_count(msg); + log_request_data->id = mavlink_msg_log_request_data_get_id(msg); + log_request_data->target_system = mavlink_msg_log_request_data_get_target_system(msg); + log_request_data->target_component = mavlink_msg_log_request_data_get_target_component(msg); +#else + memcpy(log_request_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h new file mode 100644 index 000000000..48a5a03b4 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h @@ -0,0 +1,199 @@ +// MESSAGE LOG_REQUEST_END PACKING + +#define MAVLINK_MSG_ID_LOG_REQUEST_END 122 + +typedef struct __mavlink_log_request_end_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_log_request_end_t; + +#define MAVLINK_MSG_ID_LOG_REQUEST_END_LEN 2 +#define MAVLINK_MSG_ID_122_LEN 2 + +#define MAVLINK_MSG_ID_LOG_REQUEST_END_CRC 203 +#define MAVLINK_MSG_ID_122_CRC 203 + + + +#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_END { \ + "LOG_REQUEST_END", \ + 2, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_log_request_end_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_log_request_end_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a log_request_end 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 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_request_end_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#else + mavlink_log_request_end_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_END; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif +} + +/** + * @brief Pack a log_request_end message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_request_end_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) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#else + mavlink_log_request_end_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_END; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif +} + +/** + * @brief Encode a log_request_end struct + * + * @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 log_request_end C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_request_end_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_end_t* log_request_end) +{ + return mavlink_msg_log_request_end_pack(system_id, component_id, msg, log_request_end->target_system, log_request_end->target_component); +} + +/** + * @brief Encode a log_request_end struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param log_request_end C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_request_end_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_end_t* log_request_end) +{ + return mavlink_msg_log_request_end_pack_chan(system_id, component_id, chan, msg, log_request_end->target_system, log_request_end->target_component); +} + +/** + * @brief Send a log_request_end message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_log_request_end_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif +#else + mavlink_log_request_end_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif +#endif +} + +#endif + +// MESSAGE LOG_REQUEST_END UNPACKING + + +/** + * @brief Get field target_system from log_request_end message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_log_request_end_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from log_request_end message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_log_request_end_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a log_request_end message into a struct + * + * @param msg The message to decode + * @param log_request_end C-struct to decode the message contents into + */ +static inline void mavlink_msg_log_request_end_decode(const mavlink_message_t* msg, mavlink_log_request_end_t* log_request_end) +{ +#if MAVLINK_NEED_BYTE_SWAP + log_request_end->target_system = mavlink_msg_log_request_end_get_target_system(msg); + log_request_end->target_component = mavlink_msg_log_request_end_get_target_component(msg); +#else + memcpy(log_request_end, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h new file mode 100644 index 000000000..7a5b25c17 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h @@ -0,0 +1,243 @@ +// MESSAGE LOG_REQUEST_LIST PACKING + +#define MAVLINK_MSG_ID_LOG_REQUEST_LIST 117 + +typedef struct __mavlink_log_request_list_t +{ + uint16_t start; ///< First log id (0 for first available) + uint16_t end; ///< Last log id (0xffff for last available) + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_log_request_list_t; + +#define MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN 6 +#define MAVLINK_MSG_ID_117_LEN 6 + +#define MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC 128 +#define MAVLINK_MSG_ID_117_CRC 128 + + + +#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST { \ + "LOG_REQUEST_LIST", \ + 4, \ + { { "start", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_log_request_list_t, start) }, \ + { "end", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_log_request_list_t, end) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_log_request_list_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_log_request_list_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a log_request_list 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 start First log id (0 for first available) + * @param end Last log id (0xffff for last available) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t start, uint16_t end) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN]; + _mav_put_uint16_t(buf, 0, start); + _mav_put_uint16_t(buf, 2, end); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#else + mavlink_log_request_list_t packet; + packet.start = start; + packet.end = end; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_LIST; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif +} + +/** + * @brief Pack a log_request_list message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param start First log id (0 for first available) + * @param end Last log id (0xffff for last available) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_log_request_list_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 start,uint16_t end) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN]; + _mav_put_uint16_t(buf, 0, start); + _mav_put_uint16_t(buf, 2, end); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#else + mavlink_log_request_list_t packet; + packet.start = start; + packet.end = end; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_LIST; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif +} + +/** + * @brief Encode a log_request_list struct + * + * @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 log_request_list C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_list_t* log_request_list) +{ + return mavlink_msg_log_request_list_pack(system_id, component_id, msg, log_request_list->target_system, log_request_list->target_component, log_request_list->start, log_request_list->end); +} + +/** + * @brief Encode a log_request_list struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param log_request_list C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_log_request_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_list_t* log_request_list) +{ + return mavlink_msg_log_request_list_pack_chan(system_id, component_id, chan, msg, log_request_list->target_system, log_request_list->target_component, log_request_list->start, log_request_list->end); +} + +/** + * @brief Send a log_request_list message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param start First log id (0 for first available) + * @param end Last log id (0xffff for last available) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_log_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t start, uint16_t end) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN]; + _mav_put_uint16_t(buf, 0, start); + _mav_put_uint16_t(buf, 2, end); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif +#else + mavlink_log_request_list_t packet; + packet.start = start; + packet.end = end; + packet.target_system = target_system; + packet.target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif +#endif +} + +#endif + +// MESSAGE LOG_REQUEST_LIST UNPACKING + + +/** + * @brief Get field target_system from log_request_list message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_log_request_list_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 4); +} + +/** + * @brief Get field target_component from log_request_list message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_log_request_list_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field start from log_request_list message + * + * @return First log id (0 for first available) + */ +static inline uint16_t mavlink_msg_log_request_list_get_start(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field end from log_request_list message + * + * @return Last log id (0xffff for last available) + */ +static inline uint16_t mavlink_msg_log_request_list_get_end(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a log_request_list message into a struct + * + * @param msg The message to decode + * @param log_request_list C-struct to decode the message contents into + */ +static inline void mavlink_msg_log_request_list_decode(const mavlink_message_t* msg, mavlink_log_request_list_t* log_request_list) +{ +#if MAVLINK_NEED_BYTE_SWAP + log_request_list->start = mavlink_msg_log_request_list_get_start(msg); + log_request_list->end = mavlink_msg_log_request_list_get_end(msg); + log_request_list->target_system = mavlink_msg_log_request_list_get_target_system(msg); + log_request_list->target_component = mavlink_msg_log_request_list_get_target_component(msg); +#else + memcpy(log_request_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h index 634f80c37..a8d60eca7 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h @@ -4,13 +4,13 @@ typedef struct __mavlink_mission_item_t { - float param1; ///< PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters - float param2; ///< PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - float param3; ///< PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - float param4; ///< PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + float param1; ///< PARAM1, see MAV_CMD enum + float param2; ///< PARAM2, see MAV_CMD enum + float param3; ///< PARAM3, see MAV_CMD enum + float param4; ///< PARAM4, see MAV_CMD enum float x; ///< PARAM5 / local: x position, global: latitude float y; ///< PARAM6 / y position: global: longitude - float z; ///< PARAM7 / z position: global: altitude + float z; ///< PARAM7 / z position: global: altitude (relative or absolute, depending on frame. uint16_t seq; ///< Sequence uint16_t command; ///< The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs uint8_t target_system; ///< System ID @@ -62,13 +62,13 @@ typedef struct __mavlink_mission_item_t * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs * @param current false:0, true:1 * @param autocontinue autocontinue to next wp - * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters - * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param param1 PARAM1, see MAV_CMD enum + * @param param2 PARAM2, see MAV_CMD enum + * @param param3 PARAM3, see MAV_CMD enum + * @param param4 PARAM4, see MAV_CMD enum * @param x PARAM5 / local: x position, global: latitude * @param y PARAM6 / y position: global: longitude - * @param z PARAM7 / z position: global: altitude + * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, @@ -133,13 +133,13 @@ static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs * @param current false:0, true:1 * @param autocontinue autocontinue to next wp - * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters - * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param param1 PARAM1, see MAV_CMD enum + * @param param2 PARAM2, see MAV_CMD enum + * @param param3 PARAM3, see MAV_CMD enum + * @param param4 PARAM4, see MAV_CMD enum * @param x PARAM5 / local: x position, global: latitude * @param y PARAM6 / y position: global: longitude - * @param z PARAM7 / z position: global: altitude + * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_mission_item_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, @@ -230,13 +230,13 @@ static inline uint16_t mavlink_msg_mission_item_encode_chan(uint8_t system_id, u * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs * @param current false:0, true:1 * @param autocontinue autocontinue to next wp - * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters - * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param param1 PARAM1, see MAV_CMD enum + * @param param2 PARAM2, see MAV_CMD enum + * @param param3 PARAM3, see MAV_CMD enum + * @param param4 PARAM4, see MAV_CMD enum * @param x PARAM5 / local: x position, global: latitude * @param y PARAM6 / y position: global: longitude - * @param z PARAM7 / z position: global: altitude + * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS @@ -367,7 +367,7 @@ static inline uint8_t mavlink_msg_mission_item_get_autocontinue(const mavlink_me /** * @brief Get field param1 from mission_item message * - * @return PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters + * @return PARAM1, see MAV_CMD enum */ static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t* msg) { @@ -377,7 +377,7 @@ static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t* /** * @brief Get field param2 from mission_item message * - * @return PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + * @return PARAM2, see MAV_CMD enum */ static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t* msg) { @@ -387,7 +387,7 @@ static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t* /** * @brief Get field param3 from mission_item message * - * @return PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + * @return PARAM3, see MAV_CMD enum */ static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t* msg) { @@ -397,7 +397,7 @@ static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t* /** * @brief Get field param4 from mission_item message * - * @return PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH + * @return PARAM4, see MAV_CMD enum */ static inline float mavlink_msg_mission_item_get_param4(const mavlink_message_t* msg) { @@ -427,7 +427,7 @@ static inline float mavlink_msg_mission_item_get_y(const mavlink_message_t* msg) /** * @brief Get field z from mission_item message * - * @return PARAM7 / z position: global: altitude + * @return PARAM7 / z position: global: altitude (relative or absolute, depending on frame. */ static inline float mavlink_msg_mission_item_get_z(const mavlink_message_t* msg) { diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h new file mode 100644 index 000000000..ea4dbbf81 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h @@ -0,0 +1,375 @@ +// MESSAGE SCALED_IMU2 PACKING + +#define MAVLINK_MSG_ID_SCALED_IMU2 116 + +typedef struct __mavlink_scaled_imu2_t +{ + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + int16_t xacc; ///< X acceleration (mg) + int16_t yacc; ///< Y acceleration (mg) + int16_t zacc; ///< Z acceleration (mg) + int16_t xgyro; ///< Angular speed around X axis (millirad /sec) + int16_t ygyro; ///< Angular speed around Y axis (millirad /sec) + int16_t zgyro; ///< Angular speed around Z axis (millirad /sec) + int16_t xmag; ///< X Magnetic field (milli tesla) + int16_t ymag; ///< Y Magnetic field (milli tesla) + int16_t zmag; ///< Z Magnetic field (milli tesla) +} mavlink_scaled_imu2_t; + +#define MAVLINK_MSG_ID_SCALED_IMU2_LEN 22 +#define MAVLINK_MSG_ID_116_LEN 22 + +#define MAVLINK_MSG_ID_SCALED_IMU2_CRC 76 +#define MAVLINK_MSG_ID_116_CRC 76 + + + +#define MAVLINK_MESSAGE_INFO_SCALED_IMU2 { \ + "SCALED_IMU2", \ + 10, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu2_t, time_boot_ms) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu2_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu2_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu2_t, zacc) }, \ + { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu2_t, xgyro) }, \ + { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu2_t, ygyro) }, \ + { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu2_t, zgyro) }, \ + { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu2_t, xmag) }, \ + { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu2_t, ymag) }, \ + { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu2_t, zmag) }, \ + } \ +} + + +/** + * @brief Pack a scaled_imu2 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_boot_ms Timestamp (milliseconds since system boot) + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @param xgyro Angular speed around X axis (millirad /sec) + * @param ygyro Angular speed around Y axis (millirad /sec) + * @param zgyro Angular speed around Z axis (millirad /sec) + * @param xmag X Magnetic field (milli tesla) + * @param ymag Y Magnetic field (milli tesla) + * @param zmag Z Magnetic field (milli tesla) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_scaled_imu2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, xacc); + _mav_put_int16_t(buf, 6, yacc); + _mav_put_int16_t(buf, 8, zacc); + _mav_put_int16_t(buf, 10, xgyro); + _mav_put_int16_t(buf, 12, ygyro); + _mav_put_int16_t(buf, 14, zgyro); + _mav_put_int16_t(buf, 16, xmag); + _mav_put_int16_t(buf, 18, ymag); + _mav_put_int16_t(buf, 20, zmag); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#else + mavlink_scaled_imu2_t packet; + packet.time_boot_ms = time_boot_ms; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif +} + +/** + * @brief Pack a scaled_imu2 message on a channel + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @param xgyro Angular speed around X axis (millirad /sec) + * @param ygyro Angular speed around Y axis (millirad /sec) + * @param zgyro Angular speed around Z axis (millirad /sec) + * @param xmag X Magnetic field (milli tesla) + * @param ymag Y Magnetic field (milli tesla) + * @param zmag Z Magnetic field (milli tesla) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_scaled_imu2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, xacc); + _mav_put_int16_t(buf, 6, yacc); + _mav_put_int16_t(buf, 8, zacc); + _mav_put_int16_t(buf, 10, xgyro); + _mav_put_int16_t(buf, 12, ygyro); + _mav_put_int16_t(buf, 14, zgyro); + _mav_put_int16_t(buf, 16, xmag); + _mav_put_int16_t(buf, 18, ymag); + _mav_put_int16_t(buf, 20, zmag); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#else + mavlink_scaled_imu2_t packet; + packet.time_boot_ms = time_boot_ms; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif +} + +/** + * @brief Encode a scaled_imu2 struct + * + * @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 scaled_imu2 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_scaled_imu2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2) +{ + return mavlink_msg_scaled_imu2_pack(system_id, component_id, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag); +} + +/** + * @brief Encode a scaled_imu2 struct on a channel + * + * @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 will be sent over + * @param msg The MAVLink message to compress the data into + * @param scaled_imu2 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_scaled_imu2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2) +{ + return mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, chan, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag); +} + +/** + * @brief Send a scaled_imu2 message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @param xgyro Angular speed around X axis (millirad /sec) + * @param ygyro Angular speed around Y axis (millirad /sec) + * @param zgyro Angular speed around Z axis (millirad /sec) + * @param xmag X Magnetic field (milli tesla) + * @param ymag Y Magnetic field (milli tesla) + * @param zmag Z Magnetic field (milli tesla) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_scaled_imu2_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, xacc); + _mav_put_int16_t(buf, 6, yacc); + _mav_put_int16_t(buf, 8, zacc); + _mav_put_int16_t(buf, 10, xgyro); + _mav_put_int16_t(buf, 12, ygyro); + _mav_put_int16_t(buf, 14, zgyro); + _mav_put_int16_t(buf, 16, xmag); + _mav_put_int16_t(buf, 18, ymag); + _mav_put_int16_t(buf, 20, zmag); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif +#else + mavlink_scaled_imu2_t packet; + packet.time_boot_ms = time_boot_ms; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif +#endif +} + +#endif + +// MESSAGE SCALED_IMU2 UNPACKING + + +/** + * @brief Get field time_boot_ms from scaled_imu2 message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_scaled_imu2_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field xacc from scaled_imu2 message + * + * @return X acceleration (mg) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_xacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 4); +} + +/** + * @brief Get field yacc from scaled_imu2 message + * + * @return Y acceleration (mg) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_yacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 6); +} + +/** + * @brief Get field zacc from scaled_imu2 message + * + * @return Z acceleration (mg) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_zacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 8); +} + +/** + * @brief Get field xgyro from scaled_imu2 message + * + * @return Angular speed around X axis (millirad /sec) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_xgyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 10); +} + +/** + * @brief Get field ygyro from scaled_imu2 message + * + * @return Angular speed around Y axis (millirad /sec) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_ygyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Get field zgyro from scaled_imu2 message + * + * @return Angular speed around Z axis (millirad /sec) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_zgyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 14); +} + +/** + * @brief Get field xmag from scaled_imu2 message + * + * @return X Magnetic field (milli tesla) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_xmag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 16); +} + +/** + * @brief Get field ymag from scaled_imu2 message + * + * @return Y Magnetic field (milli tesla) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_ymag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 18); +} + +/** + * @brief Get field zmag from scaled_imu2 message + * + * @return Z Magnetic field (milli tesla) + */ +static inline int16_t mavlink_msg_scaled_imu2_get_zmag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 20); +} + +/** + * @brief Decode a scaled_imu2 message into a struct + * + * @param msg The message to decode + * @param scaled_imu2 C-struct to decode the message contents into + */ +static inline void mavlink_msg_scaled_imu2_decode(const mavlink_message_t* msg, mavlink_scaled_imu2_t* scaled_imu2) +{ +#if MAVLINK_NEED_BYTE_SWAP + scaled_imu2->time_boot_ms = mavlink_msg_scaled_imu2_get_time_boot_ms(msg); + scaled_imu2->xacc = mavlink_msg_scaled_imu2_get_xacc(msg); + scaled_imu2->yacc = mavlink_msg_scaled_imu2_get_yacc(msg); + scaled_imu2->zacc = mavlink_msg_scaled_imu2_get_zacc(msg); + scaled_imu2->xgyro = mavlink_msg_scaled_imu2_get_xgyro(msg); + scaled_imu2->ygyro = mavlink_msg_scaled_imu2_get_ygyro(msg); + scaled_imu2->zgyro = mavlink_msg_scaled_imu2_get_zgyro(msg); + scaled_imu2->xmag = mavlink_msg_scaled_imu2_get_xmag(msg); + scaled_imu2->ymag = mavlink_msg_scaled_imu2_get_ymag(msg); + scaled_imu2->zmag = mavlink_msg_scaled_imu2_get_zmag(msg); +#else + memcpy(scaled_imu2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h index 058c630dd..101b36678 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h @@ -4,9 +4,9 @@ typedef struct __mavlink_sys_status_t { - uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR + uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR + uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 uint16_t voltage_battery; ///< Battery voltage, in millivolts (1 = 1 millivolt) int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current @@ -53,9 +53,9 @@ typedef struct __mavlink_sys_status_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR + * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR + * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current @@ -121,9 +121,9 @@ static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t co * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into - * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR + * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR + * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current @@ -215,9 +215,9 @@ static inline uint16_t mavlink_msg_sys_status_encode_chan(uint8_t system_id, uin * @brief Send a sys_status message * @param chan MAVLink channel to send the message * - * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR + * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR + * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current @@ -286,7 +286,7 @@ static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t /** * @brief Get field onboard_control_sensors_present from sys_status message * - * @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR */ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg) { @@ -296,7 +296,7 @@ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_presen /** * @brief Get field onboard_control_sensors_enabled from sys_status message * - * @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR */ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg) { @@ -306,7 +306,7 @@ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enable /** * @brief Get field onboard_control_sensors_health from sys_status message * - * @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control + * @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR */ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg) { diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h index 08dc66403..16250ab42 100644 --- a/mavlink/include/mavlink/v1.0/common/testsuite.h +++ b/mavlink/include/mavlink/v1.0/common/testsuite.h @@ -31,11 +31,11 @@ static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavl uint16_t i; mavlink_heartbeat_t packet_in = { 963497464, - 17, - 84, - 151, - 218, - 3, + }17, + }84, + }151, + }218, + }3, }; mavlink_heartbeat_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -84,18 +84,18 @@ static void mavlink_test_sys_status(uint8_t system_id, uint8_t component_id, mav uint16_t i; mavlink_sys_status_t packet_in = { 963497464, - 963497672, - 963497880, - 17859, - 17963, - 18067, - 18171, - 18275, - 18379, - 18483, - 18587, - 18691, - 223, + }963497672, + }963497880, + }17859, + }17963, + }18067, + }18171, + }18275, + }18379, + }18483, + }18587, + }18691, + }223, }; mavlink_sys_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -151,7 +151,7 @@ static void mavlink_test_system_time(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_system_time_t packet_in = { 93372036854775807ULL, - 963497880, + }963497880, }; mavlink_system_time_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -196,9 +196,9 @@ static void mavlink_test_ping(uint8_t system_id, uint8_t component_id, mavlink_m uint16_t i; mavlink_ping_t packet_in = { 93372036854775807ULL, - 963497880, - 41, - 108, + }963497880, + }41, + }108, }; mavlink_ping_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -245,9 +245,9 @@ static void mavlink_test_change_operator_control(uint8_t system_id, uint8_t comp uint16_t i; mavlink_change_operator_control_t packet_in = { 5, - 72, - 139, - "DEFGHIJKLMNOPQRSTUVWXYZA", + }72, + }139, + }"DEFGHIJKLMNOPQRSTUVWXYZA", }; mavlink_change_operator_control_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -294,8 +294,8 @@ static void mavlink_test_change_operator_control_ack(uint8_t system_id, uint8_t uint16_t i; mavlink_change_operator_control_ack_t packet_in = { 5, - 72, - 139, + }72, + }139, }; mavlink_change_operator_control_ack_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -384,8 +384,8 @@ static void mavlink_test_set_mode(uint8_t system_id, uint8_t component_id, mavli uint16_t i; mavlink_set_mode_t packet_in = { 963497464, - 17, - 84, + }17, + }84, }; mavlink_set_mode_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -431,9 +431,9 @@ static void mavlink_test_param_request_read(uint8_t system_id, uint8_t component uint16_t i; mavlink_param_request_read_t packet_in = { 17235, - 139, - 206, - "EFGHIJKLMNOPQRS", + }139, + }206, + }"EFGHIJKLMNOPQRS", }; mavlink_param_request_read_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -480,7 +480,7 @@ static void mavlink_test_param_request_list(uint8_t system_id, uint8_t component uint16_t i; mavlink_param_request_list_t packet_in = { 5, - 72, + }72, }; mavlink_param_request_list_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -525,10 +525,10 @@ static void mavlink_test_param_value(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_param_value_t packet_in = { 17.0, - 17443, - 17547, - "IJKLMNOPQRSTUVW", - 77, + }17443, + }17547, + }"IJKLMNOPQRSTUVW", + }77, }; mavlink_param_value_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -576,10 +576,10 @@ static void mavlink_test_param_set(uint8_t system_id, uint8_t component_id, mavl uint16_t i; mavlink_param_set_t packet_in = { 17.0, - 17, - 84, - "GHIJKLMNOPQRSTU", - 199, + }17, + }84, + }"GHIJKLMNOPQRSTU", + }199, }; mavlink_param_set_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -627,15 +627,15 @@ static void mavlink_test_gps_raw_int(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_gps_raw_int_t packet_in = { 93372036854775807ULL, - 963497880, - 963498088, - 963498296, - 18275, - 18379, - 18483, - 18587, - 89, - 156, + }963497880, + }963498088, + }963498296, + }18275, + }18379, + }18483, + }18587, + }89, + }156, }; mavlink_gps_raw_int_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -688,11 +688,11 @@ static void mavlink_test_gps_status(uint8_t system_id, uint8_t component_id, mav uint16_t i; mavlink_gps_status_t packet_in = { 5, - { 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91 }, - { 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151 }, - { 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211 }, - { 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 }, - { 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75 }, + }{ 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91 }, + }{ 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151 }, + }{ 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211 }, + }{ 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 }, + }{ 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75 }, }; mavlink_gps_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -741,15 +741,15 @@ static void mavlink_test_scaled_imu(uint8_t system_id, uint8_t component_id, mav uint16_t i; mavlink_scaled_imu_t packet_in = { 963497464, - 17443, - 17547, - 17651, - 17755, - 17859, - 17963, - 18067, - 18171, - 18275, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }18275, }; mavlink_scaled_imu_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -802,15 +802,15 @@ static void mavlink_test_raw_imu(uint8_t system_id, uint8_t component_id, mavlin uint16_t i; mavlink_raw_imu_t packet_in = { 93372036854775807ULL, - 17651, - 17755, - 17859, - 17963, - 18067, - 18171, - 18275, - 18379, - 18483, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }18275, + }18379, + }18483, }; mavlink_raw_imu_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -863,10 +863,10 @@ static void mavlink_test_raw_pressure(uint8_t system_id, uint8_t component_id, m uint16_t i; mavlink_raw_pressure_t packet_in = { 93372036854775807ULL, - 17651, - 17755, - 17859, - 17963, + }17651, + }17755, + }17859, + }17963, }; mavlink_raw_pressure_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -914,9 +914,9 @@ static void mavlink_test_scaled_pressure(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_scaled_pressure_t packet_in = { 963497464, - 45.0, - 73.0, - 17859, + }45.0, + }73.0, + }17859, }; mavlink_scaled_pressure_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -963,12 +963,12 @@ static void mavlink_test_attitude(uint8_t system_id, uint8_t component_id, mavli uint16_t i; mavlink_attitude_t packet_in = { 963497464, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, }; mavlink_attitude_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1018,13 +1018,13 @@ static void mavlink_test_attitude_quaternion(uint8_t system_id, uint8_t componen uint16_t i; mavlink_attitude_quaternion_t packet_in = { 963497464, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, }; mavlink_attitude_quaternion_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1075,12 +1075,12 @@ static void mavlink_test_local_position_ned(uint8_t system_id, uint8_t component uint16_t i; mavlink_local_position_ned_t packet_in = { 963497464, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, }; mavlink_local_position_ned_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1130,14 +1130,14 @@ static void mavlink_test_global_position_int(uint8_t system_id, uint8_t componen uint16_t i; mavlink_global_position_int_t packet_in = { 963497464, - 963497672, - 963497880, - 963498088, - 963498296, - 18275, - 18379, - 18483, - 18587, + }963497672, + }963497880, + }963498088, + }963498296, + }18275, + }18379, + }18483, + }18587, }; mavlink_global_position_int_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1189,16 +1189,16 @@ static void mavlink_test_rc_channels_scaled(uint8_t system_id, uint8_t component uint16_t i; mavlink_rc_channels_scaled_t packet_in = { 963497464, - 17443, - 17547, - 17651, - 17755, - 17859, - 17963, - 18067, - 18171, - 65, - 132, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }65, + }132, }; mavlink_rc_channels_scaled_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1252,16 +1252,16 @@ static void mavlink_test_rc_channels_raw(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_rc_channels_raw_t packet_in = { 963497464, - 17443, - 17547, - 17651, - 17755, - 17859, - 17963, - 18067, - 18171, - 65, - 132, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }65, + }132, }; mavlink_rc_channels_raw_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1315,15 +1315,15 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i uint16_t i; mavlink_servo_output_raw_t packet_in = { 963497464, - 17443, - 17547, - 17651, - 17755, - 17859, - 17963, - 18067, - 18171, - 65, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }65, }; mavlink_servo_output_raw_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1376,9 +1376,9 @@ static void mavlink_test_mission_request_partial_list(uint8_t system_id, uint8_t uint16_t i; mavlink_mission_request_partial_list_t packet_in = { 17235, - 17339, - 17, - 84, + }17339, + }17, + }84, }; mavlink_mission_request_partial_list_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1425,9 +1425,9 @@ static void mavlink_test_mission_write_partial_list(uint8_t system_id, uint8_t c uint16_t i; mavlink_mission_write_partial_list_t packet_in = { 17235, - 17339, - 17, - 84, + }17339, + }17, + }84, }; mavlink_mission_write_partial_list_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1474,19 +1474,19 @@ static void mavlink_test_mission_item(uint8_t system_id, uint8_t component_id, m uint16_t i; mavlink_mission_item_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 18691, - 18795, - 101, - 168, - 235, - 46, - 113, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }18691, + }18795, + }101, + }168, + }235, + }46, + }113, }; mavlink_mission_item_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1543,8 +1543,8 @@ static void mavlink_test_mission_request(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_mission_request_t packet_in = { 17235, - 139, - 206, + }139, + }206, }; mavlink_mission_request_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1590,8 +1590,8 @@ static void mavlink_test_mission_set_current(uint8_t system_id, uint8_t componen uint16_t i; mavlink_mission_set_current_t packet_in = { 17235, - 139, - 206, + }139, + }206, }; mavlink_mission_set_current_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1680,7 +1680,7 @@ static void mavlink_test_mission_request_list(uint8_t system_id, uint8_t compone uint16_t i; mavlink_mission_request_list_t packet_in = { 5, - 72, + }72, }; mavlink_mission_request_list_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1725,8 +1725,8 @@ static void mavlink_test_mission_count(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_mission_count_t packet_in = { 17235, - 139, - 206, + }139, + }206, }; mavlink_mission_count_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1772,7 +1772,7 @@ static void mavlink_test_mission_clear_all(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_mission_clear_all_t packet_in = { 5, - 72, + }72, }; mavlink_mission_clear_all_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1860,8 +1860,8 @@ static void mavlink_test_mission_ack(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_mission_ack_t packet_in = { 5, - 72, - 139, + }72, + }139, }; mavlink_mission_ack_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1907,9 +1907,9 @@ static void mavlink_test_set_gps_global_origin(uint8_t system_id, uint8_t compon uint16_t i; mavlink_set_gps_global_origin_t packet_in = { 963497464, - 963497672, - 963497880, - 41, + }963497672, + }963497880, + }41, }; mavlink_set_gps_global_origin_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1956,8 +1956,8 @@ static void mavlink_test_gps_global_origin(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_gps_global_origin_t packet_in = { 963497464, - 963497672, - 963497880, + }963497672, + }963497880, }; mavlink_gps_global_origin_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2003,12 +2003,12 @@ static void mavlink_test_set_local_position_setpoint(uint8_t system_id, uint8_t uint16_t i; mavlink_set_local_position_setpoint_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 53, - 120, - 187, + }45.0, + }73.0, + }101.0, + }53, + }120, + }187, }; mavlink_set_local_position_setpoint_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2058,10 +2058,10 @@ static void mavlink_test_local_position_setpoint(uint8_t system_id, uint8_t comp uint16_t i; mavlink_local_position_setpoint_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 53, + }45.0, + }73.0, + }101.0, + }53, }; mavlink_local_position_setpoint_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2109,10 +2109,10 @@ static void mavlink_test_global_position_setpoint_int(uint8_t system_id, uint8_t uint16_t i; mavlink_global_position_setpoint_int_t packet_in = { 963497464, - 963497672, - 963497880, - 17859, - 175, + }963497672, + }963497880, + }17859, + }175, }; mavlink_global_position_setpoint_int_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2160,10 +2160,10 @@ static void mavlink_test_set_global_position_setpoint_int(uint8_t system_id, uin uint16_t i; mavlink_set_global_position_setpoint_int_t packet_in = { 963497464, - 963497672, - 963497880, - 17859, - 175, + }963497672, + }963497880, + }17859, + }175, }; mavlink_set_global_position_setpoint_int_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2211,14 +2211,14 @@ static void mavlink_test_safety_set_allowed_area(uint8_t system_id, uint8_t comp uint16_t i; mavlink_safety_set_allowed_area_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 77, - 144, - 211, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }77, + }144, + }211, }; mavlink_safety_set_allowed_area_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2270,12 +2270,12 @@ static void mavlink_test_safety_allowed_area(uint8_t system_id, uint8_t componen uint16_t i; mavlink_safety_allowed_area_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 77, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }77, }; mavlink_safety_allowed_area_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2325,11 +2325,11 @@ static void mavlink_test_set_roll_pitch_yaw_thrust(uint8_t system_id, uint8_t co uint16_t i; mavlink_set_roll_pitch_yaw_thrust_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 53, - 120, + }45.0, + }73.0, + }101.0, + }53, + }120, }; mavlink_set_roll_pitch_yaw_thrust_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2378,11 +2378,11 @@ static void mavlink_test_set_roll_pitch_yaw_speed_thrust(uint8_t system_id, uint uint16_t i; mavlink_set_roll_pitch_yaw_speed_thrust_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 53, - 120, + }45.0, + }73.0, + }101.0, + }53, + }120, }; mavlink_set_roll_pitch_yaw_speed_thrust_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2431,10 +2431,10 @@ static void mavlink_test_roll_pitch_yaw_thrust_setpoint(uint8_t system_id, uint8 uint16_t i; mavlink_roll_pitch_yaw_thrust_setpoint_t packet_in = { 963497464, - 45.0, - 73.0, - 101.0, - 129.0, + }45.0, + }73.0, + }101.0, + }129.0, }; mavlink_roll_pitch_yaw_thrust_setpoint_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2482,10 +2482,10 @@ static void mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(uint8_t system_id, uint16_t i; mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet_in = { 963497464, - 45.0, - 73.0, - 101.0, - 129.0, + }45.0, + }73.0, + }101.0, + }129.0, }; mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2533,10 +2533,10 @@ static void mavlink_test_set_quad_motors_setpoint(uint8_t system_id, uint8_t com uint16_t i; mavlink_set_quad_motors_setpoint_t packet_in = { 17235, - 17339, - 17443, - 17547, - 29, + }17339, + }17443, + }17547, + }29, }; mavlink_set_quad_motors_setpoint_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2584,11 +2584,11 @@ static void mavlink_test_set_quad_swarm_roll_pitch_yaw_thrust(uint8_t system_id, uint16_t i; mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet_in = { { 17235, 17236, 17237, 17238 }, - { 17651, 17652, 17653, 17654 }, - { 18067, 18068, 18069, 18070 }, - { 18483, 18484, 18485, 18486 }, - 101, - 168, + }{ 17651, 17652, 17653, 17654 }, + }{ 18067, 18068, 18069, 18070 }, + }{ 18483, 18484, 18485, 18486 }, + }101, + }168, }; mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2637,13 +2637,13 @@ static void mavlink_test_nav_controller_output(uint8_t system_id, uint8_t compon uint16_t i; mavlink_nav_controller_output_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 18275, - 18379, - 18483, + }45.0, + }73.0, + }101.0, + }129.0, + }18275, + }18379, + }18483, }; mavlink_nav_controller_output_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2694,14 +2694,14 @@ static void mavlink_test_set_quad_swarm_led_roll_pitch_yaw_thrust(uint8_t system uint16_t i; mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet_in = { { 17235, 17236, 17237, 17238 }, - { 17651, 17652, 17653, 17654 }, - { 18067, 18068, 18069, 18070 }, - { 18483, 18484, 18485, 18486 }, - 101, - 168, - { 235, 236, 237, 238 }, - { 247, 248, 249, 250 }, - { 3, 4, 5, 6 }, + }{ 17651, 17652, 17653, 17654 }, + }{ 18067, 18068, 18069, 18070 }, + }{ 18483, 18484, 18485, 18486 }, + }101, + }168, + }{ 235, 236, 237, 238 }, + }{ 247, 248, 249, 250 }, + }{ 3, 4, 5, 6 }, }; mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2753,14 +2753,14 @@ static void mavlink_test_state_correction(uint8_t system_id, uint8_t component_i uint16_t i; mavlink_state_correction_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, }; mavlink_state_correction_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2812,10 +2812,10 @@ static void mavlink_test_request_data_stream(uint8_t system_id, uint8_t componen uint16_t i; mavlink_request_data_stream_t packet_in = { 17235, - 139, - 206, - 17, - 84, + }139, + }206, + }17, + }84, }; mavlink_request_data_stream_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2863,8 +2863,8 @@ static void mavlink_test_data_stream(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_data_stream_t packet_in = { 17235, - 139, - 206, + }139, + }206, }; mavlink_data_stream_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2910,11 +2910,11 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_manual_control_t packet_in = { 17235, - 17339, - 17443, - 17547, - 17651, - 163, + }17339, + }17443, + }17547, + }17651, + }163, }; mavlink_manual_control_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -2963,15 +2963,15 @@ static void mavlink_test_rc_channels_override(uint8_t system_id, uint8_t compone uint16_t i; mavlink_rc_channels_override_t packet_in = { 17235, - 17339, - 17443, - 17547, - 17651, - 17755, - 17859, - 17963, - 53, - 120, + }17339, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, + }53, + }120, }; mavlink_rc_channels_override_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3024,11 +3024,11 @@ static void mavlink_test_vfr_hud(uint8_t system_id, uint8_t component_id, mavlin uint16_t i; mavlink_vfr_hud_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 18067, - 18171, + }45.0, + }73.0, + }101.0, + }18067, + }18171, }; mavlink_vfr_hud_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3077,16 +3077,16 @@ static void mavlink_test_command_long(uint8_t system_id, uint8_t component_id, m uint16_t i; mavlink_command_long_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 18691, - 223, - 34, - 101, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }18691, + }223, + }34, + }101, }; mavlink_command_long_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3140,7 +3140,7 @@ static void mavlink_test_command_ack(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_command_ack_t packet_in = { 17235, - 139, + }139, }; mavlink_command_ack_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3185,10 +3185,10 @@ static void mavlink_test_roll_pitch_yaw_rates_thrust_setpoint(uint8_t system_id, uint16_t i; mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet_in = { 963497464, - 45.0, - 73.0, - 101.0, - 129.0, + }45.0, + }73.0, + }101.0, + }129.0, }; mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3236,12 +3236,12 @@ static void mavlink_test_manual_setpoint(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_manual_setpoint_t packet_in = { 963497464, - 45.0, - 73.0, - 101.0, - 129.0, - 65, - 132, + }45.0, + }73.0, + }101.0, + }129.0, + }65, + }132, }; mavlink_manual_setpoint_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3291,12 +3291,12 @@ static void mavlink_test_local_position_ned_system_global_offset(uint8_t system_ uint16_t i; mavlink_local_position_ned_system_global_offset_t packet_in = { 963497464, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, }; mavlink_local_position_ned_system_global_offset_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3346,21 +3346,21 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl uint16_t i; mavlink_hil_state_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 963499128, - 963499336, - 963499544, - 19523, - 19627, - 19731, - 19835, - 19939, - 20043, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }963499128, + }963499336, + }963499544, + }19523, + }19627, + }19731, + }19835, + }19939, + }20043, }; mavlink_hil_state_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3419,16 +3419,16 @@ static void mavlink_test_hil_controls(uint8_t system_id, uint8_t component_id, m uint16_t i; mavlink_hil_controls_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 269.0, - 125, - 192, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }125, + }192, }; mavlink_hil_controls_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3482,19 +3482,19 @@ static void mavlink_test_hil_rc_inputs_raw(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_hil_rc_inputs_raw_t packet_in = { 93372036854775807ULL, - 17651, - 17755, - 17859, - 17963, - 18067, - 18171, - 18275, - 18379, - 18483, - 18587, - 18691, - 18795, - 101, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }18275, + }18379, + }18483, + }18587, + }18691, + }18795, + }101, }; mavlink_hil_rc_inputs_raw_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3551,13 +3551,13 @@ static void mavlink_test_optical_flow(uint8_t system_id, uint8_t component_id, m uint16_t i; mavlink_optical_flow_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 18275, - 18379, - 77, - 144, + }73.0, + }101.0, + }129.0, + }18275, + }18379, + }77, + }144, }; mavlink_optical_flow_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3608,12 +3608,12 @@ static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint uint16_t i; mavlink_global_vision_position_estimate_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, }; mavlink_global_vision_position_estimate_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3663,12 +3663,12 @@ static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t com uint16_t i; mavlink_vision_position_estimate_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, }; mavlink_vision_position_estimate_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3718,9 +3718,9 @@ static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t compon uint16_t i; mavlink_vision_speed_estimate_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, + }73.0, + }101.0, + }129.0, }; mavlink_vision_speed_estimate_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3767,12 +3767,12 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp uint16_t i; mavlink_vicon_position_estimate_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, }; mavlink_vicon_position_estimate_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3822,20 +3822,20 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_highres_imu_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 269.0, - 297.0, - 325.0, - 353.0, - 381.0, - 409.0, - 20355, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }297.0, + }325.0, + }353.0, + }381.0, + }409.0, + }20355, }; mavlink_highres_imu_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3893,11 +3893,11 @@ static void mavlink_test_omnidirectional_flow(uint8_t system_id, uint8_t compone uint16_t i; mavlink_omnidirectional_flow_t packet_in = { 93372036854775807ULL, - 73.0, - { 17859, 17860, 17861, 17862, 17863, 17864, 17865, 17866, 17867, 17868 }, - { 18899, 18900, 18901, 18902, 18903, 18904, 18905, 18906, 18907, 18908 }, - 161, - 228, + }73.0, + }{ 17859, 17860, 17861, 17862, 17863, 17864, 17865, 17866, 17867, 17868 }, + }{ 18899, 18900, 18901, 18902, 18903, 18904, 18905, 18906, 18907, 18908 }, + }161, + }228, }; mavlink_omnidirectional_flow_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -3946,20 +3946,20 @@ static void mavlink_test_hil_sensor(uint8_t system_id, uint8_t component_id, mav uint16_t i; mavlink_hil_sensor_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 269.0, - 297.0, - 325.0, - 353.0, - 381.0, - 409.0, - 963500584, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }297.0, + }325.0, + }353.0, + }381.0, + }409.0, + }963500584, }; mavlink_hil_sensor_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4017,26 +4017,26 @@ static void mavlink_test_sim_state(uint8_t system_id, uint8_t component_id, mavl uint16_t i; mavlink_sim_state_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 269.0, - 297.0, - 325.0, - 353.0, - 381.0, - 409.0, - 437.0, - 465.0, - 493.0, - 521.0, - 549.0, - 577.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }297.0, + }325.0, + }353.0, + }381.0, + }409.0, + }437.0, + }465.0, + }493.0, + }521.0, + }549.0, + }577.0, }; mavlink_sim_state_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4100,12 +4100,12 @@ static void mavlink_test_radio_status(uint8_t system_id, uint8_t component_id, m uint16_t i; mavlink_radio_status_t packet_in = { 17235, - 17339, - 17, - 84, - 151, - 218, - 29, + }17339, + }17, + }84, + }151, + }218, + }29, }; mavlink_radio_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4155,10 +4155,10 @@ static void mavlink_test_file_transfer_start(uint8_t system_id, uint8_t componen uint16_t i; mavlink_file_transfer_start_t packet_in = { 93372036854775807ULL, - 963497880, - "MNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ", - 249, - 60, + }963497880, + }"MNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ", + }249, + }60, }; mavlink_file_transfer_start_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4206,8 +4206,8 @@ static void mavlink_test_file_transfer_dir_list(uint8_t system_id, uint8_t compo uint16_t i; mavlink_file_transfer_dir_list_t packet_in = { 93372036854775807ULL, - "IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLM", - 237, + }"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLM", + }237, }; mavlink_file_transfer_dir_list_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4253,7 +4253,7 @@ static void mavlink_test_file_transfer_res(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_file_transfer_res_t packet_in = { 93372036854775807ULL, - 29, + }29, }; mavlink_file_transfer_res_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4298,18 +4298,18 @@ static void mavlink_test_hil_gps(uint8_t system_id, uint8_t component_id, mavlin uint16_t i; mavlink_hil_gps_t packet_in = { 93372036854775807ULL, - 963497880, - 963498088, - 963498296, - 18275, - 18379, - 18483, - 18587, - 18691, - 18795, - 18899, - 235, - 46, + }963497880, + }963498088, + }963498296, + }18275, + }18379, + }18483, + }18587, + }18691, + }18795, + }18899, + }235, + }46, }; mavlink_hil_gps_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4365,13 +4365,13 @@ static void mavlink_test_hil_optical_flow(uint8_t system_id, uint8_t component_i uint16_t i; mavlink_hil_optical_flow_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 18275, - 18379, - 77, - 144, + }73.0, + }101.0, + }129.0, + }18275, + }18379, + }77, + }144, }; mavlink_hil_optical_flow_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4422,21 +4422,21 @@ static void mavlink_test_hil_state_quaternion(uint8_t system_id, uint8_t compone uint16_t i; mavlink_hil_state_quaternion_t packet_in = { 93372036854775807ULL, - { 73.0, 74.0, 75.0, 76.0 }, - 185.0, - 213.0, - 241.0, - 963499336, - 963499544, - 963499752, - 19731, - 19835, - 19939, - 20043, - 20147, - 20251, - 20355, - 20459, + }{ 73.0, 74.0, 75.0, 76.0 }, + }185.0, + }213.0, + }241.0, + }963499336, + }963499544, + }963499752, + }19731, + }19835, + }19939, + }20043, + }20147, + }20251, + }20355, + }20459, }; mavlink_hil_state_quaternion_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4488,24 +4488,379 @@ static void mavlink_test_hil_state_quaternion(uint8_t system_id, uint8_t compone MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_scaled_imu2(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_scaled_imu2_t packet_in = { + 963497464, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }18275, + }; + mavlink_scaled_imu2_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_boot_ms = packet_in.time_boot_ms; + packet1.xacc = packet_in.xacc; + packet1.yacc = packet_in.yacc; + packet1.zacc = packet_in.zacc; + packet1.xgyro = packet_in.xgyro; + packet1.ygyro = packet_in.ygyro; + packet1.zgyro = packet_in.zgyro; + packet1.xmag = packet_in.xmag; + packet1.ymag = packet_in.ymag; + packet1.zmag = packet_in.zmag; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_scaled_imu2_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_scaled_imu2_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_scaled_imu2_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); + mavlink_msg_scaled_imu2_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); + mavlink_msg_scaled_imu2_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_scaled_imu2_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_scaled_imu2_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); + mavlink_msg_scaled_imu2_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_log_request_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_log_request_list_t packet_in = { + 17235, + }17339, + }17, + }84, + }; + mavlink_log_request_list_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.start = packet_in.start; + packet1.end = packet_in.end; + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_list_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_log_request_list_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start , packet1.end ); + mavlink_msg_log_request_list_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start , packet1.end ); + mavlink_msg_log_request_list_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_log_request_list_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start , packet1.end ); + mavlink_msg_log_request_list_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_log_entry(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_log_entry_t packet_in = { + 963497464, + }963497672, + }17651, + }17755, + }17859, + }; + mavlink_log_entry_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_utc = packet_in.time_utc; + packet1.size = packet_in.size; + packet1.id = packet_in.id; + packet1.num_logs = packet_in.num_logs; + packet1.last_log_num = packet_in.last_log_num; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_entry_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_log_entry_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_entry_pack(system_id, component_id, &msg , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size ); + mavlink_msg_log_entry_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_entry_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size ); + mavlink_msg_log_entry_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_log_entry_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_entry_send(MAVLINK_COMM_1 , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size ); + mavlink_msg_log_entry_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_log_request_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_log_request_data_t packet_in = { + 963497464, + }963497672, + }17651, + }163, + }230, + }; + mavlink_log_request_data_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.ofs = packet_in.ofs; + packet1.count = packet_in.count; + packet1.id = packet_in.id; + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_data_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_log_request_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_data_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count ); + mavlink_msg_log_request_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count ); + mavlink_msg_log_request_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_log_request_data_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_data_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count ); + mavlink_msg_log_request_data_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_log_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_log_data_t packet_in = { + 963497464, + }17443, + }151, + }{ 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51 }, + }; + mavlink_log_data_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.ofs = packet_in.ofs; + packet1.id = packet_in.id; + packet1.count = packet_in.count; + + mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*90); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_data_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_log_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_data_pack(system_id, component_id, &msg , packet1.id , packet1.ofs , packet1.count , packet1.data ); + mavlink_msg_log_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.ofs , packet1.count , packet1.data ); + mavlink_msg_log_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_log_data_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_data_send(MAVLINK_COMM_1 , packet1.id , packet1.ofs , packet1.count , packet1.data ); + mavlink_msg_log_data_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_log_erase(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_log_erase_t packet_in = { + 5, + }72, + }; + mavlink_log_erase_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_erase_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_log_erase_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_erase_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); + mavlink_msg_log_erase_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_erase_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); + mavlink_msg_log_erase_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_log_erase_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_erase_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); + mavlink_msg_log_erase_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_log_request_end(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_log_request_end_t packet_in = { + 5, + }72, + }; + mavlink_log_request_end_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_end_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_log_request_end_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_end_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); + mavlink_msg_log_request_end_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_end_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); + mavlink_msg_log_request_end_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_log_request_end_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_log_request_end_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); + mavlink_msg_log_request_end_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + static void mavlink_test_battery_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_battery_status_t packet_in = { - 17235, - 17339, - 17443, - 17547, - 17651, - 17755, - 17859, - 175, - 242, + 963497464, + }963497672, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }18275, + }199, + }10, }; mavlink_battery_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); + packet1.current_consumed = packet_in.current_consumed; + packet1.energy_consumed = packet_in.energy_consumed; packet1.voltage_cell_1 = packet_in.voltage_cell_1; packet1.voltage_cell_2 = packet_in.voltage_cell_2; packet1.voltage_cell_3 = packet_in.voltage_cell_3; @@ -4524,12 +4879,12 @@ static void mavlink_test_battery_status(uint8_t system_id, uint8_t component_id, MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_battery_status_pack(system_id, component_id, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining ); + mavlink_msg_battery_status_pack(system_id, component_id, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining ); mavlink_msg_battery_status_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_battery_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining ); + mavlink_msg_battery_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining ); mavlink_msg_battery_status_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); @@ -4542,7 +4897,7 @@ static void mavlink_test_battery_status(uint8_t system_id, uint8_t component_id, MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_battery_status_send(MAVLINK_COMM_1 , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining ); + mavlink_msg_battery_status_send(MAVLINK_COMM_1 , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining ); mavlink_msg_battery_status_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } @@ -4554,14 +4909,14 @@ static void mavlink_test_setpoint_8dof(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_setpoint_8dof_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 101, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }101, }; mavlink_setpoint_8dof_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4613,12 +4968,12 @@ static void mavlink_test_setpoint_6dof(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_setpoint_6dof_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 77, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }77, }; mavlink_setpoint_6dof_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4668,9 +5023,9 @@ static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, ma uint16_t i; mavlink_memory_vect_t packet_in = { 17235, - 139, - 206, - { 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48 }, + }139, + }206, + }{ 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48 }, }; mavlink_memory_vect_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4717,10 +5072,10 @@ static void mavlink_test_debug_vect(uint8_t system_id, uint8_t component_id, mav uint16_t i; mavlink_debug_vect_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - "UVWXYZABC", + }73.0, + }101.0, + }129.0, + }"UVWXYZABC", }; mavlink_debug_vect_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4768,8 +5123,8 @@ static void mavlink_test_named_value_float(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_named_value_float_t packet_in = { 963497464, - 45.0, - "IJKLMNOPQ", + }45.0, + }"IJKLMNOPQ", }; mavlink_named_value_float_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4815,8 +5170,8 @@ static void mavlink_test_named_value_int(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_named_value_int_t packet_in = { 963497464, - 963497672, - "IJKLMNOPQ", + }963497672, + }"IJKLMNOPQ", }; mavlink_named_value_int_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4862,7 +5217,7 @@ static void mavlink_test_statustext(uint8_t system_id, uint8_t component_id, mav uint16_t i; mavlink_statustext_t packet_in = { 5, - "BCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWX", + }"BCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWX", }; mavlink_statustext_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -4907,8 +5262,8 @@ static void mavlink_test_debug(uint8_t system_id, uint8_t component_id, mavlink_ uint16_t i; mavlink_debug_t packet_in = { 963497464, - 45.0, - 29, + }45.0, + }29, }; mavlink_debug_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -5031,6 +5386,13 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink mavlink_test_hil_gps(system_id, component_id, last_msg); mavlink_test_hil_optical_flow(system_id, component_id, last_msg); mavlink_test_hil_state_quaternion(system_id, component_id, last_msg); + mavlink_test_scaled_imu2(system_id, component_id, last_msg); + mavlink_test_log_request_list(system_id, component_id, last_msg); + mavlink_test_log_entry(system_id, component_id, last_msg); + mavlink_test_log_request_data(system_id, component_id, last_msg); + mavlink_test_log_data(system_id, component_id, last_msg); + mavlink_test_log_erase(system_id, component_id, last_msg); + mavlink_test_log_request_end(system_id, component_id, last_msg); mavlink_test_battery_status(system_id, component_id, last_msg); mavlink_test_setpoint_8dof(system_id, component_id, last_msg); mavlink_test_setpoint_6dof(system_id, component_id, last_msg); diff --git a/mavlink/include/mavlink/v1.0/common/version.h b/mavlink/include/mavlink/v1.0/common/version.h index 3c354f422..2628e2f88 100644 --- a/mavlink/include/mavlink/v1.0/common/version.h +++ b/mavlink/include/mavlink/v1.0/common/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Sep 10 23:50:05 2013" +#define MAVLINK_BUILD_DATE "Mon Dec 16 08:59:18 2013" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254 diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h index f590cda80..f99b97c82 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 2, 6, 58, 6, 0, 53, 7, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 70, 10, 24, 20, 24, 28, 14, 17, 60, 110, 28, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 2, 6, 58, 6, 0, 53, 7, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 70, 10, 24, 20, 24, 28, 14, 17, 60, 110, 28, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 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, 42, 241, 15, 181, 26, 101, 109, 0, 12, 218, 133, 208, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 150, 169, 191, 121, 54, 171, 142, 249, 123, 7, 222, 55, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 181, 26, 101, 109, 0, 12, 218, 133, 208, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 150, 169, 191, 121, 54, 171, 142, 249, 123, 7, 222, 55, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_SET, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_READ_REQ, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY_ACK, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_A, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_B, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F4, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F5, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F6, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F7, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F8, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F13, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F14, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F15, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F16, MAVLINK_MESSAGE_INFO_ALTITUDES, MAVLINK_MESSAGE_INFO_AIRSPEEDS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_SET, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_READ_REQ, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY_ACK, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_A, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_B, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F4, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F5, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F6, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F7, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F8, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F13, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F14, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F15, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F16, MAVLINK_MESSAGE_INFO_ALTITUDES, MAVLINK_MESSAGE_INFO_AIRSPEEDS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h b/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h index 5ccef5390..6856839e9 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h @@ -31,7 +31,7 @@ static void mavlink_test_flexifunction_set(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_flexifunction_set_t packet_in = { 5, - 72, + }72, }; mavlink_flexifunction_set_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -76,9 +76,9 @@ static void mavlink_test_flexifunction_read_req(uint8_t system_id, uint8_t compo uint16_t i; mavlink_flexifunction_read_req_t packet_in = { 17235, - 17339, - 17, - 84, + }17339, + }17, + }84, }; mavlink_flexifunction_read_req_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -125,12 +125,12 @@ static void mavlink_test_flexifunction_buffer_function(uint8_t system_id, uint8_ uint16_t i; mavlink_flexifunction_buffer_function_t packet_in = { 17235, - 17339, - 17443, - 17547, - 29, - 96, - { 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210 }, + }17339, + }17443, + }17547, + }29, + }96, + }{ 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210 }, }; mavlink_flexifunction_buffer_function_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -180,9 +180,9 @@ static void mavlink_test_flexifunction_buffer_function_ack(uint8_t system_id, ui uint16_t i; mavlink_flexifunction_buffer_function_ack_t packet_in = { 17235, - 17339, - 17, - 84, + }17339, + }17, + }84, }; mavlink_flexifunction_buffer_function_ack_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -229,11 +229,11 @@ static void mavlink_test_flexifunction_directory(uint8_t system_id, uint8_t comp uint16_t i; mavlink_flexifunction_directory_t packet_in = { 5, - 72, - 139, - 206, - 17, - { 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131 }, + }72, + }139, + }206, + }17, + }{ 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131 }, }; mavlink_flexifunction_directory_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -282,11 +282,11 @@ static void mavlink_test_flexifunction_directory_ack(uint8_t system_id, uint8_t uint16_t i; mavlink_flexifunction_directory_ack_t packet_in = { 17235, - 139, - 206, - 17, - 84, - 151, + }139, + }206, + }17, + }84, + }151, }; mavlink_flexifunction_directory_ack_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -335,8 +335,8 @@ static void mavlink_test_flexifunction_command(uint8_t system_id, uint8_t compon uint16_t i; mavlink_flexifunction_command_t packet_in = { 5, - 72, - 139, + }72, + }139, }; mavlink_flexifunction_command_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -382,7 +382,7 @@ static void mavlink_test_flexifunction_command_ack(uint8_t system_id, uint8_t co uint16_t i; mavlink_flexifunction_command_ack_t packet_in = { 17235, - 17339, + }17339, }; mavlink_flexifunction_command_ack_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -427,33 +427,33 @@ static void mavlink_test_serial_udb_extra_f2_a(uint8_t system_id, uint8_t compon uint16_t i; mavlink_serial_udb_extra_f2_a_t packet_in = { 963497464, - 963497672, - 963497880, - 963498088, - 18067, - 18171, - 18275, - 18379, - 18483, - 18587, - 18691, - 18795, - 18899, - 19003, - 19107, - 19211, - 19315, - 19419, - 19523, - 19627, - 19731, - 19835, - 19939, - 20043, - 20147, - 20251, - 20355, - 63, + }963497672, + }963497880, + }963498088, + }18067, + }18171, + }18275, + }18379, + }18483, + }18587, + }18691, + }18795, + }18899, + }19003, + }19107, + }19211, + }19315, + }19419, + }19523, + }19627, + }19731, + }19835, + }19939, + }20043, + }20147, + }20251, + }20355, + }63, }; mavlink_serial_udb_extra_f2_a_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -524,38 +524,38 @@ static void mavlink_test_serial_udb_extra_f2_b(uint8_t system_id, uint8_t compon uint16_t i; mavlink_serial_udb_extra_f2_b_t packet_in = { 963497464, - 963497672, - 17651, - 17755, - 17859, - 17963, - 18067, - 18171, - 18275, - 18379, - 18483, - 18587, - 18691, - 18795, - 18899, - 19003, - 19107, - 19211, - 19315, - 19419, - 19523, - 19627, - 19731, - 19835, - 19939, - 20043, - 20147, - 20251, - 20355, - 20459, - 20563, - 20667, - 20771, + }963497672, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }18275, + }18379, + }18483, + }18587, + }18691, + }18795, + }18899, + }19003, + }19107, + }19211, + }19315, + }19419, + }19523, + }19627, + }19731, + }19835, + }19939, + }20043, + }20147, + }20251, + }20355, + }20459, + }20563, + }20667, + }20771, }; mavlink_serial_udb_extra_f2_b_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -631,15 +631,15 @@ static void mavlink_test_serial_udb_extra_f4(uint8_t system_id, uint8_t componen uint16_t i; mavlink_serial_udb_extra_f4_t packet_in = { 5, - 72, - 139, - 206, - 17, - 84, - 151, - 218, - 29, - 96, + }72, + }139, + }206, + }17, + }84, + }151, + }218, + }29, + }96, }; mavlink_serial_udb_extra_f4_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -692,11 +692,11 @@ static void mavlink_test_serial_udb_extra_f5(uint8_t system_id, uint8_t componen uint16_t i; mavlink_serial_udb_extra_f5_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, }; mavlink_serial_udb_extra_f5_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -745,10 +745,10 @@ static void mavlink_test_serial_udb_extra_f6(uint8_t system_id, uint8_t componen uint16_t i; mavlink_serial_udb_extra_f6_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, + }45.0, + }73.0, + }101.0, + }129.0, }; mavlink_serial_udb_extra_f6_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -796,11 +796,11 @@ static void mavlink_test_serial_udb_extra_f7(uint8_t system_id, uint8_t componen uint16_t i; mavlink_serial_udb_extra_f7_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, }; mavlink_serial_udb_extra_f7_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -849,12 +849,12 @@ static void mavlink_test_serial_udb_extra_f8(uint8_t system_id, uint8_t componen uint16_t i; mavlink_serial_udb_extra_f8_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 185.0, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, }; mavlink_serial_udb_extra_f8_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -904,9 +904,9 @@ static void mavlink_test_serial_udb_extra_f13(uint8_t system_id, uint8_t compone uint16_t i; mavlink_serial_udb_extra_f13_t packet_in = { 963497464, - 963497672, - 963497880, - 17859, + }963497672, + }963497880, + }17859, }; mavlink_serial_udb_extra_f13_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -953,16 +953,16 @@ static void mavlink_test_serial_udb_extra_f14(uint8_t system_id, uint8_t compone uint16_t i; mavlink_serial_udb_extra_f14_t packet_in = { 963497464, - 17443, - 17547, - 17651, - 163, - 230, - 41, - 108, - 175, - 242, - 53, + }17443, + }17547, + }17651, + }163, + }230, + }41, + }108, + }175, + }242, + }53, }; mavlink_serial_udb_extra_f14_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1016,7 +1016,7 @@ static void mavlink_test_serial_udb_extra_f15(uint8_t system_id, uint8_t compone uint16_t i; mavlink_serial_udb_extra_f15_t packet_in = { { 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44 }, - { 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144 }, + }{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144 }, }; mavlink_serial_udb_extra_f15_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1061,7 +1061,7 @@ static void mavlink_test_serial_udb_extra_f16(uint8_t system_id, uint8_t compone uint16_t i; mavlink_serial_udb_extra_f16_t packet_in = { { 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44 }, - { 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194 }, + }{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194 }, }; mavlink_serial_udb_extra_f16_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1106,12 +1106,12 @@ static void mavlink_test_altitudes(uint8_t system_id, uint8_t component_id, mavl uint16_t i; mavlink_altitudes_t packet_in = { 963497464, - 963497672, - 963497880, - 963498088, - 963498296, - 963498504, - 963498712, + }963497672, + }963497880, + }963498088, + }963498296, + }963498504, + }963498712, }; mavlink_altitudes_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1161,12 +1161,12 @@ static void mavlink_test_airspeeds(uint8_t system_id, uint8_t component_id, mavl uint16_t i; mavlink_airspeeds_t packet_in = { 963497464, - 17443, - 17547, - 17651, - 17755, - 17859, - 17963, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, }; mavlink_airspeeds_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/version.h b/mavlink/include/mavlink/v1.0/matrixpilot/version.h index 59f3d2ded..8c0ab43a9 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/version.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:51 2013" +#define MAVLINK_BUILD_DATE "Mon Dec 16 08:57:49 2013" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254 diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h index 3fc9e6477..7d9fe6295 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 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, 42, 241, 15, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" diff --git a/mavlink/include/mavlink/v1.0/pixhawk/testsuite.h b/mavlink/include/mavlink/v1.0/pixhawk/testsuite.h index 54a7ae5ba..bc418699f 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/testsuite.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/testsuite.h @@ -31,11 +31,11 @@ static void mavlink_test_set_cam_shutter(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_set_cam_shutter_t packet_in = { 17.0, - 17443, - 17547, - 29, - 96, - 163, + }17443, + }17547, + }29, + }96, + }163, }; mavlink_set_cam_shutter_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -84,17 +84,17 @@ static void mavlink_test_image_triggered(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_image_triggered_t packet_in = { 93372036854775807ULL, - 963497880, - 101.0, - 129.0, - 157.0, - 185.0, - 213.0, - 241.0, - 269.0, - 297.0, - 325.0, - 353.0, + }963497880, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }297.0, + }325.0, + }353.0, }; mavlink_image_triggered_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -192,28 +192,28 @@ static void mavlink_test_image_available(uint8_t system_id, uint8_t component_id uint16_t i; mavlink_image_available_t packet_in = { 93372036854775807ULL, - 93372036854776311ULL, - 93372036854776815ULL, - 963498712, - 963498920, - 963499128, - 963499336, - 297.0, - 325.0, - 353.0, - 381.0, - 409.0, - 437.0, - 465.0, - 493.0, - 521.0, - 549.0, - 577.0, - 21603, - 21707, - 21811, - 147, - 214, + }93372036854776311ULL, + }93372036854776815ULL, + }963498712, + }963498920, + }963499128, + }963499336, + }297.0, + }325.0, + }353.0, + }381.0, + }409.0, + }437.0, + }465.0, + }493.0, + }521.0, + }549.0, + }577.0, + }21603, + }21707, + }21811, + }147, + }214, }; mavlink_image_available_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -279,11 +279,11 @@ static void mavlink_test_set_position_control_offset(uint8_t system_id, uint8_t uint16_t i; mavlink_set_position_control_offset_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 53, - 120, + }45.0, + }73.0, + }101.0, + }53, + }120, }; mavlink_set_position_control_offset_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -332,10 +332,10 @@ static void mavlink_test_position_control_setpoint(uint8_t system_id, uint8_t co uint16_t i; mavlink_position_control_setpoint_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 18067, + }45.0, + }73.0, + }101.0, + }18067, }; mavlink_position_control_setpoint_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -383,12 +383,12 @@ static void mavlink_test_marker(uint8_t system_id, uint8_t component_id, mavlink uint16_t i; mavlink_marker_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 18483, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }18483, }; mavlink_marker_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -438,12 +438,12 @@ static void mavlink_test_raw_aux(uint8_t system_id, uint8_t component_id, mavlin uint16_t i; mavlink_raw_aux_t packet_in = { 963497464, - 17443, - 17547, - 17651, - 17755, - 17859, - 17963, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, }; mavlink_raw_aux_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -493,7 +493,7 @@ static void mavlink_test_watchdog_heartbeat(uint8_t system_id, uint8_t component uint16_t i; mavlink_watchdog_heartbeat_t packet_in = { 17235, - 17339, + }17339, }; mavlink_watchdog_heartbeat_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -538,10 +538,10 @@ static void mavlink_test_watchdog_process_info(uint8_t system_id, uint8_t compon uint16_t i; mavlink_watchdog_process_info_t packet_in = { 963497464, - 17443, - 17547, - "IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABC", - "EFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRST", + }17443, + }17547, + }"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABC", + }"EFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRST", }; mavlink_watchdog_process_info_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -589,11 +589,11 @@ static void mavlink_test_watchdog_process_status(uint8_t system_id, uint8_t comp uint16_t i; mavlink_watchdog_process_status_t packet_in = { 963497464, - 17443, - 17547, - 17651, - 163, - 230, + }17443, + }17547, + }17651, + }163, + }230, }; mavlink_watchdog_process_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -642,9 +642,9 @@ static void mavlink_test_watchdog_command(uint8_t system_id, uint8_t component_i uint16_t i; mavlink_watchdog_command_t packet_in = { 17235, - 17339, - 17, - 84, + }17339, + }17, + }84, }; mavlink_watchdog_command_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -691,9 +691,9 @@ static void mavlink_test_pattern_detected(uint8_t system_id, uint8_t component_i uint16_t i; mavlink_pattern_detected_t packet_in = { 17.0, - 17, - "FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZ", - 128, + }17, + }"FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZ", + }128, }; mavlink_pattern_detected_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -740,13 +740,13 @@ static void mavlink_test_point_of_interest(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_point_of_interest_t packet_in = { 17.0, - 45.0, - 73.0, - 17859, - 175, - 242, - 53, - "RSTUVWXYZABCDEFGHIJKLMNOP", + }45.0, + }73.0, + }17859, + }175, + }242, + }53, + }"RSTUVWXYZABCDEFGHIJKLMNOP", }; mavlink_point_of_interest_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -797,16 +797,16 @@ static void mavlink_test_point_of_interest_connection(uint8_t system_id, uint8_t uint16_t i; mavlink_point_of_interest_connection_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 129.0, - 157.0, - 18483, - 211, - 22, - 89, - "DEFGHIJKLMNOPQRSTUVWXYZAB", + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }18483, + }211, + }22, + }89, + }"DEFGHIJKLMNOPQRSTUVWXYZAB", }; mavlink_point_of_interest_connection_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -860,12 +860,12 @@ static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t uint16_t i; mavlink_data_transmission_handshake_t packet_in = { 963497464, - 17443, - 17547, - 29, - 96, - 163, - 230, + }17443, + }17547, + }29, + }96, + }163, + }230, }; mavlink_data_transmission_handshake_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -915,7 +915,7 @@ static void mavlink_test_encapsulated_data(uint8_t system_id, uint8_t component_ uint16_t i; mavlink_encapsulated_data_t packet_in = { 17235, - { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 }, + }{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 }, }; mavlink_encapsulated_data_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -960,13 +960,13 @@ static void mavlink_test_brief_feature(uint8_t system_id, uint8_t component_id, uint16_t i; mavlink_brief_feature_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 18067, - 18171, - 65, - { 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163 }, + }45.0, + }73.0, + }101.0, + }18067, + }18171, + }65, + }{ 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163 }, }; mavlink_brief_feature_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); @@ -1017,14 +1017,14 @@ static void mavlink_test_attitude_control(uint8_t system_id, uint8_t component_i uint16_t i; mavlink_attitude_control_t packet_in = { 17.0, - 45.0, - 73.0, - 101.0, - 53, - 120, - 187, - 254, - 65, + }45.0, + }73.0, + }101.0, + }53, + }120, + }187, + }254, + }65, }; mavlink_attitude_control_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); diff --git a/mavlink/include/mavlink/v1.0/pixhawk/version.h b/mavlink/include/mavlink/v1.0/pixhawk/version.h index 07831a425..9d4c85eba 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/version.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:13 2013" +#define MAVLINK_BUILD_DATE "Mon Dec 16 08:58:02 2013" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index 372453fb6..110bcb363 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -299,15 +299,16 @@ CONFIG_STM32_USART=y # CONFIG_USART2_RS485 is not set CONFIG_USART2_RXDMA=y # CONFIG_USART3_RS485 is not set -# CONFIG_USART3_RXDMA is not set +CONFIG_USART3_RXDMA=y # CONFIG_UART4_RS485 is not set -# CONFIG_UART4_RXDMA is not set +CONFIG_UART4_RXDMA=y +# CONFIG_UART5_RXDMA is not set # CONFIG_USART6_RS485 is not set # CONFIG_USART6_RXDMA is not set # CONFIG_UART7_RS485 is not set # CONFIG_UART7_RXDMA is not set # CONFIG_UART8_RS485 is not set -# CONFIG_UART8_RXDMA is not set +CONFIG_UART8_RXDMA=y CONFIG_SERIAL_DISABLE_REORDERING=y CONFIG_STM32_USART_SINGLEWIRE=y diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h index 62c0d1f17..c341aa2c6 100644 --- a/src/drivers/airspeed/airspeed.h +++ b/src/drivers/airspeed/airspeed.h @@ -119,7 +119,7 @@ protected: virtual int collect() = 0; work_s _work; - float _max_differential_pressure_pa; + float _max_differential_pressure_pa; bool _sensor_ok; int _measure_ticks; bool _collect_phase; diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index 01b89c8fa..81f634992 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -46,7 +46,6 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_controls_effective.h> #include <systemlib/err.h> #include "ardrone_motor_control.h" @@ -384,9 +383,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */ static bool initialized = false; - /* publish effective outputs */ - static struct actuator_controls_effective_s actuator_controls_effective; - static orb_advert_t actuator_controls_effective_pub; /* linearly scale the control inputs from 0 to startpoint_full_control */ if (motor_thrust < startpoint_full_control) { @@ -430,25 +426,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control); } - - - /* publish effective outputs */ - actuator_controls_effective.control_effective[0] = roll_control; - actuator_controls_effective.control_effective[1] = pitch_control; - /* yaw output after limiting */ - actuator_controls_effective.control_effective[2] = yaw_control; - /* possible motor thrust limiting */ - actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f; - - if (!initialized) { - /* advertise and publish */ - actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective); - initialized = true; - } else { - /* already initialized, just publishing */ - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective); - } - /* set the motor values */ /* scale up from 0..1 to 10..500) */ diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index ec8dde499..7ab63953f 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -79,17 +79,37 @@ __BEGIN_DECLS #define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0) #define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) #define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4) +#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) + +/* Data ready pins off */ +#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) +#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) +#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) +#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) + +/* SPI1 off */ +#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) +#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6) +#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7) + +/* SPI1 chip selects off */ +#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) +#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) +#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) /* SPI chip selects */ -#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) -#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) -#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) +#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) +#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) +#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ #define PX4_SPIDEV_GYRO 1 #define PX4_SPIDEV_ACCEL_MAG 2 #define PX4_SPIDEV_BARO 3 +#define PX4_SPIDEV_MPU 4 /* I2C busses */ #define PX4_I2C_BUS_EXPANSION 1 diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c index ae2a645f7..269ec238e 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c @@ -215,9 +215,9 @@ __EXPORT int nsh_archinitialize(void) stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */ stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */ stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */ - stm32_configgpio(GPIO_ADC1_IN10); /* unrouted */ - stm32_configgpio(GPIO_ADC1_IN11); /* unrouted */ - stm32_configgpio(GPIO_ADC1_IN12); /* unrouted */ + // stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */ + // stm32_configgpio(GPIO_ADC1_IN11); /* unused */ + // stm32_configgpio(GPIO_ADC1_IN12); /* used by MPU6000 CS */ stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */ stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */ stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */ @@ -279,6 +279,7 @@ __EXPORT int nsh_archinitialize(void) SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false); SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false); SPI_SELECT(spi1, PX4_SPIDEV_BARO, false); + SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); up_udelay(20); message("[boot] Successfully initialized SPI port 1\n"); diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c index 09838d02f..c66c490a7 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c @@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void) stm32_configgpio(GPIO_SPI_CS_GYRO); stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); stm32_configgpio(GPIO_SPI_CS_BARO); + stm32_configgpio(GPIO_SPI_CS_MPU); /* De-activate all peripherals, * required for some peripheral @@ -81,6 +82,12 @@ __EXPORT void weak_function stm32_spiinitialize(void) stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + + stm32_configgpio(GPIO_EXTI_GYRO_DRDY); + stm32_configgpio(GPIO_EXTI_MAG_DRDY); + stm32_configgpio(GPIO_EXTI_ACCEL_DRDY); + stm32_configgpio(GPIO_EXTI_MPU_DRDY); #endif #ifdef CONFIG_STM32_SPI2 @@ -99,6 +106,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); break; case PX4_SPIDEV_ACCEL_MAG: @@ -106,6 +114,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); break; case PX4_SPIDEV_BARO: @@ -113,6 +122,15 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + break; + + case PX4_SPIDEV_MPU: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected); break; default: diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index 47ebcd40a..7954ce5ab 100644 --- a/src/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp @@ -109,6 +109,42 @@ CDev::~CDev() } int +CDev::register_class_devname(const char *class_devname) +{ + if (class_devname == nullptr) { + return -EINVAL; + } + int class_instance = 0; + int ret = -ENOSPC; + while (class_instance < 4) { + if (class_instance == 0) { + ret = register_driver(class_devname, &fops, 0666, (void *)this); + if (ret == OK) break; + } else { + char name[32]; + snprintf(name, sizeof(name), "%s%u", class_devname, class_instance); + ret = register_driver(name, &fops, 0666, (void *)this); + if (ret == OK) break; + } + class_instance++; + } + if (class_instance == 4) + return ret; + return class_instance; +} + +int +CDev::unregister_class_devname(const char *class_devname, unsigned class_instance) +{ + if (class_instance > 0) { + char name[32]; + snprintf(name, sizeof(name), "%s%u", class_devname, class_instance); + return unregister_driver(name); + } + return unregister_driver(class_devname); +} + +int CDev::init() { // base class init first diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index a9ed5d77c..0235f6284 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -396,6 +396,25 @@ protected: */ virtual int close_last(struct file *filp); + /** + * Register a class device name, automatically adding device + * class instance suffix if need be. + * + * @param class_devname Device class name + * @return class_instamce Class instance created, or -errno on failure + */ + virtual int register_class_devname(const char *class_devname); + + /** + * Register a class device name, automatically adding device + * class instance suffix if need be. + * + * @param class_devname Device class name + * @param class_instance Device class instance from register_class_devname() + * @return OK on success, -errno otherwise + */ + virtual int unregister_class_devname(const char *class_devname, unsigned class_instance); + private: static const unsigned _max_pollwaiters = 8; @@ -488,4 +507,7 @@ private: } // namespace device +// class instance for primary driver of each class +#define CLASS_DEVICE_PRIMARY 0 + #endif /* _DEVICE_DEVICE_H */ diff --git a/src/drivers/device/spi.cpp b/src/drivers/device/spi.cpp index fa6b78d64..fed6c312c 100644 --- a/src/drivers/device/spi.cpp +++ b/src/drivers/device/spi.cpp @@ -181,4 +181,10 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len) return OK; } +void +SPI::set_frequency(uint32_t frequency) +{ + _frequency = frequency; +} + } // namespace device diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h index 9103dca2e..299575dc5 100644 --- a/src/drivers/device/spi.h +++ b/src/drivers/device/spi.h @@ -102,6 +102,17 @@ protected: int transfer(uint8_t *send, uint8_t *recv, unsigned len); /** + * Set the SPI bus frequency + * This is used to change frequency on the fly. Some sensors + * (such as the MPU6000) need a lower frequency for setup + * registers and can handle higher frequency for sensor + * value registers + * + * @param frequency Frequency to set (Hz) + */ + void set_frequency(uint32_t frequency); + + /** * Locking modes supported by the driver. */ enum LockMode { diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index 37af26d52..f60964c2b 100644 --- a/src/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h @@ -46,7 +46,7 @@ /* * PX4FMU GPIO numbers. * - * For shared pins, alternate function 1 selects the non-GPIO mode + * For shared pins, alternate function 1 selects the non-GPIO mode * (USART2, CAN2, etc.) */ # define GPIO_EXT_1 (1<<0) /**< high-power GPIO 1 */ @@ -144,4 +144,6 @@ /** read all the GPIOs and return their values in *(uint32_t *)arg */ #define GPIO_GET GPIOC(12) +#define GPIO_SENSOR_RAIL_RESET GPIOC(13) + #endif /* _DRV_GPIO_H */
\ No newline at end of file diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index 8a99eeca7..d130d68b3 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -142,6 +142,20 @@ __EXPORT extern bool hrt_called(struct hrt_call *entry); __EXPORT extern void hrt_cancel(struct hrt_call *entry); /* + * initialise a hrt_call structure + */ +__EXPORT extern void hrt_call_init(struct hrt_call *entry); + +/* + * delay a hrt_call_every() periodic call by the given number of + * microseconds. This should be called from within the callout to + * cause the callout to be re-scheduled for a later time. The periodic + * callouts will then continue from that new base time at the + * previously specified period. + */ +__EXPORT extern void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay); + +/* * Initialise the HRT. */ __EXPORT extern void hrt_init(void); diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h index 78ffad9d7..6f773b82a 100644 --- a/src/drivers/drv_rc_input.h +++ b/src/drivers/drv_rc_input.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 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 @@ -60,7 +60,7 @@ /** * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. */ -#define RC_INPUT_MAX_CHANNELS 18 +#define RC_INPUT_MAX_CHANNELS 20 /** * Input signal type, value is a control position from zero to 100 @@ -89,6 +89,9 @@ struct rc_input_values { /** number of channels actually being seen */ uint32_t channel_count; + /** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 1000: full reception */ + int32_t rssi; + /** Input source */ enum RC_INPUT_SOURCE input_source; diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 5f0ce4ff8..d3b99ae66 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -77,6 +77,7 @@ */ #define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 +#define HMC5883L_DEVICE_PATH "/dev/hmc5883" /* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */ #define HMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */ @@ -154,6 +155,7 @@ private: float _range_scale; float _range_ga; bool _collect_phase; + int _class_instance; orb_advert_t _mag_topic; @@ -315,12 +317,13 @@ extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]); HMC5883::HMC5883(int bus) : - I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000), + I2C("HMC5883", HMC5883L_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000), _measure_ticks(0), _reports(nullptr), _range_scale(0), /* default range scale from counts to gauss */ _range_ga(1.3f), _mag_topic(-1), + _class_instance(-1), _sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")), _comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")), @@ -351,6 +354,9 @@ HMC5883::~HMC5883() if (_reports != nullptr) delete _reports; + if (_class_instance != -1) + unregister_class_devname(MAG_DEVICE_PATH, _class_instance); + // free perf counters perf_free(_sample_perf); perf_free(_comms_errors); @@ -374,13 +380,17 @@ HMC5883::init() /* reset the device configuration */ reset(); - /* get a publish handle on the mag topic */ - struct mag_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); + _class_instance = register_class_devname(MAG_DEVICE_PATH); + if (_class_instance == CLASS_DEVICE_PRIMARY) { + /* get a publish handle on the mag topic if we are + * the primary mag */ + struct mag_report zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); - if (_mag_topic < 0) - debug("failed to create sensor_mag object"); + if (_mag_topic < 0) + debug("failed to create sensor_mag object"); + } ret = OK; /* sensor is ok, but not calibrated */ @@ -875,8 +885,10 @@ HMC5883::collect() } #endif - /* publish it */ - orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); + if (_mag_topic != -1) { + /* publish it */ + orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); + } /* post a report to the ring */ if (_reports->force(&new_report)) { @@ -1256,7 +1268,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(MAG_DEVICE_PATH, O_RDONLY); + fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); if (fd < 0) goto fail; @@ -1288,10 +1300,10 @@ test() ssize_t sz; int ret; - int fd = open(MAG_DEVICE_PATH, O_RDONLY); + int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH); + err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -1388,10 +1400,10 @@ int calibrate() { int ret; - int fd = open(MAG_DEVICE_PATH, O_RDONLY); + int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH); + err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH); if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) { warnx("failed to enable sensor calibration mode"); @@ -1413,7 +1425,7 @@ int calibrate() void reset() { - int fd = open(MAG_DEVICE_PATH, O_RDONLY); + int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); if (fd < 0) err(1, "failed "); diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 8f5674823..670e51b97 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -66,6 +66,8 @@ #include <board_config.h> #include <mathlib/math/filter/LowPassFilter2p.hpp> +#define L3GD20_DEVICE_PATH "/dev/l3gd20" + /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR @@ -92,9 +94,17 @@ static const int ERROR = -1; #define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */ /* keep lowpass low to avoid noise issues */ #define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) -#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) +#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4)) +#define RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4)) +#define RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) #define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4)) +#define RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4)) +#define RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4)) +#define RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) #define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4)) +#define RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4)) +#define RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4)) +#define RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) #define ADDR_CTRL_REG2 0x21 #define ADDR_CTRL_REG3 0x22 @@ -191,6 +201,7 @@ private: float _gyro_range_scale; float _gyro_range_rad_s; orb_advert_t _gyro_topic; + int _class_instance; unsigned _current_rate; unsigned _orientation; @@ -198,6 +209,8 @@ private: unsigned _read; perf_counter_t _sample_perf; + perf_counter_t _reschedules; + perf_counter_t _errors; math::LowPassFilter2p _gyro_filter_x; math::LowPassFilter2p _gyro_filter_y; @@ -219,6 +232,11 @@ private: void reset(); /** + * disable I2C on the chip + */ + void disable_i2c(); + + /** * Static trampoline from the hrt_call context; because we don't have a * generic hrt wrapper yet. * @@ -298,16 +316,19 @@ private: }; L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : - SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000), + SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */), _call_interval(0), _reports(nullptr), _gyro_range_scale(0.0f), _gyro_range_rad_s(0.0f), _gyro_topic(-1), + _class_instance(-1), _current_rate(0), _orientation(SENSOR_BOARD_ROTATION_270_DEG), _read(0), _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")), + _reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")), + _errors(perf_alloc(PC_COUNT, "l3gd20_errors")), _gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), _gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), _gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ) @@ -333,8 +354,13 @@ L3GD20::~L3GD20() if (_reports != nullptr) delete _reports; + if (_class_instance != -1) + unregister_class_devname(GYRO_DEVICE_PATH, _class_instance); + /* delete the perf counter */ perf_free(_sample_perf); + perf_free(_reschedules); + perf_free(_errors); } int @@ -352,10 +378,13 @@ L3GD20::init() if (_reports == nullptr) goto out; - /* advertise sensor topic */ - struct gyro_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report); + _class_instance = register_class_devname(GYRO_DEVICE_PATH); + if (_class_instance == CLASS_DEVICE_PRIMARY) { + /* advertise sensor topic */ + struct gyro_report zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report); + } reset(); @@ -574,6 +603,7 @@ L3GD20::read_reg(unsigned reg) uint8_t cmd[2]; cmd[0] = reg | DIR_READ; + cmd[1] = 0; transfer(cmd, cmd, sizeof(cmd)); @@ -653,16 +683,15 @@ L3GD20::set_samplerate(unsigned frequency) } else if (frequency <= 200) { _current_rate = 190; - bits |= RATE_190HZ_LP_25HZ; + bits |= RATE_190HZ_LP_50HZ; } else if (frequency <= 400) { _current_rate = 380; - bits |= RATE_380HZ_LP_20HZ; + bits |= RATE_380HZ_LP_50HZ; } else if (frequency <= 800) { _current_rate = 760; - bits |= RATE_760HZ_LP_30HZ; - + bits |= RATE_760HZ_LP_50HZ; } else { return -EINVAL; } @@ -700,12 +729,30 @@ L3GD20::stop() } void +L3GD20::disable_i2c(void) +{ + uint8_t retries = 10; + while (retries--) { + // add retries + uint8_t a = read_reg(0x05); + write_reg(0x05, (0x20 | a)); + if (read_reg(0x05) == (a | 0x20)) { + return; + } + } + debug("FAILED TO DISABLE I2C"); +} + +void L3GD20::reset() { + // ensure the chip doesn't interpret any other bus traffic as I2C + disable_i2c(); + /* set default configuration */ write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ - write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ + write_reg(ADDR_CTRL_REG3, 0x08); /* DRDY enable */ write_reg(ADDR_CTRL_REG4, REG4_BDU); write_reg(ADDR_CTRL_REG5, 0); @@ -716,7 +763,7 @@ L3GD20::reset() * callback fast enough to not miss data. */ write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); - set_samplerate(L3GD20_DEFAULT_RATE); + set_samplerate(0); // 760Hz set_range(L3GD20_DEFAULT_RANGE_DPS); set_driver_lowpass_filter(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ); @@ -732,9 +779,26 @@ L3GD20::measure_trampoline(void *arg) dev->measure(); } +#ifdef GPIO_EXTI_GYRO_DRDY +# define L3GD20_USE_DRDY 1 +#else +# define L3GD20_USE_DRDY 0 +#endif + void L3GD20::measure() { +#if L3GD20_USE_DRDY + // if the gyro doesn't have any data ready then re-schedule + // for 100 microseconds later. This ensures we don't double + // read a value and then miss the next value + if (stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) { + perf_count(_reschedules); + hrt_call_delay(&_call, 100); + return; + } +#endif + /* status register and data as read back from the device */ #pragma pack(push, 1) struct { @@ -753,9 +817,20 @@ L3GD20::measure() perf_begin(_sample_perf); /* fetch data from the sensor */ + memset(&raw_report, 0, sizeof(raw_report)); raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report)); +#if L3GD20_USE_DRDY + if ((raw_report.status & 0xF) != 0xF) { + /* + we waited for DRDY, but did not see DRDY on all axes + when we captured. That means a transfer error of some sort + */ + perf_count(_errors); + return; + } +#endif /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) @@ -833,6 +908,8 @@ L3GD20::print_info() { printf("gyro reads: %u\n", _read); perf_print_counter(_sample_perf); + perf_print_counter(_reschedules); + perf_print_counter(_errors); _reports->print_info("report queue"); } @@ -883,7 +960,7 @@ start() errx(0, "already started"); /* create the driver */ - g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); + g_dev = new L3GD20(1 /* SPI bus 1 */, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); if (g_dev == nullptr) goto fail; @@ -892,7 +969,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(GYRO_DEVICE_PATH, O_RDONLY); + fd = open(L3GD20_DEVICE_PATH, O_RDONLY); if (fd < 0) goto fail; @@ -900,6 +977,8 @@ start() if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) goto fail; + close(fd); + exit(0); fail: @@ -924,10 +1003,10 @@ test() ssize_t sz; /* get the driver */ - fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); + fd_gyro = open(L3GD20_DEVICE_PATH, O_RDONLY); if (fd_gyro < 0) - err(1, "%s open failed", GYRO_DEVICE_PATH); + err(1, "%s open failed", L3GD20_DEVICE_PATH); /* reset to manual polling */ if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) @@ -948,6 +1027,8 @@ test() warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); + close(fd_gyro); + /* XXX add poll-rate tests here too */ reset(); @@ -960,7 +1041,7 @@ test() void reset() { - int fd = open(GYRO_DEVICE_PATH, O_RDONLY); + int fd = open(L3GD20_DEVICE_PATH, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -971,6 +1052,8 @@ reset() if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) err(1, "accel pollrate reset failed"); + close(fd); + exit(0); } diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 60601e22c..969b5e25f 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -39,6 +39,7 @@ #include <nuttx/config.h> #include <sys/types.h> +#include <sys/stat.h> #include <stdint.h> #include <stdbool.h> #include <stddef.h> @@ -63,6 +64,7 @@ #include <drivers/drv_accel.h> #include <drivers/drv_mag.h> #include <drivers/device/ringbuffer.h> +#include <drivers/drv_tone_alarm.h> #include <board_config.h> #include <mathlib/math/filter/LowPassFilter2p.hpp> @@ -78,23 +80,29 @@ static const int ERROR = -1; #define DIR_WRITE (0<<7) #define ADDR_INCREMENT (1<<6) - +#define LSM303D_DEVICE_PATH_ACCEL "/dev/lsm303d_accel" +#define LSM303D_DEVICE_PATH_MAG "/dev/lsm303d_mag" /* register addresses: A: accel, M: mag, T: temp */ #define ADDR_WHO_AM_I 0x0F -#define WHO_I_AM 0x49 - -#define ADDR_OUT_L_T 0x05 -#define ADDR_OUT_H_T 0x06 -#define ADDR_STATUS_M 0x07 -#define ADDR_OUT_X_L_M 0x08 -#define ADDR_OUT_X_H_M 0x09 -#define ADDR_OUT_Y_L_M 0x0A -#define ADDR_OUT_Y_H_M 0x0B -#define ADDR_OUT_Z_L_M 0x0C -#define ADDR_OUT_Z_H_M 0x0D - -#define ADDR_OUT_TEMP_A 0x26 +#define WHO_I_AM 0x49 + +#define ADDR_OUT_TEMP_L 0x05 +#define ADDR_OUT_TEMP_H 0x06 +#define ADDR_STATUS_M 0x07 +#define ADDR_OUT_X_L_M 0x08 +#define ADDR_OUT_X_H_M 0x09 +#define ADDR_OUT_Y_L_M 0x0A +#define ADDR_OUT_Y_H_M 0x0B +#define ADDR_OUT_Z_L_M 0x0C +#define ADDR_OUT_Z_H_M 0x0D + +#define ADDR_INT_CTRL_M 0x12 +#define ADDR_INT_SRC_M 0x13 +#define ADDR_REFERENCE_X 0x1c +#define ADDR_REFERENCE_Y 0x1d +#define ADDR_REFERENCE_Z 0x1e + #define ADDR_STATUS_A 0x27 #define ADDR_OUT_X_L_A 0x28 #define ADDR_OUT_X_H_A 0x29 @@ -112,6 +120,26 @@ static const int ERROR = -1; #define ADDR_CTRL_REG6 0x25 #define ADDR_CTRL_REG7 0x26 +#define ADDR_FIFO_CTRL 0x2e +#define ADDR_FIFO_SRC 0x2f + +#define ADDR_IG_CFG1 0x30 +#define ADDR_IG_SRC1 0x31 +#define ADDR_IG_THS1 0x32 +#define ADDR_IG_DUR1 0x33 +#define ADDR_IG_CFG2 0x34 +#define ADDR_IG_SRC2 0x35 +#define ADDR_IG_THS2 0x36 +#define ADDR_IG_DUR2 0x37 +#define ADDR_CLICK_CFG 0x38 +#define ADDR_CLICK_SRC 0x39 +#define ADDR_CLICK_THS 0x3a +#define ADDR_TIME_LIMIT 0x3b +#define ADDR_TIME_LATENCY 0x3c +#define ADDR_TIME_WINDOW 0x3d +#define ADDR_ACT_THS 0x3e +#define ADDR_ACT_DUR 0x3f + #define REG1_RATE_BITS_A ((1<<7) | (1<<6) | (1<<5) | (1<<4)) #define REG1_POWERDOWN_A ((0<<7) | (0<<6) | (0<<5) | (0<<4)) #define REG1_RATE_3_125HZ_A ((0<<7) | (0<<6) | (0<<5) | (1<<4)) @@ -201,6 +229,21 @@ public: */ void print_info(); + /** + * dump register values + */ + void print_registers(); + + /** + * toggle logging + */ + void toggle_logging(); + + /** + * check for extreme accel values + */ + void check_extremes(const accel_report *arb); + protected: virtual int probe(); @@ -234,7 +277,7 @@ private: unsigned _mag_samplerate; orb_advert_t _accel_topic; - orb_advert_t _mag_topic; + int _class_instance; unsigned _accel_read; unsigned _mag_read; @@ -243,6 +286,8 @@ private: perf_counter_t _mag_sample_perf; perf_counter_t _reg7_resets; perf_counter_t _reg1_resets; + perf_counter_t _extreme_values; + perf_counter_t _accel_reschedules; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -253,6 +298,15 @@ private: uint8_t _reg7_expected; uint8_t _reg1_expected; + // accel logging + int _accel_log_fd; + bool _accel_logging_enabled; + uint64_t _last_extreme_us; + uint64_t _last_log_us; + uint64_t _last_log_sync_us; + uint64_t _last_log_reg_us; + uint64_t _last_log_alarm_us; + /** * Start automatic measurement. */ @@ -271,6 +325,11 @@ private: void reset(); /** + * disable I2C on the chip + */ + void disable_i2c(); + + /** * Static trampoline from the hrt_call context; because we don't have a * generic hrt wrapper yet. * @@ -408,6 +467,8 @@ public: virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + virtual int init(); + protected: friend class LSM303D; @@ -415,6 +476,9 @@ protected: private: LSM303D *_parent; + orb_advert_t _mag_topic; + int _mag_class_instance; + void measure(); void measure_trampoline(void *arg); @@ -422,7 +486,7 @@ private: LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : - SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000), + SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */), _mag(new LSM303D_mag(this)), _call_accel_interval(0), _call_mag_interval(0), @@ -436,18 +500,26 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : _mag_range_scale(0.0f), _mag_samplerate(0), _accel_topic(-1), - _mag_topic(-1), + _class_instance(-1), _accel_read(0), _mag_read(0), _accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")), _mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")), _reg1_resets(perf_alloc(PC_COUNT, "lsm303d_reg1_resets")), _reg7_resets(perf_alloc(PC_COUNT, "lsm303d_reg7_resets")), + _extreme_values(perf_alloc(PC_COUNT, "lsm303d_extremes")), + _accel_reschedules(perf_alloc(PC_COUNT, "lsm303d_accel_resched")), _accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _reg1_expected(0), - _reg7_expected(0) + _reg7_expected(0), + _accel_log_fd(-1), + _accel_logging_enabled(false), + _last_log_us(0), + _last_log_sync_us(0), + _last_log_reg_us(0), + _last_log_alarm_us(0) { // enable debug() calls _debug_enabled = true; @@ -479,11 +551,17 @@ LSM303D::~LSM303D() if (_mag_reports != nullptr) delete _mag_reports; + if (_class_instance != -1) + unregister_class_devname(ACCEL_DEVICE_PATH, _class_instance); + delete _mag; /* delete the perf counter */ perf_free(_accel_sample_perf); perf_free(_mag_sample_perf); + perf_free(_reg1_resets); + perf_free(_reg7_resets); + perf_free(_extreme_values); } int @@ -505,10 +583,6 @@ LSM303D::init() goto out; /* advertise accel topic */ - struct accel_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report); - _mag_reports = new RingBuffer(2, sizeof(mag_report)); if (_mag_reports == nullptr) @@ -516,26 +590,45 @@ LSM303D::init() reset(); - /* advertise mag topic */ - struct mag_report zero_mag_report; - memset(&zero_mag_report, 0, sizeof(zero_mag_report)); - _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_mag_report); - - /* do CDev init for the mag device node, keep it optional */ - mag_ret = _mag->init(); + /* do CDev init for the mag device node */ + ret = _mag->init(); + if (ret != OK) { + warnx("MAG init failed"); + goto out; + } - if (mag_ret != OK) { - _mag_topic = -1; + _class_instance = register_class_devname(ACCEL_DEVICE_PATH); + if (_class_instance == CLASS_DEVICE_PRIMARY) { + // we are the primary accel device, so advertise to + // the ORB + struct accel_report zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report); } - ret = OK; out: return ret; } void +LSM303D::disable_i2c(void) +{ + uint8_t a = read_reg(0x02); + write_reg(0x02, (0x10 | a)); + a = read_reg(0x02); + write_reg(0x02, (0xF7 & a)); + a = read_reg(0x15); + write_reg(0x15, (0x80 | a)); + a = read_reg(0x02); + write_reg(0x02, (0xE7 & a)); +} + +void LSM303D::reset() { + // ensure the chip doesn't interpret any other bus traffic as I2C + disable_i2c(); + /* enable accel*/ _reg1_expected = REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A; write_reg(ADDR_CTRL_REG1, _reg1_expected); @@ -544,10 +637,17 @@ LSM303D::reset() _reg7_expected = REG7_CONT_MODE_M; write_reg(ADDR_CTRL_REG7, _reg7_expected); write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); + write_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1 + write_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2 accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ); + + // we setup the anti-alias on-chip filter as 50Hz. We believe + // this operates in the analog domain, and is critical for + // anti-aliasing. The 2 pole software filter is designed to + // operate in conjunction with this on-chip filter accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); @@ -572,6 +672,122 @@ LSM303D::probe() return -EIO; } +#define ACCEL_LOGFILE "/fs/microsd/lsm303d.log" + +/** + check for extreme accelerometer values and log to a file on the SD card + */ +void +LSM303D::check_extremes(const accel_report *arb) +{ + const float extreme_threshold = 30; + static bool boot_ok = false; + bool is_extreme = (fabsf(arb->x) > extreme_threshold && + fabsf(arb->y) > extreme_threshold && + fabsf(arb->z) > extreme_threshold); + if (is_extreme) { + perf_count(_extreme_values); + // force accel logging on if we see extreme values + _accel_logging_enabled = true; + } else { + boot_ok = true; + } + + if (! _accel_logging_enabled) { + // logging has been disabled by user, close + if (_accel_log_fd != -1) { + ::close(_accel_log_fd); + _accel_log_fd = -1; + } + return; + } + if (_accel_log_fd == -1) { + // keep last 10 logs + ::unlink(ACCEL_LOGFILE ".9"); + for (uint8_t i=8; i>0; i--) { + uint8_t len = strlen(ACCEL_LOGFILE)+3; + char log1[len], log2[len]; + snprintf(log1, sizeof(log1), "%s.%u", ACCEL_LOGFILE, (unsigned)i); + snprintf(log2, sizeof(log2), "%s.%u", ACCEL_LOGFILE, (unsigned)(i+1)); + ::rename(log1, log2); + } + ::rename(ACCEL_LOGFILE, ACCEL_LOGFILE ".1"); + + // open the new logfile + _accel_log_fd = ::open(ACCEL_LOGFILE, O_WRONLY|O_CREAT|O_TRUNC, 0666); + if (_accel_log_fd == -1) { + return; + } + } + + uint64_t now = hrt_absolute_time(); + // log accels at 1Hz + if (_last_log_us == 0 || + now - _last_log_us > 1000*1000) { + _last_log_us = now; + ::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n", + (unsigned long long)arb->timestamp, + arb->x, arb->y, arb->z, + (int)arb->x_raw, + (int)arb->y_raw, + (int)arb->z_raw, + (unsigned)boot_ok); + } + + const uint8_t reglist[] = { ADDR_WHO_AM_I, 0x02, 0x15, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1, + ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG6, + ADDR_CTRL_REG7, ADDR_OUT_TEMP_L, ADDR_OUT_TEMP_H, ADDR_INT_CTRL_M, ADDR_INT_SRC_M, + ADDR_REFERENCE_X, ADDR_REFERENCE_Y, ADDR_REFERENCE_Z, ADDR_OUT_X_L_A, ADDR_OUT_X_H_A, + ADDR_OUT_Y_L_A, ADDR_OUT_Y_H_A, ADDR_OUT_Z_L_A, ADDR_OUT_Z_H_A, ADDR_FIFO_CTRL, + ADDR_FIFO_SRC, ADDR_IG_CFG1, ADDR_IG_SRC1, ADDR_IG_THS1, ADDR_IG_DUR1, ADDR_IG_CFG2, + ADDR_IG_SRC2, ADDR_IG_THS2, ADDR_IG_DUR2, ADDR_CLICK_CFG, ADDR_CLICK_SRC, + ADDR_CLICK_THS, ADDR_TIME_LIMIT, ADDR_TIME_LATENCY, ADDR_TIME_WINDOW, + ADDR_ACT_THS, ADDR_ACT_DUR, + ADDR_OUT_X_L_M, ADDR_OUT_X_H_M, + ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M, 0x02, 0x15, ADDR_WHO_AM_I}; + uint8_t regval[sizeof(reglist)]; + for (uint8_t i=0; i<sizeof(reglist); i++) { + regval[i] = read_reg(reglist[i]); + } + + // log registers at 10Hz when we have extreme values, or 0.5 Hz without + if (_last_log_reg_us == 0 || + (is_extreme && (now - _last_log_reg_us > 250*1000)) || + (now - _last_log_reg_us > 10*1000*1000)) { + _last_log_reg_us = now; + ::dprintf(_accel_log_fd, "XREG %llu", (unsigned long long)hrt_absolute_time()); + for (uint8_t i=0; i<sizeof(reglist); i++) { + ::dprintf(_accel_log_fd, " %02x:%02x", (unsigned)reglist[i], (unsigned)regval[i]); + } + ::dprintf(_accel_log_fd, "\n"); + } + + // fsync at 0.1Hz + if (now - _last_log_sync_us > 10*1000*1000) { + _last_log_sync_us = now; + ::fsync(_accel_log_fd); + } + + // play alarm every 10s if we have had an extreme value + if (perf_event_count(_extreme_values) != 0 && + (now - _last_log_alarm_us > 10*1000*1000)) { + _last_log_alarm_us = now; + int tfd = ::open(TONEALARM_DEVICE_PATH, 0); + if (tfd != -1) { + uint8_t tone = 3; + if (!is_extreme) { + tone = 3; + } else if (boot_ok) { + tone = 4; + } else { + tone = 5; + } + ::ioctl(tfd, TONE_SET_ALARM, tone); + ::close(tfd); + } + } +} + ssize_t LSM303D::read(struct file *filp, char *buffer, size_t buflen) { @@ -590,6 +806,7 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen) */ while (count--) { if (_accel_reports->get(arb)) { + check_extremes(arb); ret += sizeof(*arb); arb++; } @@ -952,6 +1169,7 @@ LSM303D::read_reg(unsigned reg) uint8_t cmd[2]; cmd[0] = reg | DIR_READ; + cmd[1] = 0; transfer(cmd, cmd, sizeof(cmd)); @@ -1224,6 +1442,14 @@ LSM303D::mag_measure_trampoline(void *arg) void LSM303D::measure() { + // if the accel doesn't have any data ready then re-schedule + // for 100 microseconds later. This ensures we don't double + // read a value and then miss the next value + if (stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { + perf_count(_accel_reschedules); + hrt_call_delay(&_accel_call, 100); + return; + } if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) { perf_count(_reg1_resets); reset(); @@ -1248,6 +1474,7 @@ LSM303D::measure() perf_begin(_accel_sample_perf); /* fetch data from the sensor */ + memset(&raw_accel_report, 0, sizeof(raw_accel_report)); raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report)); @@ -1290,8 +1517,10 @@ LSM303D::measure() /* notify anyone waiting for data */ poll_notify(POLLIN); - /* publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); + if (_accel_topic != -1) { + /* publish for subscribers */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); + } _accel_read++; @@ -1325,6 +1554,7 @@ LSM303D::mag_measure() perf_begin(_mag_sample_perf); /* fetch data from the sensor */ + memset(&raw_mag_report, 0, sizeof(raw_mag_report)); raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report)); @@ -1361,8 +1591,10 @@ LSM303D::mag_measure() /* notify anyone waiting for data */ poll_notify(POLLIN); - /* publish for subscribers */ - orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report); + if (_mag->_mag_topic != -1) { + /* publish for subscribers */ + orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report); + } _mag_read++; @@ -1380,14 +1612,111 @@ LSM303D::print_info() _mag_reports->print_info("mag reports"); } +void +LSM303D::print_registers() +{ + const struct { + uint8_t reg; + const char *name; + } regmap[] = { + { ADDR_WHO_AM_I, "WHO_AM_I" }, + { 0x02, "I2C_CONTROL1" }, + { 0x15, "I2C_CONTROL2" }, + { ADDR_STATUS_A, "STATUS_A" }, + { ADDR_STATUS_M, "STATUS_M" }, + { ADDR_CTRL_REG0, "CTRL_REG0" }, + { ADDR_CTRL_REG1, "CTRL_REG1" }, + { ADDR_CTRL_REG2, "CTRL_REG2" }, + { ADDR_CTRL_REG3, "CTRL_REG3" }, + { ADDR_CTRL_REG4, "CTRL_REG4" }, + { ADDR_CTRL_REG5, "CTRL_REG5" }, + { ADDR_CTRL_REG6, "CTRL_REG6" }, + { ADDR_CTRL_REG7, "CTRL_REG7" }, + { ADDR_OUT_TEMP_L, "TEMP_L" }, + { ADDR_OUT_TEMP_H, "TEMP_H" }, + { ADDR_INT_CTRL_M, "INT_CTRL_M" }, + { ADDR_INT_SRC_M, "INT_SRC_M" }, + { ADDR_REFERENCE_X, "REFERENCE_X" }, + { ADDR_REFERENCE_Y, "REFERENCE_Y" }, + { ADDR_REFERENCE_Z, "REFERENCE_Z" }, + { ADDR_OUT_X_L_A, "ACCEL_XL" }, + { ADDR_OUT_X_H_A, "ACCEL_XH" }, + { ADDR_OUT_Y_L_A, "ACCEL_YL" }, + { ADDR_OUT_Y_H_A, "ACCEL_YH" }, + { ADDR_OUT_Z_L_A, "ACCEL_ZL" }, + { ADDR_OUT_Z_H_A, "ACCEL_ZH" }, + { ADDR_FIFO_CTRL, "FIFO_CTRL" }, + { ADDR_FIFO_SRC, "FIFO_SRC" }, + { ADDR_IG_CFG1, "IG_CFG1" }, + { ADDR_IG_SRC1, "IG_SRC1" }, + { ADDR_IG_THS1, "IG_THS1" }, + { ADDR_IG_DUR1, "IG_DUR1" }, + { ADDR_IG_CFG2, "IG_CFG2" }, + { ADDR_IG_SRC2, "IG_SRC2" }, + { ADDR_IG_THS2, "IG_THS2" }, + { ADDR_IG_DUR2, "IG_DUR2" }, + { ADDR_CLICK_CFG, "CLICK_CFG" }, + { ADDR_CLICK_SRC, "CLICK_SRC" }, + { ADDR_CLICK_THS, "CLICK_THS" }, + { ADDR_TIME_LIMIT, "TIME_LIMIT" }, + { ADDR_TIME_LATENCY,"TIME_LATENCY" }, + { ADDR_TIME_WINDOW, "TIME_WINDOW" }, + { ADDR_ACT_THS, "ACT_THS" }, + { ADDR_ACT_DUR, "ACT_DUR" } + }; + for (uint8_t i=0; i<sizeof(regmap)/sizeof(regmap[0]); i++) { + printf("0x%02x %s\n", read_reg(regmap[i].reg), regmap[i].name); + } + printf("_reg1_expected=0x%02x\n", _reg1_expected); + printf("_reg7_expected=0x%02x\n", _reg7_expected); +} + +void +LSM303D::toggle_logging() +{ + if (! _accel_logging_enabled) { + _accel_logging_enabled = true; + printf("Started logging to %s\n", ACCEL_LOGFILE); + } else { + _accel_logging_enabled = false; + printf("Stopped logging\n"); + } +} + LSM303D_mag::LSM303D_mag(LSM303D *parent) : - CDev("LSM303D_mag", MAG_DEVICE_PATH), - _parent(parent) + CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG), + _parent(parent), + _mag_topic(-1), + _mag_class_instance(-1) { } LSM303D_mag::~LSM303D_mag() { + if (_mag_class_instance != -1) + unregister_class_devname(MAG_DEVICE_PATH, _mag_class_instance); +} + +int +LSM303D_mag::init() +{ + int ret; + + ret = CDev::init(); + if (ret != OK) + goto out; + + _mag_class_instance = register_class_devname(MAG_DEVICE_PATH); + if (_mag_class_instance == CLASS_DEVICE_PRIMARY) { + // we are the primary mag device, so advertise to + // the ORB + struct mag_report zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); + } + +out: + return ret; } void @@ -1432,6 +1761,8 @@ void start(); void test(); void reset(); void info(); +void regdump(); +void logging(); /** * Start the driver. @@ -1445,7 +1776,7 @@ start() errx(0, "already started"); /* create the driver */ - g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); + g_dev = new LSM303D(1 /* SPI dev 1 */, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); if (g_dev == nullptr) { warnx("failed instantiating LSM303D obj"); @@ -1456,7 +1787,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + fd = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY); if (fd < 0) goto fail; @@ -1464,7 +1795,7 @@ start() if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) goto fail; - fd_mag = open(MAG_DEVICE_PATH, O_RDONLY); + fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY); /* don't fail if open cannot be opened */ if (0 <= fd_mag) { @@ -1473,6 +1804,8 @@ start() } } + close(fd); + close(fd_mag); exit(0); fail: @@ -1499,10 +1832,10 @@ test() int ret; /* get the driver */ - fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY); + fd_accel = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY); if (fd_accel < 0) - err(1, "%s open failed", ACCEL_DEVICE_PATH); + err(1, "%s open failed", LSM303D_DEVICE_PATH_ACCEL); /* do a simple demand read */ sz = read(fd_accel, &accel_report, sizeof(accel_report)); @@ -1528,10 +1861,10 @@ test() struct mag_report m_report; /* get the driver */ - fd_mag = open(MAG_DEVICE_PATH, O_RDONLY); + fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY); if (fd_mag < 0) - err(1, "%s open failed", MAG_DEVICE_PATH); + err(1, "%s open failed", LSM303D_DEVICE_PATH_MAG); /* check if mag is onboard or external */ if ((ret = ioctl(fd_mag, MAGIOCGEXTERNAL, 0)) < 0) @@ -1554,6 +1887,9 @@ test() /* XXX add poll-rate tests here too */ + close(fd_accel); + close(fd_mag); + reset(); errx(0, "PASS"); } @@ -1564,7 +1900,7 @@ test() void reset() { - int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + int fd = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -1575,7 +1911,9 @@ reset() if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) err(1, "accel pollrate reset failed"); - fd = open(MAG_DEVICE_PATH, O_RDONLY); + close(fd); + + fd = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY); if (fd < 0) { warnx("mag could not be opened, external mag might be used"); @@ -1585,6 +1923,8 @@ reset() err(1, "mag pollrate reset failed"); } + close(fd); + exit(0); } @@ -1603,6 +1943,35 @@ info() exit(0); } +/** + * dump registers from device + */ +void +regdump() +{ + if (g_dev == nullptr) + errx(1, "driver not running\n"); + + printf("regdump @ %p\n", g_dev); + g_dev->print_registers(); + + exit(0); +} + +/** + * toggle logging + */ +void +logging() +{ + if (g_dev == nullptr) + errx(1, "driver not running\n"); + + g_dev->toggle_logging(); + + exit(0); +} + } // namespace @@ -1634,5 +2003,17 @@ lsm303d_main(int argc, char *argv[]) if (!strcmp(argv[1], "info")) lsm303d::info(); - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); + /* + * dump device registers + */ + if (!strcmp(argv[1], "regdump")) + lsm303d::regdump(); + + /* + * dump device registers + */ + if (!strcmp(argv[1], "logging")) + lsm303d::logging(); + + errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'"); } diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index b93f38cf6..30d6069b3 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -1,6 +1,7 @@ /**************************************************************************** * * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. + * Author: Marco Bauer <marco@wtns.de> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,7 +36,8 @@ * @file mkblctrl.cpp * * Driver/configurator for the Mikrokopter BL-Ctrl. - * Marco Bauer + * + * @author Marco Bauer <marco@wtns.de> * */ @@ -73,7 +75,6 @@ #include <drivers/drv_mixer.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/esc_status.h> @@ -89,8 +90,8 @@ #define BLCTRL_MIN_VALUE -0.920F #define MOTOR_STATE_PRESENT_MASK 0x80 #define MOTOR_STATE_ERROR_MASK 0x7F -#define MOTOR_SPINUP_COUNTER 2500 -#define ESC_UORB_PUBLISH_DELAY 200 +#define MOTOR_SPINUP_COUNTER 30 +#define ESC_UORB_PUBLISH_DELAY 500000 class MK : public device::I2C { @@ -112,7 +113,7 @@ public: FRAME_X, }; - MK(int bus); + MK(int bus, const char *_device_path); ~MK(); virtual int ioctl(file *filp, int cmd, unsigned long arg); @@ -126,7 +127,7 @@ public: int set_overrideSecurityChecks(bool overrideSecurityChecks); int set_px4mode(int px4mode); int set_frametype(int frametype); - unsigned int mk_check_for_blctrl(unsigned int count, bool showOutput); + unsigned int mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C); private: static const unsigned _max_actuators = MAX_MOTORS; @@ -141,9 +142,9 @@ private: unsigned int _motor; int _px4mode; int _frametype; + char _device[20]; ///< device orb_advert_t _t_outputs; - orb_advert_t _t_actuators_effective; orb_advert_t _t_esc_status; unsigned int _num_outputs; @@ -244,7 +245,7 @@ MK *g_mk; } // namespace -MK::MK(int bus) : +MK::MK(int bus, const char *_device_path) : I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED), _mode(MODE_NONE), _update_rate(50), @@ -252,7 +253,6 @@ MK::MK(int bus) : _t_actuators(-1), _t_actuator_armed(-1), _t_outputs(0), - _t_actuators_effective(0), _t_esc_status(0), _num_outputs(0), _motortest(false), @@ -265,6 +265,10 @@ MK::MK(int bus) : _armed(false), _mixers(nullptr) { + strncpy(_device, _device_path, sizeof(_device)); + /* enforce null termination */ + _device[sizeof(_device) - 1] = '\0'; + _debug_enabled = true; } @@ -291,7 +295,7 @@ MK::~MK() /* clean up the alternate device node */ if (_primary_pwm_device) - unregister_driver(PWM_OUTPUT_DEVICE_PATH); + unregister_driver(_device); g_mk = nullptr; } @@ -313,13 +317,15 @@ MK::init(unsigned motors) usleep(500000); - /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ - ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); + if (sizeof(_device) > 0) { + ret = register_driver(_device, &fops, 0666, (void *)this); - if (ret == OK) { - log("default PWM output device"); - _primary_pwm_device = true; - } + if (ret == OK) { + log("creating alternate output device"); + _primary_pwm_device = true; + } + + } /* reset GPIOs */ gpio_reset(); @@ -525,13 +531,6 @@ MK::task_main() _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), &outputs); - /* advertise the effective control inputs */ - actuator_controls_effective_s controls_effective; - memset(&controls_effective, 0, sizeof(controls_effective)); - /* advertise the effective control inputs */ - _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), - &controls_effective); - /* advertise the blctrl status */ esc_status_s esc; memset(&esc, 0, sizeof(esc)); @@ -595,9 +594,6 @@ MK::task_main() outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs); outputs.timestamp = hrt_absolute_time(); - // XXX output actual limited values - memcpy(&controls_effective, &_controls, sizeof(controls_effective)); - /* iterate actuators */ for (unsigned int i = 0; i < _num_outputs; i++) { @@ -633,10 +629,7 @@ MK::task_main() } /* output to BLCtrl's */ - if (_motortest == true) { - mk_servo_test(i); - - } else { + if (_motortest != true) { //mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024)); // scale the output to 0 - 1024 and sent to output routine // 11 Bit Motor[i].SetPoint_PX4 = outputs.output[i]; @@ -668,7 +661,7 @@ MK::task_main() * Only update esc topic every half second. */ - if (hrt_absolute_time() - esc.timestamp > 500000) { + if (hrt_absolute_time() - esc.timestamp > ESC_UORB_PUBLISH_DELAY) { esc.counter++; esc.timestamp = hrt_absolute_time(); esc.esc_count = (uint8_t) _num_outputs; @@ -692,16 +685,22 @@ MK::task_main() esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature; esc.esc[i].esc_state = (uint16_t) Motor[i].State; esc.esc[i].esc_errorcount = (uint16_t) 0; + + // if motortest is requested - do it... + if (_motortest == true) { + mk_servo_test(i); + } + } orb_publish(ORB_ID(esc_status), _t_esc_status, &esc); + } } - //::close(_t_esc_status); + ::close(_t_esc_status); ::close(_t_actuators); - ::close(_t_actuators_effective); ::close(_t_actuator_armed); @@ -727,8 +726,12 @@ MK::mk_servo_arm(bool status) unsigned int -MK::mk_check_for_blctrl(unsigned int count, bool showOutput) +MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) { + if(initI2C) { + I2C::init(); + } + _retries = 50; uint8_t foundMotorCount = 0; @@ -952,6 +955,7 @@ MK::mk_servo_test(unsigned int chan) if (_motor >= _num_outputs) { _motor = -1; _motortest = false; + fprintf(stderr, "[mkblctrl] Motortest finished...\n"); } } @@ -1367,7 +1371,7 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, /* count used motors */ do { - if (g_mk->mk_check_for_blctrl(8, false) != 0) { + if (g_mk->mk_check_for_blctrl(8, false, false) != 0) { shouldStop = 4; } else { @@ -1377,7 +1381,7 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, sleep(1); } while (shouldStop < 3); - g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true)); + g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true, false)); /* (re)set the PWM output mode */ g_mk->set_mode(servo_mode); @@ -1390,13 +1394,13 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, } int -mk_start(unsigned bus, unsigned motors) +mk_start(unsigned bus, unsigned motors, char *device_path) { int ret = OK; if (g_mk == nullptr) { - g_mk = new MK(bus); + g_mk = new MK(bus, device_path); if (g_mk == nullptr) { ret = -ENOMEM; @@ -1415,6 +1419,52 @@ mk_start(unsigned bus, unsigned motors) } +int +mk_check_for_i2c_esc_bus(char *device_path, int motors) +{ + int ret; + + if (g_mk == nullptr) { + + g_mk = new MK(3, device_path); + + if (g_mk == nullptr) { + return -1; + + } else { + ret = g_mk->mk_check_for_blctrl(8, false, true); + delete g_mk; + g_mk = nullptr; + + if (ret > 0) { + return 3; + } + + } + + + g_mk = new MK(1, device_path); + + if (g_mk == nullptr) { + return -1; + + } else { + ret = g_mk->mk_check_for_blctrl(8, false, true); + delete g_mk; + g_mk = nullptr; + + if (ret > 0) { + return 1; + } + + } + } + + return -1; +} + + + } // namespace extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]); @@ -1425,13 +1475,14 @@ mkblctrl_main(int argc, char *argv[]) PortMode port_mode = PORT_FULL_PWM; int pwm_update_rate_in_hz = UPDATE_RATE; int motorcount = 8; - int bus = 1; + int bus = -1; int px4mode = MAPPING_PX4; int frametype = FRAME_PLUS; // + plus is default bool motortest = false; bool overrideSecurityChecks = false; bool showHelp = false; bool newMode = false; + char *devicepath = ""; /* * optional parameters @@ -1491,36 +1542,69 @@ mkblctrl_main(int argc, char *argv[]) newMode = true; } + /* look for the optional device parameter */ + if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { + if (argc > i + 1) { + devicepath = argv[i + 1]; + newMode = true; + + } else { + errx(1, "missing the devicename (-d)"); + return 1; + } + } + } if (showHelp) { fprintf(stderr, "mkblctrl: help:\n"); - fprintf(stderr, " [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [--override-security-checks] [-h / --help]\n\n"); - fprintf(stderr, "\t -mkmode frame {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n"); - fprintf(stderr, "\t -b i2c_bus_number \t\t Set the i2c bus where the ESCs are connected to (default 1).\n"); - fprintf(stderr, "\t -t motortest \t\t\t Spin up once every motor in order of motoraddress. (DANGER !!!)\n"); + fprintf(stderr, " [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]\n\n"); + fprintf(stderr, "\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n"); + fprintf(stderr, "\t -b {i2c_bus_number} \t\t Set the i2c bus where the ESCs are connected to (default autoscan).\n"); + fprintf(stderr, "\t -d {devicepath & name}\t\t Create alternate pwm device.\n"); fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n"); + fprintf(stderr, "\n"); + fprintf(stderr, "Motortest:\n"); + fprintf(stderr, "First you have to start mkblctrl, the you can enter Motortest Mode with:\n"); + fprintf(stderr, "mkblctrl -t\n"); + fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n"); exit(1); } - if (g_mk == nullptr) { - if (mk_start(bus, motorcount) != OK) { - errx(1, "failed to start the MK-BLCtrl driver"); - - } else { - newMode = true; - } - } - - - /* parameter set ? */ - if (newMode) { - /* switch parameter */ - return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); - } - - /* test, etc. here g*/ - - exit(1); + if (!motortest) { + if (g_mk == nullptr) { + if (bus == -1) { + bus = mk_check_for_i2c_esc_bus(devicepath, motorcount); + } + + if (bus != -1) { + if (mk_start(bus, motorcount, devicepath) != OK) { + errx(1, "failed to start the MK-BLCtrl driver"); + } + } else { + errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)"); + } + + /* parameter set ? */ + if (newMode) { + /* switch parameter */ + return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); + } + + exit(0); + } else { + errx(1, "MK-BLCtrl driver already running"); + } + + } else { + if (g_mk == nullptr) { + errx(1, "MK-BLCtrl driver not running. You have to start it first."); + + } else { + g_mk->set_motor_test(motortest); + exit(0); + + } + } } diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 70359110e..bbc595af4 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -75,6 +75,9 @@ #define DIR_READ 0x80 #define DIR_WRITE 0x00 +#define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel" +#define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro" + // MPU 6000 registers #define MPUREG_WHOAMI 0x75 #define MPUREG_SMPLRT_DIV 0x19 @@ -161,6 +164,14 @@ #define MPU6000_ONE_G 9.80665f +/* + the MPU6000 can only handle high SPI bus speeds on the sensor and + interrupt status registers. All other registers have a maximum 1MHz + SPI speed + */ +#define MPU6000_LOW_BUS_SPEED 1000*1000 +#define MPU6000_HIGH_BUS_SPEED 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */ + class MPU6000_gyro; class MPU6000 : public device::SPI @@ -200,17 +211,19 @@ private: float _accel_range_scale; float _accel_range_m_s2; orb_advert_t _accel_topic; + int _accel_class_instance; RingBuffer *_gyro_reports; struct gyro_scale _gyro_scale; float _gyro_range_scale; float _gyro_range_rad_s; - orb_advert_t _gyro_topic; - unsigned _reads; unsigned _sample_rate; + perf_counter_t _accel_reads; + perf_counter_t _gyro_reads; perf_counter_t _sample_perf; + perf_counter_t _bad_transfers; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -338,12 +351,17 @@ public: virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + virtual int init(); + protected: friend class MPU6000; void parent_poll_notify(); + private: MPU6000 *_parent; + orb_advert_t _gyro_topic; + int _gyro_class_instance; }; @@ -351,7 +369,7 @@ private: extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); } MPU6000::MPU6000(int bus, spi_dev_e device) : - SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 10000000), + SPI("MPU6000", MPU_DEVICE_PATH_ACCEL, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED), _gyro(new MPU6000_gyro(this)), _product(0), _call_interval(0), @@ -359,13 +377,15 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _accel_range_scale(0.0f), _accel_range_m_s2(0.0f), _accel_topic(-1), + _accel_class_instance(-1), _gyro_reports(nullptr), _gyro_range_scale(0.0f), _gyro_range_rad_s(0.0f), - _gyro_topic(-1), - _reads(0), _sample_rate(1000), + _accel_reads(perf_alloc(PC_COUNT, "mpu6000_accel_read")), + _gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), + _bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")), _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), @@ -409,8 +429,14 @@ MPU6000::~MPU6000() if (_gyro_reports != nullptr) delete _gyro_reports; + if (_accel_class_instance != -1) + unregister_class_devname(ACCEL_DEVICE_PATH, _accel_class_instance); + /* delete the perf counter */ perf_free(_sample_perf); + perf_free(_accel_reads); + perf_free(_gyro_reads); + perf_free(_bad_transfers); } int @@ -455,24 +481,23 @@ MPU6000::init() _gyro_scale.z_scale = 1.0f; /* do CDev init for the gyro device node, keep it optional */ - gyro_ret = _gyro->init(); + ret = _gyro->init(); + /* if probe/setup failed, bail now */ + if (ret != OK) { + debug("gyro init failed"); + return ret; + } /* fetch an initial set of measurements for advertisement */ measure(); - if (gyro_ret != OK) { - _gyro_topic = -1; - } else { - gyro_report gr; - _gyro_reports->get(&gr); - - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); - } - - /* advertise accel topic */ - accel_report ar; - _accel_reports->get(&ar); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); + _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); + if (_accel_class_instance == CLASS_DEVICE_PRIMARY) { + /* advertise accel topic */ + accel_report ar; + _accel_reports->get(&ar); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); + } out: return ret; @@ -480,17 +505,26 @@ out: void MPU6000::reset() { + // if the mpu6000 is initialised after the l3gd20 and lsm303d + // then if we don't do an irqsave/irqrestore here the mpu6000 + // frequenctly comes up in a bad state where all transfers + // come as zero + irqstate_t state; + state = irqsave(); - // Chip reset write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); up_udelay(10000); - // Wake up device and select GyroZ clock (better performance) + // Wake up device and select GyroZ clock. Note that the + // MPU6000 starts up in sleep mode, and it can take some time + // for it to come out of sleep write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); up_udelay(1000); // Disable I2C bus (recommended on datasheet) write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); + irqrestore(state); + up_udelay(1000); // SAMPLE RATE @@ -652,6 +686,8 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen) if (_accel_reports->empty()) return -EAGAIN; + perf_count(_accel_reads); + /* copy reports out of our buffer to the caller */ accel_report *arp = reinterpret_cast<accel_report *>(buffer); int transferred = 0; @@ -669,12 +705,12 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen) int MPU6000::self_test() { - if (_reads == 0) { + if (perf_event_count(_sample_perf) == 0) { measure(); } /* return 0 on success, 1 else */ - return (_reads > 0) ? 0 : 1; + return (perf_event_count(_sample_perf) > 0) ? 0 : 1; } int @@ -746,6 +782,8 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) if (_gyro_reports->empty()) return -EAGAIN; + perf_count(_gyro_reads); + /* copy reports out of our buffer to the caller */ gyro_report *grp = reinterpret_cast<gyro_report *>(buffer); int transferred = 0; @@ -987,9 +1025,10 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) uint8_t MPU6000::read_reg(unsigned reg) { - uint8_t cmd[2]; + uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0}; - cmd[0] = reg | DIR_READ; + // general register transfer at low clock speed + set_frequency(MPU6000_LOW_BUS_SPEED); transfer(cmd, cmd, sizeof(cmd)); @@ -999,9 +1038,10 @@ MPU6000::read_reg(unsigned reg) uint16_t MPU6000::read_reg16(unsigned reg) { - uint8_t cmd[3]; + uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 }; - cmd[0] = reg | DIR_READ; + // general register transfer at low clock speed + set_frequency(MPU6000_LOW_BUS_SPEED); transfer(cmd, cmd, sizeof(cmd)); @@ -1016,6 +1056,9 @@ MPU6000::write_reg(unsigned reg, uint8_t value) cmd[0] = reg | DIR_WRITE; cmd[1] = value; + // general register transfer at low clock speed + set_frequency(MPU6000_LOW_BUS_SPEED); + transfer(cmd, nullptr, sizeof(cmd)); } @@ -1139,12 +1182,13 @@ MPU6000::measure() * Fetch the full set of measurements from the MPU6000 in one pass. */ mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS; + + // sensor transfer at high clock speed + set_frequency(MPU6000_HIGH_BUS_SPEED); + if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report))) return; - /* count measurement */ - _reads++; - /* * Convert from big to little endian */ @@ -1159,6 +1203,20 @@ MPU6000::measure() report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y); report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z); + if (report.accel_x == 0 && + report.accel_y == 0 && + report.accel_z == 0 && + report.temp == 0 && + report.gyro_x == 0 && + report.gyro_y == 0 && + report.gyro_z == 0) { + // all zero data - probably a SPI bus error + perf_count(_bad_transfers); + perf_end(_sample_perf); + return; + } + + /* * Swap axes and negate y */ @@ -1249,10 +1307,11 @@ MPU6000::measure() poll_notify(POLLIN); _gyro->parent_poll_notify(); - /* and publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); - if (_gyro_topic != -1) { - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb); + if (_accel_topic != -1) { + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); + } + if (_gyro->_gyro_topic != -1) { + orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); } /* stop measuring */ @@ -1263,19 +1322,48 @@ void MPU6000::print_info() { perf_print_counter(_sample_perf); - printf("reads: %u\n", _reads); + perf_print_counter(_accel_reads); + perf_print_counter(_gyro_reads); _accel_reports->print_info("accel queue"); _gyro_reports->print_info("gyro queue"); } MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) : - CDev("MPU6000_gyro", GYRO_DEVICE_PATH), - _parent(parent) + CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO), + _parent(parent), + _gyro_class_instance(-1) { } MPU6000_gyro::~MPU6000_gyro() { + if (_gyro_class_instance != -1) + unregister_class_devname(GYRO_DEVICE_PATH, _gyro_class_instance); +} + +int +MPU6000_gyro::init() +{ + int ret; + + // do base class init + ret = CDev::init(); + + /* if probe/setup failed, bail now */ + if (ret != OK) { + debug("gyro init failed"); + return ret; + } + + _gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH); + if (_gyro_class_instance == CLASS_DEVICE_PRIMARY) { + gyro_report gr; + memset(&gr, 0, sizeof(gr)); + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); + } + +out: + return ret; } void @@ -1331,7 +1419,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); if (fd < 0) goto fail; @@ -1339,6 +1427,8 @@ start() if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) goto fail; + close(fd); + exit(0); fail: @@ -1363,17 +1453,17 @@ test() ssize_t sz; /* get the driver */ - int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); if (fd < 0) err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)", - ACCEL_DEVICE_PATH); + MPU_DEVICE_PATH_ACCEL); /* get the driver */ - int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); + int fd_gyro = open(MPU_DEVICE_PATH_GYRO, O_RDONLY); if (fd_gyro < 0) - err(1, "%s open failed", GYRO_DEVICE_PATH); + err(1, "%s open failed", MPU_DEVICE_PATH_GYRO); /* reset to manual polling */ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) @@ -1431,7 +1521,7 @@ test() void reset() { - int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -1442,6 +1532,8 @@ reset() if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) err(1, "driver poll restart failed"); + close(fd); + exit(0); } diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 938786d3f..87788824a 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -420,8 +420,11 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) return _reports->size(); case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; + /* + * Since we are initialized, we do not need to do anything, since the + * PROM is correctly read and the part does not need to be configured. + */ + return OK; case BAROIOCSMSLPRESSURE: diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp index e547c913b..26216e840 100644 --- a/src/drivers/ms5611/ms5611_spi.cpp +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -121,7 +121,7 @@ MS5611_spi_interface(ms5611::prom_u &prom_buf) } MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) : - SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 2000000), + SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */), _prom(prom_buf) { } @@ -134,7 +134,6 @@ int MS5611_SPI::init() { int ret; - irqstate_t flags; ret = SPI::init(); if (ret != OK) { @@ -167,10 +166,9 @@ MS5611_SPI::read(unsigned offset, void *data, unsigned count) uint8_t b[4]; uint32_t w; } *cvt = (_cvt *)data; - uint8_t buf[4]; + uint8_t buf[4] = { 0 | DIR_WRITE, 0, 0, 0 }; /* read the most recent measurement */ - buf[0] = 0 | DIR_WRITE; int ret = _transfer(&buf[0], &buf[0], sizeof(buf)); if (ret == OK) { @@ -238,21 +236,31 @@ MS5611_SPI::_read_prom() usleep(3000); /* read and convert PROM words */ + bool all_zero = true; for (int i = 0; i < 8; i++) { uint8_t cmd = (ADDR_PROM_SETUP + (i * 2)); _prom.c[i] = _reg16(cmd); + if (_prom.c[i] != 0) + all_zero = false; + //debug("prom[%u]=0x%x", (unsigned)i, (unsigned)_prom.c[i]); } /* calculate CRC and return success/failure accordingly */ - return ms5611::crc4(&_prom.c[0]) ? OK : -EIO; + int ret = ms5611::crc4(&_prom.c[0]) ? OK : -EIO; + if (ret != OK) { + debug("crc failed"); + } + if (all_zero) { + debug("prom all zero"); + ret = -EIO; + } + return ret; } uint16_t MS5611_SPI::_reg16(unsigned reg) { - uint8_t cmd[3]; - - cmd[0] = reg | DIR_READ; + uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 }; _transfer(cmd, cmd, sizeof(cmd)); diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 38cfce2e9..eea235943 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -69,7 +69,6 @@ #include <drivers/drv_rc_input.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> @@ -123,7 +122,6 @@ private: int _t_actuators; int _t_actuator_armed; orb_advert_t _t_outputs; - orb_advert_t _t_actuators_effective; unsigned _num_outputs; bool _primary_pwm_device; @@ -164,6 +162,7 @@ private: static const unsigned _ngpio; void gpio_reset(void); + void sensor_reset(int ms); void gpio_set_function(uint32_t gpios, int function); void gpio_write(uint32_t gpios, int function); uint32_t gpio_read(void); @@ -219,17 +218,16 @@ PX4FMU::PX4FMU() : _t_actuators(-1), _t_actuator_armed(-1), _t_outputs(0), - _t_actuators_effective(0), _num_outputs(0), _primary_pwm_device(false), _task_should_exit(false), _armed(false), _pwm_on(false), _mixers(nullptr), - _failsafe_pwm({0}), - _disarmed_pwm({0}), - _num_failsafe_set(0), - _num_disarmed_set(0) + _failsafe_pwm( {0}), + _disarmed_pwm( {0}), + _num_failsafe_set(0), + _num_disarmed_set(0) { for (unsigned i = 0; i < _max_actuators; i++) { _min_pwm[i] = PWM_DEFAULT_MIN; @@ -293,11 +291,11 @@ PX4FMU::init() /* start the IO interface task */ _task = task_spawn_cmd("fmuservo", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - (main_t)&PX4FMU::task_main_trampoline, - nullptr); + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + (main_t)&PX4FMU::task_main_trampoline, + nullptr); if (_task < 0) { debug("task start failed: %d", errno); @@ -326,7 +324,7 @@ PX4FMU::set_mode(Mode mode) switch (mode) { case MODE_2PWM: // v1 multi-port with flow control lines as PWM debug("MODE_2PWM"); - + /* default output rates */ _pwm_default_rate = 50; _pwm_alt_rate = 50; @@ -340,7 +338,7 @@ PX4FMU::set_mode(Mode mode) case MODE_4PWM: // v1 multi-port as 4 PWM outs debug("MODE_4PWM"); - + /* default output rates */ _pwm_default_rate = 50; _pwm_alt_rate = 50; @@ -354,7 +352,7 @@ PX4FMU::set_mode(Mode mode) case MODE_6PWM: // v2 PWMs as 6 PWM outs debug("MODE_6PWM"); - + /* default output rates */ _pwm_default_rate = 50; _pwm_alt_rate = 50; @@ -396,6 +394,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate // get the channel mask for this rate group uint32_t mask = up_pwm_servo_get_rate_group(group); + if (mask == 0) continue; @@ -409,6 +408,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate // not a legal map, bail return -EINVAL; } + } else { // set it - errors here are unexpected if (alt != 0) { @@ -416,6 +416,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate warn("rate group set alt failed"); return -EINVAL; } + } else { if (up_pwm_servo_set_rate_group_update(group, _pwm_default_rate) != OK) { warn("rate group set default failed"); @@ -425,6 +426,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate } } } + _pwm_alt_rate_channels = rate_map; _pwm_default_rate = default_rate; _pwm_alt_rate = alt_rate; @@ -466,13 +468,6 @@ PX4FMU::task_main() _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), &outputs); - /* advertise the effective control inputs */ - actuator_controls_effective_s controls_effective; - memset(&controls_effective, 0, sizeof(controls_effective)); - /* advertise the effective control inputs */ - _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), - &controls_effective); - pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; @@ -503,6 +498,7 @@ PX4FMU::task_main() * We always mix at max rate; some channels may update slower. */ unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate; + if (_current_update_rate != max_rate) { _current_update_rate = max_rate; int update_rate_in_ms = int(1000 / _current_update_rate); @@ -511,6 +507,7 @@ PX4FMU::task_main() if (update_rate_in_ms < 2) { update_rate_in_ms = 2; } + /* reject slower than 10 Hz updates */ if (update_rate_in_ms > 100) { update_rate_in_ms = 100; @@ -532,6 +529,7 @@ PX4FMU::task_main() log("poll error %d", errno); usleep(1000000); continue; + } else if (ret == 0) { /* timeout: no control data, switch to failsafe values */ // warnx("no PWM: failsafe"); @@ -554,12 +552,15 @@ PX4FMU::task_main() case MODE_2PWM: num_outputs = 2; break; + case MODE_4PWM: num_outputs = 4; break; + case MODE_6PWM: num_outputs = 6; break; + default: num_outputs = 0; break; @@ -573,9 +574,9 @@ PX4FMU::task_main() for (unsigned i = 0; i < num_outputs; i++) { /* last resort: catch NaN, INF and out-of-band errors */ if (i >= outputs.noutputs || - !isfinite(outputs.output[i]) || - outputs.output[i] < -1.0f || - outputs.output[i] > 1.0f) { + !isfinite(outputs.output[i]) || + outputs.output[i] < -1.0f || + outputs.output[i] > 1.0f) { /* * Value is NaN, INF or out of band - set to the minimum value. * This will be clearly visible on the servo status and will limit the risk of accidentally @@ -592,12 +593,6 @@ PX4FMU::task_main() pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); - /* output actual limited values */ - for (unsigned i = 0; i < num_outputs; i++) { - controls_effective.control_effective[i] = (float)pwm_limited[i]; - } - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); - /* output to the servos */ for (unsigned i = 0; i < num_outputs; i++) { up_pwm_servo_set(i, pwm_limited[i]); @@ -617,11 +612,13 @@ PX4FMU::task_main() /* update the armed status and check that we're not locked down */ bool set_armed = aa.armed && !aa.lockdown; + if (_armed != set_armed) _armed = set_armed; /* update PWM status if armed or if disarmed PWM values are set */ bool pwm_on = (aa.armed || _num_disarmed_set > 0); + if (_pwm_on != pwm_on) { _pwm_on = pwm_on; up_pwm_servo_arm(pwm_on); @@ -630,31 +627,36 @@ PX4FMU::task_main() } #ifdef HRT_PPM_CHANNEL + // see if we have new PPM input data if (ppm_last_valid_decode != rc_in.timestamp) { // we have a new PPM frame. Publish it. rc_in.channel_count = ppm_decoded_channels; + if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) { rc_in.channel_count = RC_INPUT_MAX_CHANNELS; } - for (uint8_t i=0; i<rc_in.channel_count; i++) { + + for (uint8_t i = 0; i < rc_in.channel_count; i++) { rc_in.values[i] = ppm_buffer[i]; } + rc_in.timestamp = ppm_last_valid_decode; /* lazily advertise on first publication */ if (to_input_rc == 0) { to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in); - } else { + + } else { orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in); } } + #endif } ::close(_t_actuators); - ::close(_t_actuators_effective); ::close(_t_actuator_armed); /* make sure servos are off */ @@ -757,142 +759,176 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; case PWM_SERVO_SET_FAILSAFE_PWM: { - struct pwm_output_values *pwm = (struct pwm_output_values*)arg; - /* discard if too many values are sent */ - if (pwm->channel_count > _max_actuators) { - ret = -EINVAL; - break; - } - for (unsigned i = 0; i < pwm->channel_count; i++) { - if (pwm->values[i] == 0) { - /* ignore 0 */ - } else if (pwm->values[i] > PWM_HIGHEST_MAX) { - _failsafe_pwm[i] = PWM_HIGHEST_MAX; - } else if (pwm->values[i] < PWM_LOWEST_MIN) { - _failsafe_pwm[i] = PWM_LOWEST_MIN; - } else { - _failsafe_pwm[i] = pwm->values[i]; + struct pwm_output_values *pwm = (struct pwm_output_values *)arg; + + /* discard if too many values are sent */ + if (pwm->channel_count > _max_actuators) { + ret = -EINVAL; + break; } - } - /* - * update the counter - * this is needed to decide if disarmed PWM output should be turned on or not - */ - _num_failsafe_set = 0; - for (unsigned i = 0; i < _max_actuators; i++) { - if (_failsafe_pwm[i] > 0) - _num_failsafe_set++; + for (unsigned i = 0; i < pwm->channel_count; i++) { + if (pwm->values[i] == 0) { + /* ignore 0 */ + } else if (pwm->values[i] > PWM_HIGHEST_MAX) { + _failsafe_pwm[i] = PWM_HIGHEST_MAX; + + } else if (pwm->values[i] < PWM_LOWEST_MIN) { + _failsafe_pwm[i] = PWM_LOWEST_MIN; + + } else { + _failsafe_pwm[i] = pwm->values[i]; + } + } + + /* + * update the counter + * this is needed to decide if disarmed PWM output should be turned on or not + */ + _num_failsafe_set = 0; + + for (unsigned i = 0; i < _max_actuators; i++) { + if (_failsafe_pwm[i] > 0) + _num_failsafe_set++; + } + + break; } - break; - } + case PWM_SERVO_GET_FAILSAFE_PWM: { - struct pwm_output_values *pwm = (struct pwm_output_values*)arg; - for (unsigned i = 0; i < _max_actuators; i++) { - pwm->values[i] = _failsafe_pwm[i]; - } - pwm->channel_count = _max_actuators; - break; - } + struct pwm_output_values *pwm = (struct pwm_output_values *)arg; - case PWM_SERVO_SET_DISARMED_PWM: { - struct pwm_output_values *pwm = (struct pwm_output_values*)arg; - /* discard if too many values are sent */ - if (pwm->channel_count > _max_actuators) { - ret = -EINVAL; + for (unsigned i = 0; i < _max_actuators; i++) { + pwm->values[i] = _failsafe_pwm[i]; + } + + pwm->channel_count = _max_actuators; break; } - for (unsigned i = 0; i < pwm->channel_count; i++) { - if (pwm->values[i] == 0) { - /* ignore 0 */ - } else if (pwm->values[i] > PWM_HIGHEST_MAX) { - _disarmed_pwm[i] = PWM_HIGHEST_MAX; - } else if (pwm->values[i] < PWM_LOWEST_MIN) { - _disarmed_pwm[i] = PWM_LOWEST_MIN; - } else { - _disarmed_pwm[i] = pwm->values[i]; + + case PWM_SERVO_SET_DISARMED_PWM: { + struct pwm_output_values *pwm = (struct pwm_output_values *)arg; + + /* discard if too many values are sent */ + if (pwm->channel_count > _max_actuators) { + ret = -EINVAL; + break; } - } - /* - * update the counter - * this is needed to decide if disarmed PWM output should be turned on or not - */ - _num_disarmed_set = 0; - for (unsigned i = 0; i < _max_actuators; i++) { - if (_disarmed_pwm[i] > 0) - _num_disarmed_set++; + for (unsigned i = 0; i < pwm->channel_count; i++) { + if (pwm->values[i] == 0) { + /* ignore 0 */ + } else if (pwm->values[i] > PWM_HIGHEST_MAX) { + _disarmed_pwm[i] = PWM_HIGHEST_MAX; + + } else if (pwm->values[i] < PWM_LOWEST_MIN) { + _disarmed_pwm[i] = PWM_LOWEST_MIN; + + } else { + _disarmed_pwm[i] = pwm->values[i]; + } + } + + /* + * update the counter + * this is needed to decide if disarmed PWM output should be turned on or not + */ + _num_disarmed_set = 0; + + for (unsigned i = 0; i < _max_actuators; i++) { + if (_disarmed_pwm[i] > 0) + _num_disarmed_set++; + } + + break; } - break; - } + case PWM_SERVO_GET_DISARMED_PWM: { - struct pwm_output_values *pwm = (struct pwm_output_values*)arg; - for (unsigned i = 0; i < _max_actuators; i++) { - pwm->values[i] = _disarmed_pwm[i]; - } - pwm->channel_count = _max_actuators; - break; - } + struct pwm_output_values *pwm = (struct pwm_output_values *)arg; - case PWM_SERVO_SET_MIN_PWM: { - struct pwm_output_values* pwm = (struct pwm_output_values*)arg; - /* discard if too many values are sent */ - if (pwm->channel_count > _max_actuators) { - ret = -EINVAL; + for (unsigned i = 0; i < _max_actuators; i++) { + pwm->values[i] = _disarmed_pwm[i]; + } + + pwm->channel_count = _max_actuators; break; } - for (unsigned i = 0; i < pwm->channel_count; i++) { - if (pwm->values[i] == 0) { - /* ignore 0 */ - } else if (pwm->values[i] > PWM_HIGHEST_MIN) { - _min_pwm[i] = PWM_HIGHEST_MIN; - } else if (pwm->values[i] < PWM_LOWEST_MIN) { - _min_pwm[i] = PWM_LOWEST_MIN; - } else { - _min_pwm[i] = pwm->values[i]; + + case PWM_SERVO_SET_MIN_PWM: { + struct pwm_output_values *pwm = (struct pwm_output_values *)arg; + + /* discard if too many values are sent */ + if (pwm->channel_count > _max_actuators) { + ret = -EINVAL; + break; } + + for (unsigned i = 0; i < pwm->channel_count; i++) { + if (pwm->values[i] == 0) { + /* ignore 0 */ + } else if (pwm->values[i] > PWM_HIGHEST_MIN) { + _min_pwm[i] = PWM_HIGHEST_MIN; + + } else if (pwm->values[i] < PWM_LOWEST_MIN) { + _min_pwm[i] = PWM_LOWEST_MIN; + + } else { + _min_pwm[i] = pwm->values[i]; + } + } + + break; } - break; - } + case PWM_SERVO_GET_MIN_PWM: { - struct pwm_output_values *pwm = (struct pwm_output_values*)arg; - for (unsigned i = 0; i < _max_actuators; i++) { - pwm->values[i] = _min_pwm[i]; - } - pwm->channel_count = _max_actuators; - arg = (unsigned long)&pwm; - break; - } + struct pwm_output_values *pwm = (struct pwm_output_values *)arg; - case PWM_SERVO_SET_MAX_PWM: { - struct pwm_output_values* pwm = (struct pwm_output_values*)arg; - /* discard if too many values are sent */ - if (pwm->channel_count > _max_actuators) { - ret = -EINVAL; + for (unsigned i = 0; i < _max_actuators; i++) { + pwm->values[i] = _min_pwm[i]; + } + + pwm->channel_count = _max_actuators; + arg = (unsigned long)&pwm; break; } - for (unsigned i = 0; i < pwm->channel_count; i++) { - if (pwm->values[i] == 0) { - /* ignore 0 */ - } else if (pwm->values[i] < PWM_LOWEST_MAX) { - _max_pwm[i] = PWM_LOWEST_MAX; - } else if (pwm->values[i] > PWM_HIGHEST_MAX) { - _max_pwm[i] = PWM_HIGHEST_MAX; - } else { - _max_pwm[i] = pwm->values[i]; + + case PWM_SERVO_SET_MAX_PWM: { + struct pwm_output_values *pwm = (struct pwm_output_values *)arg; + + /* discard if too many values are sent */ + if (pwm->channel_count > _max_actuators) { + ret = -EINVAL; + break; + } + + for (unsigned i = 0; i < pwm->channel_count; i++) { + if (pwm->values[i] == 0) { + /* ignore 0 */ + } else if (pwm->values[i] < PWM_LOWEST_MAX) { + _max_pwm[i] = PWM_LOWEST_MAX; + + } else if (pwm->values[i] > PWM_HIGHEST_MAX) { + _max_pwm[i] = PWM_HIGHEST_MAX; + + } else { + _max_pwm[i] = pwm->values[i]; + } } + + break; } - break; - } + case PWM_SERVO_GET_MAX_PWM: { - struct pwm_output_values *pwm = (struct pwm_output_values*)arg; - for (unsigned i = 0; i < _max_actuators; i++) { - pwm->values[i] = _max_pwm[i]; + struct pwm_output_values *pwm = (struct pwm_output_values *)arg; + + for (unsigned i = 0; i < _max_actuators; i++) { + pwm->values[i] = _max_pwm[i]; + } + + pwm->channel_count = _max_actuators; + arg = (unsigned long)&pwm; + break; } - pwm->channel_count = _max_actuators; - arg = (unsigned long)&pwm; - break; - } case PWM_SERVO_SET(5): case PWM_SERVO_SET(4): @@ -914,6 +950,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_SET(0): if (arg <= 2100) { up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg); + } else { ret = -EINVAL; } @@ -950,18 +987,21 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); break; - case PWM_SERVO_GET_COUNT: + case PWM_SERVO_GET_COUNT: case MIXERIOCGETOUTPUTCOUNT: switch (_mode) { case MODE_6PWM: *(unsigned *)arg = 6; break; + case MODE_4PWM: *(unsigned *)arg = 4; break; + case MODE_2PWM: *(unsigned *)arg = 2; break; + default: ret = -EINVAL; break; @@ -1019,6 +1059,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) ret = -EINVAL; } } + break; } @@ -1053,10 +1094,81 @@ PX4FMU::write(file *filp, const char *buffer, size_t len) for (uint8_t i = 0; i < count; i++) { up_pwm_servo_set(i, values[i]); } + return count * 2; } void +PX4FMU::sensor_reset(int ms) +{ +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + + if (ms < 1) { + ms = 1; + } + + /* disable SPI bus */ + stm32_configgpio(GPIO_SPI_CS_GYRO_OFF); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF); + stm32_configgpio(GPIO_SPI_CS_BARO_OFF); + + stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0); + stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0); + + stm32_configgpio(GPIO_SPI1_SCK_OFF); + stm32_configgpio(GPIO_SPI1_MISO_OFF); + stm32_configgpio(GPIO_SPI1_MOSI_OFF); + + stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0); + stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0); + stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0); + + stm32_configgpio(GPIO_GYRO_DRDY_OFF); + stm32_configgpio(GPIO_MAG_DRDY_OFF); + stm32_configgpio(GPIO_ACCEL_DRDY_OFF); + + stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0); + stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0); + stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0); + + /* set the sensor rail off */ + stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); + stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0); + + /* wait for the sensor rail to reach GND */ + usleep(ms * 1000); + warnx("reset done, %d ms", ms); + + /* re-enable power */ + + /* switch the sensor rail back on */ + stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1); + + /* wait a bit before starting SPI, different times didn't influence results */ + usleep(100); + + /* reconfigure the SPI pins */ +#ifdef CONFIG_STM32_SPI1 + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); + stm32_configgpio(GPIO_SPI_CS_BARO); + stm32_configgpio(GPIO_SPI_CS_MPU); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); +#endif +#endif +} + + +void PX4FMU::gpio_reset(void) { /* @@ -1066,6 +1178,7 @@ PX4FMU::gpio_reset(void) for (unsigned i = 0; i < _ngpio; i++) { if (_gpio_tab[i].input != 0) { stm32_configgpio(_gpio_tab[i].input); + } else if (_gpio_tab[i].output != 0) { stm32_configgpio(_gpio_tab[i].output); } @@ -1082,6 +1195,7 @@ void PX4FMU::gpio_set_function(uint32_t gpios, int function) { #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + /* * GPIOs 0 and 1 must have the same direction as they are buffered * by a shared 2-port driver. Any attempt to set either sets both. @@ -1093,6 +1207,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function) if (GPIO_SET_OUTPUT == function) stm32_gpiowrite(GPIO_GPIO_DIR, 1); } + #endif /* configure selected GPIOs as required */ @@ -1117,9 +1232,11 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function) } #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + /* flip buffer to input mode if required */ if ((GPIO_SET_INPUT == function) && (gpios & 3)) stm32_gpiowrite(GPIO_GPIO_DIR, 0); + #endif } @@ -1158,6 +1275,10 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg) gpio_reset(); break; + case GPIO_SENSOR_RAIL_RESET: + sensor_reset(arg); + break; + case GPIO_SET_OUTPUT: case GPIO_SET_INPUT: case GPIO_SET_ALT_1: @@ -1231,8 +1352,9 @@ fmu_new_mode(PortMode new_mode) #endif break; - /* mixed modes supported on v1 board only */ + /* mixed modes supported on v1 board only */ #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + case PORT_FULL_SERIAL: /* set all multi-GPIOs to serial mode */ gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; @@ -1255,6 +1377,7 @@ fmu_new_mode(PortMode new_mode) servo_mode = PX4FMU::MODE_2PWM; break; #endif + default: return -1; } @@ -1309,14 +1432,30 @@ fmu_stop(void) } void +sensor_reset(int ms) +{ + int fd; + int ret; + + fd = open(PX4FMU_DEVICE_PATH, O_RDWR); + + if (fd < 0) + errx(1, "open fail"); + + if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0) + err(1, "servo arm failed"); + +} + +void test(void) { int fd; - unsigned servo_count = 0; + unsigned servo_count = 0; unsigned pwm_value = 1000; int direction = 1; int ret; - + fd = open(PX4FMU_DEVICE_PATH, O_RDWR); if (fd < 0) @@ -1324,9 +1463,9 @@ test(void) if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed"); - if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count) != 0) { - err(1, "Unable to get servo count\n"); - } + if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count) != 0) { + err(1, "Unable to get servo count\n"); + } warnx("Testing %u servos", (unsigned)servo_count); @@ -1339,32 +1478,38 @@ test(void) for (;;) { /* sweep all servos between 1000..2000 */ servo_position_t servos[servo_count]; + for (unsigned i = 0; i < servo_count; i++) servos[i] = pwm_value; - if (direction == 1) { - // use ioctl interface for one direction - for (unsigned i=0; i < servo_count; i++) { - if (ioctl(fd, PWM_SERVO_SET(i), servos[i]) < 0) { - err(1, "servo %u set failed", i); - } - } - } else { - // and use write interface for the other direction - ret = write(fd, servos, sizeof(servos)); - if (ret != (int)sizeof(servos)) - err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret); - } + if (direction == 1) { + // use ioctl interface for one direction + for (unsigned i = 0; i < servo_count; i++) { + if (ioctl(fd, PWM_SERVO_SET(i), servos[i]) < 0) { + err(1, "servo %u set failed", i); + } + } + + } else { + // and use write interface for the other direction + ret = write(fd, servos, sizeof(servos)); + + if (ret != (int)sizeof(servos)) + err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret); + } if (direction > 0) { if (pwm_value < 2000) { pwm_value++; + } else { direction = -1; } + } else { if (pwm_value > 1000) { pwm_value--; + } else { direction = 1; } @@ -1376,6 +1521,7 @@ test(void) if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) err(1, "error reading PWM servo %d", i); + if (value != servos[i]) errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]); } @@ -1383,12 +1529,14 @@ test(void) /* Check if user wants to quit */ char c; ret = poll(&fds, 1, 0); + if (ret > 0) { read(0, &c, 1); + if (c == 0x03 || c == 0x63 || c == 'q') { warnx("User abort\n"); - break; + break; } } } @@ -1461,6 +1609,7 @@ fmu_main(int argc, char *argv[]) new_mode = PORT_FULL_PWM; #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + } else if (!strcmp(verb, "mode_serial")) { new_mode = PORT_FULL_SERIAL; @@ -1493,11 +1642,24 @@ fmu_main(int argc, char *argv[]) if (!strcmp(verb, "fake")) fake(argc - 1, argv + 1); + if (!strcmp(verb, "sensor_reset")) { + if (argc > 2) { + int reset_time = strtol(argv[2], 0, 0); + sensor_reset(reset_time); + + } else { + sensor_reset(0); + warnx("resettet default time"); + } + exit(0); + } + + fprintf(stderr, "FMU: unrecognised command, try:\n"); #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n"); #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) - fprintf(stderr, " mode_gpio, mode_pwm, test\n"); + fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n"); #endif exit(1); } diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index ef6ca04e9..4e9daf910 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -54,6 +54,7 @@ #include <unistd.h> #include <fcntl.h> #include <math.h> +#include <crc32.h> #include <arch/board/board.h> @@ -72,7 +73,6 @@ #include <systemlib/param/param.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/safety.h> @@ -95,6 +95,8 @@ extern device::Device *PX4IO_serial_interface() weak_function; #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) +#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 2) +#define PX4IO_CHECK_CRC _IOC(0xff00, 3) #define UPDATE_INTERVAL_MIN 2 // 2 ms -> 500 Hz #define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz @@ -226,30 +228,36 @@ private: device::Device *_interface; // XXX - unsigned _hardware; ///< Hardware revision - unsigned _max_actuators; ///<Maximum # of actuators supported by PX4IO - unsigned _max_controls; ///<Maximum # of controls supported by PX4IO - unsigned _max_rc_input; ///<Maximum receiver channels supported by PX4IO - unsigned _max_relays; ///<Maximum relays supported by PX4IO - unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO + unsigned _hardware; ///< Hardware revision + unsigned _max_actuators; ///< Maximum # of actuators supported by PX4IO + unsigned _max_controls; ///< Maximum # of controls supported by PX4IO + unsigned _max_rc_input; ///< Maximum receiver channels supported by PX4IO + unsigned _max_relays; ///< Maximum relays supported by PX4IO + unsigned _max_transfer; ///< Maximum number of I2C transfers supported by PX4IO unsigned _update_interval; ///< Subscription interval limiting send rate bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values + unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels - volatile int _task; ///<worker task id - volatile bool _task_should_exit; ///<worker terminate flag + volatile int _task; ///< worker task id + volatile bool _task_should_exit; ///< worker terminate flag - int _mavlink_fd; ///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread. - int _thread_mavlink_fd; ///<mavlink file descriptor for thread. + int _mavlink_fd; ///< mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread. + int _thread_mavlink_fd; ///< mavlink file descriptor for thread. - perf_counter_t _perf_update; ///<local performance counter + perf_counter_t _perf_update; ///<local performance counter for status updates + perf_counter_t _perf_write; ///<local performance counter for PWM control writes + perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes /* cached IO state */ - uint16_t _status; ///<Various IO status flags - uint16_t _alarms; ///<Various IO alarms + uint16_t _status; ///< Various IO status flags + uint16_t _alarms; ///< Various IO alarms /* subscribed topics */ - int _t_actuators; ///< actuator controls topic + int _t_actuator_controls_0; ///< actuator controls group 0 topic + int _t_actuator_controls_1; ///< actuator controls group 1 topic + int _t_actuator_controls_2; ///< actuator controls group 2 topic + int _t_actuator_controls_3; ///< actuator controls group 3 topic int _t_actuator_armed; ///< system armed control topic int _t_vehicle_control_mode;///< vehicle control mode topic int _t_param; ///< parameter update topic @@ -257,24 +265,22 @@ private: /* advertised topics */ orb_advert_t _to_input_rc; ///< rc inputs from io - orb_advert_t _to_actuators_effective; ///< effective actuator controls topic orb_advert_t _to_outputs; ///< mixed servo outputs topic orb_advert_t _to_battery; ///< battery status / voltage orb_advert_t _to_servorail; ///< servorail status orb_advert_t _to_safety; ///< status of safety actuator_outputs_s _outputs; ///<mixed outputs - actuator_controls_effective_s _controls_effective; ///<effective controls - bool _primary_pwm_device; ///<true if we are the default PWM output + bool _primary_pwm_device; ///< true if we are the default PWM output - float _battery_amp_per_volt; ///<current sensor amps/volt - float _battery_amp_bias; ///<current sensor bias - float _battery_mamphour_total;///<amp hours consumed so far - uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp + float _battery_amp_per_volt; ///< current sensor amps/volt + float _battery_amp_bias; ///< current sensor bias + float _battery_mamphour_total;///< amp hours consumed so far + uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power + bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power #endif /** @@ -288,9 +294,14 @@ private: void task_main(); /** - * Send controls to IO + * Send controls for one group to IO */ - int io_set_control_state(); + int io_set_control_state(unsigned group); + + /** + * Send all controls to IO + */ + int io_set_control_groups(); /** * Update IO's arming-related state @@ -328,11 +339,6 @@ private: int io_publish_raw_rc(); /** - * Fetch and publish the mixed control values. - */ - int io_publish_mixed_controls(); - - /** * Fetch and publish the PWM servo outputs. */ int io_publish_pwm_outputs(); @@ -459,20 +465,25 @@ PX4IO::PX4IO(device::Device *interface) : _max_transfer(16), /* sensible default */ _update_interval(0), _rc_handling_disabled(false), + _rc_chan_count(0), _task(-1), _task_should_exit(false), _mavlink_fd(-1), _thread_mavlink_fd(-1), - _perf_update(perf_alloc(PC_ELAPSED, "px4io update")), + _perf_update(perf_alloc(PC_ELAPSED, "io update")), + _perf_write(perf_alloc(PC_ELAPSED, "io write")), + _perf_chan_count(perf_alloc(PC_COUNT, "io rc #")), _status(0), _alarms(0), - _t_actuators(-1), + _t_actuator_controls_0(-1), + _t_actuator_controls_1(-1), + _t_actuator_controls_2(-1), + _t_actuator_controls_3(-1), _t_actuator_armed(-1), _t_vehicle_control_mode(-1), _t_param(-1), _t_vehicle_command(-1), _to_input_rc(0), - _to_actuators_effective(0), _to_outputs(0), _to_battery(0), _to_servorail(0), @@ -769,15 +780,20 @@ PX4IO::task_main() * Subscribe to the appropriate PWM output topic based on whether we are the * primary PWM output or not. */ - _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1)); - orb_set_interval(_t_actuators, 20); /* default to 50Hz */ + _t_actuator_controls_0 = orb_subscribe(ORB_ID(actuator_controls_0)); + orb_set_interval(_t_actuator_controls_0, 20); /* default to 50Hz */ + _t_actuator_controls_1 = orb_subscribe(ORB_ID(actuator_controls_1)); + orb_set_interval(_t_actuator_controls_1, 33); /* default to 30Hz */ + _t_actuator_controls_2 = orb_subscribe(ORB_ID(actuator_controls_2)); + orb_set_interval(_t_actuator_controls_2, 33); /* default to 30Hz */ + _t_actuator_controls_3 = orb_subscribe(ORB_ID(actuator_controls_3)); + orb_set_interval(_t_actuator_controls_3, 33); /* default to 30Hz */ _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); _t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); _t_param = orb_subscribe(ORB_ID(parameter_update)); _t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command)); - if ((_t_actuators < 0) || + if ((_t_actuator_controls_0 < 0) || (_t_actuator_armed < 0) || (_t_vehicle_control_mode < 0) || (_t_param < 0) || @@ -788,7 +804,7 @@ PX4IO::task_main() /* poll descriptor */ pollfd fds[1]; - fds[0].fd = _t_actuators; + fds[0].fd = _t_actuator_controls_0; fds[0].events = POLLIN; log("ready"); @@ -807,7 +823,11 @@ PX4IO::task_main() if (_update_interval > 100) _update_interval = 100; - orb_set_interval(_t_actuators, _update_interval); + orb_set_interval(_t_actuator_controls_0, _update_interval); + /* + * NOT changing the rate of groups 1-3 here, because only attitude + * really needs to run fast. + */ _update_interval = 0; } @@ -827,7 +847,10 @@ PX4IO::task_main() /* if we have new control data from the ORB, handle it */ if (fds[0].revents & POLLIN) { - io_set_control_state(); + + /* we're not nice to the lower-priority control groups and only check them + when the primary group updated (which is now). */ + io_set_control_groups(); } if (now >= poll_last + IO_POLL_INTERVAL) { @@ -840,8 +863,7 @@ PX4IO::task_main() /* get raw R/C input from IO */ io_publish_raw_rc(); - /* fetch mixed servo controls and PWM outputs from IO */ - io_publish_mixed_controls(); + /* fetch PWM outputs from IO */ io_publish_pwm_outputs(); } @@ -871,7 +893,7 @@ PX4IO::task_main() orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd); // Check for a DSM pairing command - if ((cmd.command == VEHICLE_CMD_START_RX_PAIR) && (cmd.param1 == 0.0f)) { + if (((int)cmd.command == VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) { dsm_bind_ioctl((int)cmd.param2); } } @@ -901,7 +923,23 @@ PX4IO::task_main() /* re-upload RC input config as it may have changed */ io_set_rc_config(); + + /* re-set the battery scaling */ + int32_t voltage_scaling_val; + param_t voltage_scaling_param; + + /* set battery voltage scaling */ + param_get(voltage_scaling_param = param_find("BAT_V_SCALE_IO"), &voltage_scaling_val); + + /* send scaling voltage to IO */ + uint16_t scaling = voltage_scaling_val; + int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1); + + if (pret != OK) { + log("voltage scaling upload failed"); + } } + } perf_end(_perf_update); @@ -922,20 +960,74 @@ out: } int -PX4IO::io_set_control_state() +PX4IO::io_set_control_groups() +{ + bool attitude_ok = io_set_control_state(0); + + /* send auxiliary control groups */ + (void)io_set_control_state(1); + (void)io_set_control_state(2); + (void)io_set_control_state(3); + + return attitude_ok; +} + +int +PX4IO::io_set_control_state(unsigned group) { actuator_controls_s controls; ///< actuator outputs uint16_t regs[_max_actuators]; /* get controls */ - orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1), _t_actuators, &controls); + bool changed; + + switch (group) { + case 0: + { + orb_check(_t_actuator_controls_0, &changed); + + if (changed) { + orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls); + } + } + break; + case 1: + { + orb_check(_t_actuator_controls_1, &changed); + + if (changed) { + orb_copy(ORB_ID(actuator_controls_1), _t_actuator_controls_1, &controls); + } + } + break; + case 2: + { + orb_check(_t_actuator_controls_2, &changed); + + if (changed) { + orb_copy(ORB_ID(actuator_controls_2), _t_actuator_controls_2, &controls); + } + } + break; + case 3: + { + orb_check(_t_actuator_controls_3, &changed); + + if (changed) { + orb_copy(ORB_ID(actuator_controls_3), _t_actuator_controls_3, &controls); + } + } + break; + } + + if (!changed) + return -1; for (unsigned i = 0; i < _max_controls; i++) regs[i] = FLOAT_TO_REG(controls.control[i]); /* copy values to registers in IO */ - return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls); + return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls); } @@ -1031,7 +1123,12 @@ PX4IO::io_set_rc_config() if ((ichan >= 0) && (ichan < (int)_max_rc_input)) input_map[ichan - 1] = 3; - ichan = 4; + param_get(param_find("RC_MAP_MODE_SW"), &ichan); + + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + input_map[ichan - 1] = 4; + + ichan = 5; for (unsigned i = 0; i < _max_rc_input; i++) if (input_map[i] == -1) @@ -1309,6 +1406,11 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) */ channel_count = regs[0]; + if (channel_count != _rc_chan_count) + perf_count(_perf_chan_count); + + _rc_chan_count = channel_count; + if (channel_count > 9) { ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, ®s[prolog + 9], channel_count - 9); @@ -1364,50 +1466,6 @@ PX4IO::io_publish_raw_rc() } int -PX4IO::io_publish_mixed_controls() -{ - /* if no FMU comms(!) just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK)) - return OK; - - /* if not taking raw PPM from us, must be mixing */ - if (_status & PX4IO_P_STATUS_FLAGS_RAW_PWM) - return OK; - - /* data we are going to fetch */ - actuator_controls_effective_s controls_effective; - controls_effective.timestamp = hrt_absolute_time(); - - /* get actuator controls from IO */ - uint16_t act[_max_actuators]; - int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators); - - if (ret != OK) - return ret; - - /* convert from register format to float */ - for (unsigned i = 0; i < _max_actuators; i++) - controls_effective.control_effective[i] = REG_TO_FLOAT(act[i]); - - /* laxily advertise on first publication */ - if (_to_actuators_effective == 0) { - _to_actuators_effective = - orb_advertise((_primary_pwm_device ? - ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : - ORB_ID(actuator_controls_effective_1)), - &controls_effective); - - } else { - orb_publish((_primary_pwm_device ? - ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : - ORB_ID(actuator_controls_effective_1)), - _to_actuators_effective, &controls_effective); - } - - return OK; -} - -int PX4IO::io_publish_pwm_outputs() { /* if no FMU comms(!) just don't publish */ @@ -1659,11 +1717,13 @@ void PX4IO::print_status() { /* basic configuration */ - printf("protocol %u hardware %u bootloader %u buffer %uB\n", + printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n", io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER)); + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC+1)); printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n", io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT), @@ -2146,6 +2206,29 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg); break; + case PX4IO_REBOOT_BOOTLOADER: + if (system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + return -EINVAL; + + /* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */ + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg); + // we don't expect a reply from this operation + ret = OK; + break; + + case PX4IO_CHECK_CRC: { + /* check IO firmware CRC against passed value */ + uint32_t io_crc = 0; + ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2); + if (ret != OK) + return ret; + if (io_crc != arg) { + debug("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg); + return -EINVAL; + } + break; + } + case PX4IO_INAIR_RESTART_ENABLE: /* set/clear the 'in-air restart' bit */ @@ -2176,7 +2259,10 @@ PX4IO::write(file * /*filp*/, const char *buffer, size_t len) count = _max_actuators; if (count > 0) { + + perf_begin(_perf_write); int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count); + perf_end(_perf_write); if (ret != OK) return ret; @@ -2255,7 +2341,7 @@ void start(int argc, char *argv[]) { if (g_dev != nullptr) - errx(1, "already loaded"); + errx(0, "already loaded"); /* allocate the interface */ device::Device *interface = get_interface(); @@ -2588,6 +2674,39 @@ px4io_main(int argc, char *argv[]) if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0); } + if (!strcmp(argv[1], "forceupdate")) { + /* + force update of the IO firmware without requiring + the user to hold the safety switch down + */ + if (argc <= 3) { + warnx("usage: px4io forceupdate MAGIC filename"); + exit(1); + } + if (g_dev == nullptr) { + warnx("px4io is not started, still attempting upgrade"); + } else { + uint16_t arg = atol(argv[2]); + int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg); + if (ret != OK) { + printf("reboot failed - %d\n", ret); + exit(1); + } + + // tear down the px4io instance + delete g_dev; + } + + // upload the specified firmware + const char *fn[2]; + fn[0] = argv[3]; + fn[1] = nullptr; + PX4IO_Uploader *up = new PX4IO_Uploader; + up->upload(&fn[0]); + delete up; + exit(0); + } + /* commands below here require a started driver */ if (g_dev == nullptr) @@ -2673,6 +2792,49 @@ px4io_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "checkcrc")) { + /* + check IO CRC against CRC of a file + */ + if (argc <= 2) { + printf("usage: px4io checkcrc filename\n"); + exit(1); + } + if (g_dev == nullptr) { + printf("px4io is not started\n"); + exit(1); + } + int fd = open(argv[2], O_RDONLY); + if (fd == -1) { + printf("open of %s failed - %d\n", argv[2], errno); + exit(1); + } + const uint32_t app_size_max = 0xf000; + uint32_t fw_crc = 0; + uint32_t nbytes = 0; + while (true) { + uint8_t buf[16]; + int n = read(fd, buf, sizeof(buf)); + if (n <= 0) break; + fw_crc = crc32part(buf, n, fw_crc); + nbytes += n; + } + close(fd); + while (nbytes < app_size_max) { + uint8_t b = 0xff; + fw_crc = crc32part(&b, 1, fw_crc); + nbytes++; + } + + int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc); + if (ret != OK) { + printf("check CRC failed - %d\n", ret); + exit(1); + } + printf("CRCs match\n"); + exit(0); + } + if (!strcmp(argv[1], "rx_dsm") || !strcmp(argv[1], "rx_dsm_10bit") || !strcmp(argv[1], "rx_dsm_11bit") || @@ -2690,5 +2852,5 @@ px4io_main(int argc, char *argv[]) bind(argc, argv); out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind', 'checkcrc', 'forceupdate' or 'update'"); } diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index d01dedb0d..41f93a8ee 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -274,7 +274,10 @@ PX4IO_Uploader::drain() int ret; do { - ret = recv(c, 1000); + // the small recv timeout here is to allow for fast + // drain when rebooting the io board for a forced + // update of the fw without using the safety switch + ret = recv(c, 40); #ifdef UDEBUG if (ret == OK) { diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index e79d7e10a..f105251f0 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -338,7 +338,12 @@ static void hrt_call_invoke(void); # define PPM_MIN_START 2500 /* shortest valid start gap */ /* decoded PPM buffer */ -#define PPM_MAX_CHANNELS 12 +#define PPM_MIN_CHANNELS 5 +#define PPM_MAX_CHANNELS 20 + +/* Number of same-sized frames required to 'lock' */ +#define PPM_CHANNEL_LOCK 4 /* should be less than the input timeout */ + __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS]; __EXPORT unsigned ppm_decoded_channels = 0; __EXPORT uint64_t ppm_last_valid_decode = 0; @@ -440,7 +445,7 @@ hrt_ppm_decode(uint32_t status) if (status & SR_OVF_PPM) goto error; - /* how long since the last edge? */ + /* how long since the last edge? - this handles counter wrapping implicitely. */ width = count - ppm.last_edge; ppm.last_edge = count; @@ -455,14 +460,38 @@ hrt_ppm_decode(uint32_t status) */ if (width >= PPM_MIN_START) { - /* export the last set of samples if we got something sensible */ - if (ppm.next_channel > 4) { - for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++) - ppm_buffer[i] = ppm_temp_buffer[i]; + /* + * If the number of channels changes unexpectedly, we don't want + * to just immediately jump on the new count as it may be a result + * of noise or dropped edges. Instead, take a few frames to settle. + */ + if (ppm.next_channel != ppm_decoded_channels) { + static unsigned new_channel_count; + static unsigned new_channel_holdoff; + + if (new_channel_count != ppm.next_channel) { + /* start the lock counter for the new channel count */ + new_channel_count = ppm.next_channel; + new_channel_holdoff = PPM_CHANNEL_LOCK; + + } else if (new_channel_holdoff > 0) { + /* this frame matched the last one, decrement the lock counter */ + new_channel_holdoff--; + + } else { + /* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */ + ppm_decoded_channels = new_channel_count; + new_channel_count = 0; + } - ppm_decoded_channels = i; - ppm_last_valid_decode = hrt_absolute_time(); + } else { + /* frame channel count matches expected, let's use it */ + if (ppm.next_channel > PPM_MIN_CHANNELS) { + for (i = 0; i < ppm.next_channel; i++) + ppm_buffer[i] = ppm_temp_buffer[i]; + ppm_last_valid_decode = hrt_absolute_time(); + } } /* reset for the next frame */ @@ -733,6 +762,13 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte irqstate_t flags = irqsave(); /* if the entry is currently queued, remove it */ + /* note that we are using a potentially uninitialised + entry->link here, but it is safe as sq_rem() doesn't + dereference the passed node unless it is found in the + list. So we potentially waste a bit of time searching the + queue for the uninitialised entry->link but we don't do + anything actually unsafe. + */ if (entry->deadline != 0) sq_rem(&entry->link, &callout_queue); @@ -839,7 +875,12 @@ hrt_call_invoke(void) /* if the callout has a non-zero period, it has to be re-entered */ if (call->period != 0) { - call->deadline = deadline + call->period; + // re-check call->deadline to allow for + // callouts to re-schedule themselves + // using hrt_call_delay() + if (call->deadline <= now) { + call->deadline = deadline + call->period; + } hrt_call_enter(call); } } @@ -906,5 +947,16 @@ hrt_latency_update(void) latency_counters[index]++; } +void +hrt_call_init(struct hrt_call *entry) +{ + memset(entry, 0, sizeof(*entry)); +} + +void +hrt_call_delay(struct hrt_call *entry, hrt_abstime delay) +{ + entry->deadline = hrt_absolute_time() + delay; +} #endif /* HRT_TIMER */ diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c index 3125ce246..391e40ac1 100644 --- a/src/examples/flow_position_control/flow_position_control_main.c +++ b/src/examples/flow_position_control/flow_position_control_main.c @@ -61,7 +61,6 @@ #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_bodyframe_speed_setpoint.h> -#include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/filtered_bottom_flow.h> #include <systemlib/systemlib.h> #include <systemlib/perf_counter.h> diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index d089be080..5a56dce65 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -433,10 +433,18 @@ void TECS::_update_pitch(void) // Apply max and min values for integrator state that will allow for no more than // 5deg of saturation. This allows for some pitch variation due to gusts before the // integrator is clipped. Otherwise the effectiveness of the integrator will be reduced in turbulence + // During climbout/takeoff, bias the demanded pitch angle so that zero speed error produces a pitch angle + // demand equal to the minimum value (which is )set by the mission plan during this mode). Otherwise the + // integrator has to catch up before the nose can be raised to reduce speed during climbout. float gainInv = (_integ5_state * _timeConst * CONSTANTS_ONE_G); float temp = SEB_error + SEBdot_error * _ptchDamp + SEBdot_dem * _timeConst; + if (_climbOutDem) + { + temp += _PITCHminf * gainInv; + } _integ7_state = constrain(_integ7_state, (gainInv * (_PITCHminf - 0.0783f)) - temp, (gainInv * (_PITCHmaxf + 0.0783f)) - temp); + // Calculate pitch demand from specific energy balance signals _pitch_dem_unc = (temp + _integ7_state) / gainInv; diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp index efb17225d..3699d9bce 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp @@ -46,6 +46,10 @@ namespace math void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq) { _cutoff_freq = cutoff_freq; + if (_cutoff_freq <= 0.0f) { + // no filtering + return; + } float fr = sample_freq/_cutoff_freq; float ohm = tanf(M_PI_F/fr); float c = 1.0f+2.0f*cosf(M_PI_F/4.0f)*ohm + ohm*ohm; @@ -58,6 +62,10 @@ void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq) float LowPassFilter2p::apply(float sample) { + if (_cutoff_freq <= 0.0f) { + // no filtering + return sample; + } // do the filtering float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2; if (isnan(delay_element_0) || isinf(delay_element_0)) { diff --git a/src/modules/attitude_estimator_so3/README b/src/modules/attitude_estimator_so3/README new file mode 100644 index 000000000..02ab66ee4 --- /dev/null +++ b/src/modules/attitude_estimator_so3/README @@ -0,0 +1,3 @@ +Synopsis + + nsh> attitude_estimator_so3_comp start
\ No newline at end of file diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp index 86bda3c75..e79726613 100755 --- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp @@ -1,16 +1,49 @@ -/* - * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr> +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Hyon Lim <limhyon@gmail.com> + * Anton Babushkin <anton.babushkin@me.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: * - * @file attitude_estimator_so3_comp_main.c + * 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 attitude_estimator_so3_main.cpp * * Implementation of nonlinear complementary filters on the SO(3). * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer. * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix. - * + * * Theory of nonlinear complementary filters on the SO(3) is based on [1]. * Quaternion realization of [1] is based on [2]. * Optmized quaternion update code is based on Sebastian Madgwick's implementation. - * + * * References * [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008 * [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008 @@ -46,94 +79,91 @@ #ifdef __cplusplus extern "C" { #endif -#include "attitude_estimator_so3_comp_params.h" +#include "attitude_estimator_so3_params.h" #ifdef __cplusplus } #endif -extern "C" __EXPORT int attitude_estimator_so3_comp_main(int argc, char *argv[]); +extern "C" __EXPORT int attitude_estimator_so3_main(int argc, char *argv[]); static bool thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ -static int attitude_estimator_so3_comp_task; /**< Handle of deamon task / thread */ +static int attitude_estimator_so3_task; /**< Handle of deamon task / thread */ + +//! Auxiliary variables to reduce number of repeated operations static float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; /** quaternion of sensor frame relative to auxiliary frame */ static float dq0 = 0.0f, dq1 = 0.0f, dq2 = 0.0f, dq3 = 0.0f; /** quaternion of sensor frame relative to auxiliary frame */ static float gyro_bias[3] = {0.0f, 0.0f, 0.0f}; /** bias estimation */ -static bool bFilterInit = false; - -//! Auxiliary variables to reduce number of repeated operations static float q0q0, q0q1, q0q2, q0q3; static float q1q1, q1q2, q1q3; static float q2q2, q2q3; static float q3q3; - -//! Serial packet related -static int uart; -static int baudrate; +static bool bFilterInit = false; /** - * Mainloop of attitude_estimator_so3_comp. + * Mainloop of attitude_estimator_so3. */ -int attitude_estimator_so3_comp_thread_main(int argc, char *argv[]); +int attitude_estimator_so3_thread_main(int argc, char *argv[]); /** * Print the correct usage. */ static void usage(const char *reason); +/* Function prototypes */ +float invSqrt(float number); +void NonlinearSO3AHRSinit(float ax, float ay, float az, float mx, float my, float mz); +void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float twoKp, float twoKi, float dt); + static void usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: attitude_estimator_so3_comp {start|stop|status} [-d <devicename>] [-b <baud rate>]\n" - "-d and -b options are for separate visualization with raw data (quaternion packet) transfer\n" - "ex) attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200\n"); + fprintf(stderr, "usage: attitude_estimator_so3 {start|stop|status}\n"); exit(1); } /** - * The attitude_estimator_so3_comp app only briefly exists to start + * The attitude_estimator_so3 app only briefly exists to start * the background job. The stack size assigned in the * Makefile does only apply to this management task. * * The actual stack size should be set in the call * to task_create(). */ -int attitude_estimator_so3_comp_main(int argc, char *argv[]) +int attitude_estimator_so3_main(int argc, char *argv[]) { if (argc < 1) usage("missing command"); - - if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("attitude_estimator_so3_comp already running\n"); + warnx("already running\n"); /* this is not an error */ exit(0); } thread_should_exit = false; - attitude_estimator_so3_comp_task = task_spawn_cmd("attitude_estimator_so3_comp", + attitude_estimator_so3_task = task_spawn_cmd("attitude_estimator_so3", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 12400, - attitude_estimator_so3_comp_thread_main, - (const char **)argv); + 14000, + attitude_estimator_so3_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); } if (!strcmp(argv[1], "stop")) { thread_should_exit = true; - while(thread_running){ + while (thread_running){ usleep(200000); - printf("."); } - printf("terminated."); + + warnx("stopped"); exit(0); } @@ -157,7 +187,8 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[]) //--------------------------------------------------------------------------------------------------- // Fast inverse square-root // See: http://en.wikipedia.org/wiki/Fast_inverse_square_root -float invSqrt(float number) { +float invSqrt(float number) +{ volatile long i; volatile float x, y; volatile const float f = 1.5F; @@ -221,48 +252,47 @@ void NonlinearSO3AHRSinit(float ax, float ay, float az, float mx, float my, floa q3q3 = q3 * q3; } -void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float twoKp, float twoKi, float dt) { +void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float twoKp, float twoKi, float dt) +{ float recipNorm; float halfex = 0.0f, halfey = 0.0f, halfez = 0.0f; - //! Make filter converge to initial solution faster - //! This function assumes you are in static position. - //! WARNING : in case air reboot, this can cause problem. But this is very - //! unlikely happen. - if(bFilterInit == false) - { + // Make filter converge to initial solution faster + // This function assumes you are in static position. + // WARNING : in case air reboot, this can cause problem. But this is very unlikely happen. + if(bFilterInit == false) { NonlinearSO3AHRSinit(ax,ay,az,mx,my,mz); bFilterInit = true; } //! If magnetometer measurement is available, use it. - if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { + if(!((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f))) { float hx, hy, hz, bx, bz; float halfwx, halfwy, halfwz; // Normalise magnetometer measurement // Will sqrt work better? PX4 system is powerful enough? - recipNorm = invSqrt(mx * mx + my * my + mz * mz); - mx *= recipNorm; - my *= recipNorm; - mz *= recipNorm; + recipNorm = invSqrt(mx * mx + my * my + mz * mz); + mx *= recipNorm; + my *= recipNorm; + mz *= recipNorm; - // Reference direction of Earth's magnetic field - hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2)); - hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1)); - hz = 2 * mx * (q1q3 - q0q2) + 2 * my * (q2q3 + q0q1) + 2 * mz * (0.5 - q1q1 - q2q2); - bx = sqrt(hx * hx + hy * hy); - bz = hz; + // Reference direction of Earth's magnetic field + hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2)); + hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1)); + hz = 2.0f * mx * (q1q3 - q0q2) + 2.0f * my * (q2q3 + q0q1) + 2.0f * mz * (0.5f - q1q1 - q2q2); + bx = sqrt(hx * hx + hy * hy); + bz = hz; - // Estimated direction of magnetic field - halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2); - halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3); - halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2); + // Estimated direction of magnetic field + halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2); + halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3); + halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2); - // Error is sum of cross product between estimated direction and measured direction of field vectors - halfex += (my * halfwz - mz * halfwy); - halfey += (mz * halfwx - mx * halfwz); - halfez += (mx * halfwy - my * halfwx); + // Error is sum of cross product between estimated direction and measured direction of field vectors + halfex += (my * halfwz - mz * halfwy); + halfey += (mz * halfwx - mx * halfwz); + halfez += (mx * halfwy - my * halfwx); } // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) @@ -293,7 +323,9 @@ void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, fl gyro_bias[0] += twoKi * halfex * dt; // integral error scaled by Ki gyro_bias[1] += twoKi * halfey * dt; gyro_bias[2] += twoKi * halfez * dt; - gx += gyro_bias[0]; // apply integral feedback + + // apply integral feedback + gx += gyro_bias[0]; gy += gyro_bias[1]; gz += gyro_bias[2]; } @@ -337,208 +369,43 @@ void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, fl q3 *= recipNorm; // Auxiliary variables to avoid repeated arithmetic - q0q0 = q0 * q0; - q0q1 = q0 * q1; - q0q2 = q0 * q2; - q0q3 = q0 * q3; - q1q1 = q1 * q1; - q1q2 = q1 * q2; + q0q0 = q0 * q0; + q0q1 = q0 * q1; + q0q2 = q0 * q2; + q0q3 = q0 * q3; + q1q1 = q1 * q1; + q1q2 = q1 * q2; q1q3 = q1 * q3; - q2q2 = q2 * q2; - q2q3 = q2 * q3; - q3q3 = q3 * q3; -} - -void send_uart_byte(char c) -{ - write(uart,&c,1); -} - -void send_uart_bytes(uint8_t *data, int length) -{ - write(uart,data,(size_t)(sizeof(uint8_t)*length)); -} - -void send_uart_float(float f) { - uint8_t * b = (uint8_t *) &f; - - //! Assume float is 4-bytes - for(int i=0; i<4; i++) { - - uint8_t b1 = (b[i] >> 4) & 0x0f; - uint8_t b2 = (b[i] & 0x0f); - - uint8_t c1 = (b1 < 10) ? ('0' + b1) : 'A' + b1 - 10; - uint8_t c2 = (b2 < 10) ? ('0' + b2) : 'A' + b2 - 10; - - send_uart_bytes(&c1,1); - send_uart_bytes(&c2,1); - } -} - -void send_uart_float_arr(float *arr, int length) -{ - for(int i=0;i<length;++i) - { - send_uart_float(arr[i]); - send_uart_byte(','); - } -} - -int open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) -{ - int speed; - - switch (baud) { - case 0: speed = B0; break; - case 50: speed = B50; break; - case 75: speed = B75; break; - case 110: speed = B110; break; - case 134: speed = B134; break; - case 150: speed = B150; break; - case 200: speed = B200; break; - case 300: speed = B300; break; - case 600: speed = B600; break; - case 1200: speed = B1200; break; - case 1800: speed = B1800; break; - case 2400: speed = B2400; break; - case 4800: speed = B4800; break; - case 9600: speed = B9600; break; - case 19200: speed = B19200; break; - case 38400: speed = B38400; break; - case 57600: speed = B57600; break; - case 115200: speed = B115200; break; - case 230400: speed = B230400; break; - case 460800: speed = B460800; break; - case 921600: speed = B921600; break; - default: - printf("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); - return -EINVAL; - } - - printf("[so3_comp_filt] UART is %s, baudrate is %d\n", uart_name, baud); - uart = open(uart_name, O_RDWR | O_NOCTTY); - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - *is_usb = false; - - /* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */ - if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) { - /* Back up the original uart configuration to restore it after exit */ - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - printf("ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); - close(uart); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - printf("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); - close(uart); - return -1; - } - - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - printf("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); - close(uart); - return -1; - } - - } else { - *is_usb = true; - } - - return uart; + q2q2 = q2 * q2; + q2q3 = q2 * q3; + q3q3 = q3 * q3; } /* - * [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) - */ - -/* - * EKF Attitude Estimator main function. + * Nonliner complementary filter on SO(3), attitude estimator main function. * - * Estimates the attitude recursively once started. + * Estimates the attitude once started. * * @param argc number of commandline arguments (plus command name) * @param argv strings containing the arguments */ -int attitude_estimator_so3_comp_thread_main(int argc, char *argv[]) +int attitude_estimator_so3_thread_main(int argc, char *argv[]) { - -const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds - - //! Serial debug related - int ch; - struct termios uart_config_original; - bool usb_uart; - bool debug_mode = false; - char *device_name = "/dev/ttyS2"; - baudrate = 115200; + const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds //! Time constant float dt = 0.005f; /* output euler angles */ float euler[3] = {0.0f, 0.0f, 0.0f}; - - float Rot_matrix[9] = {1.f, 0, 0, - 0, 1.f, 0, - 0, 0, 1.f - }; /**< init: identity matrix */ - + + /* Initialization */ + float Rot_matrix[9] = {1.f, 0.0f, 0.0f, 0.0f, 1.f, 0.0f, 0.0f, 0.0f, 1.f }; /**< init: identity matrix */ float acc[3] = {0.0f, 0.0f, 0.0f}; float gyro[3] = {0.0f, 0.0f, 0.0f}; float mag[3] = {0.0f, 0.0f, 0.0f}; - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - - //! -d <device_name>, default : /dev/ttyS2 - //! -b <baud_rate>, default : 115200 - while ((ch = getopt(argc,argv,"d:b:")) != EOF){ - switch(ch){ - case 'b': - baudrate = strtoul(optarg, NULL, 10); - if(baudrate == 0) - printf("invalid baud rate '%s'",optarg); - break; - case 'd': - device_name = optarg; - debug_mode = true; - break; - default: - usage("invalid argument"); - } - } - - if(debug_mode){ - printf("Opening debugging port for 3D visualization\n"); - uart = open_uart(baudrate, device_name, &uart_config_original, &usb_uart); - if (uart < 0) - printf("could not open %s", device_name); - else - printf("Open port success\n"); - } - - // print text - printf("Nonlinear SO3 Attitude Estimator initialized..\n\n"); - fflush(stdout); - - int overloadcounter = 19; - - /* store start time to guard against too slow update rates */ - uint64_t last_run = hrt_absolute_time(); + warnx("main thread started"); struct sensor_combined_s raw; memset(&raw, 0, sizeof(raw)); @@ -555,8 +422,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* subscribe to raw data */ int sub_raw = orb_subscribe(ORB_ID(sensor_combined)); - /* rate-limit raw data updates to 200Hz */ - orb_set_interval(sub_raw, 4); + /* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */ + orb_set_interval(sub_raw, 3); /* subscribe to param changes */ int sub_params = orb_subscribe(ORB_ID(parameter_update)); @@ -565,17 +432,15 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); /* advertise attitude */ - orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); + //orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); + //orb_advert_t att_pub = -1; + orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att); int loopcounter = 0; int printcounter = 0; thread_running = true; - /* advertise debug value */ - // struct debug_key_value_s dbg = { .key = "", .value = 0.0f }; - // orb_advert_t pub_dbg = -1; - float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f}; // XXX write this out to perf regs @@ -583,20 +448,22 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds uint32_t sensor_last_count[3] = {0, 0, 0}; uint64_t sensor_last_timestamp[3] = {0, 0, 0}; - struct attitude_estimator_so3_comp_params so3_comp_params; - struct attitude_estimator_so3_comp_param_handles so3_comp_param_handles; + struct attitude_estimator_so3_params so3_comp_params; + struct attitude_estimator_so3_param_handles so3_comp_param_handles; /* initialize parameter handles */ parameters_init(&so3_comp_param_handles); + parameters_update(&so3_comp_param_handles, &so3_comp_params); uint64_t start_time = hrt_absolute_time(); bool initialized = false; + bool state_initialized = false; float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f }; unsigned offset_count = 0; /* register the perf counter */ - perf_counter_t so3_comp_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_so3_comp"); + perf_counter_t so3_comp_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_so3"); /* Main loop*/ while (!thread_should_exit) { @@ -615,12 +482,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode); if (!control_mode.flag_system_hil_enabled) { - fprintf(stderr, - "[att so3_comp] WARNING: Not getting sensors - sensor app running?\n"); + warnx("WARNING: Not getting sensors - sensor app running?"); } - } else { - /* only update parameters if they changed */ if (fds[1].revents & POLLIN) { /* read from param to clear updated flag */ @@ -644,11 +508,12 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds gyro_offsets[2] += raw.gyro_rad_s[2]; offset_count++; - if (hrt_absolute_time() - start_time > 3000000LL) { + if (hrt_absolute_time() > start_time + 3000000l) { initialized = true; gyro_offsets[0] /= offset_count; gyro_offsets[1] /= offset_count; gyro_offsets[2] /= offset_count; + warnx("gyro initialized, offsets: %.5f %.5f %.5f", gyro_offsets[0], gyro_offsets[1], gyro_offsets[2]); } } else { @@ -668,9 +533,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds sensor_last_timestamp[0] = raw.timestamp; } - gyro[0] = raw.gyro_rad_s[0] - gyro_offsets[0]; - gyro[1] = raw.gyro_rad_s[1] - gyro_offsets[1]; - gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; + gyro[0] = raw.gyro_rad_s[0] - gyro_offsets[0]; + gyro[1] = raw.gyro_rad_s[1] - gyro_offsets[1]; + gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; /* update accelerometer measurements */ if (sensor_last_count[1] != raw.accelerometer_counter) { @@ -696,31 +561,14 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds mag[1] = raw.magnetometer_ga[1]; mag[2] = raw.magnetometer_ga[2]; - uint64_t now = hrt_absolute_time(); - unsigned int time_elapsed = now - last_run; - last_run = now; - - if (time_elapsed > loop_interval_alarm) { - //TODO: add warning, cpu overload here - // if (overloadcounter == 20) { - // printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm); - // overloadcounter = 0; - // } - - overloadcounter++; - } - - static bool const_initialized = false; - /* initialize with good values once we have a reasonable dt estimate */ - if (!const_initialized && dt < 0.05f && dt > 0.005f) { - dt = 0.005f; - parameters_update(&so3_comp_param_handles, &so3_comp_params); - const_initialized = true; + if (!state_initialized && dt < 0.05f && dt > 0.001f) { + state_initialized = true; + warnx("state initialized"); } /* do not execute the filter if not initialized */ - if (!const_initialized) { + if (!state_initialized) { continue; } @@ -728,18 +576,23 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds // NOTE : Accelerometer is reversed. // Because proper mount of PX4 will give you a reversed accelerometer readings. - NonlinearSO3AHRSupdate(gyro[0],gyro[1],gyro[2],-acc[0],-acc[1],-acc[2],mag[0],mag[1],mag[2],so3_comp_params.Kp,so3_comp_params.Ki, dt); + NonlinearSO3AHRSupdate(gyro[0], gyro[1], gyro[2], + -acc[0], -acc[1], -acc[2], + mag[0], mag[1], mag[2], + so3_comp_params.Kp, + so3_comp_params.Ki, + dt); // Convert q->R, This R converts inertial frame to body frame. Rot_matrix[0] = q0q0 + q1q1 - q2q2 - q3q3;// 11 - Rot_matrix[1] = 2.0 * (q1*q2 + q0*q3); // 12 - Rot_matrix[2] = 2.0 * (q1*q3 - q0*q2); // 13 - Rot_matrix[3] = 2.0 * (q1*q2 - q0*q3); // 21 - Rot_matrix[4] = q0q0 - q1q1 + q2q2 - q3q3;// 22 - Rot_matrix[5] = 2.0 * (q2*q3 + q0*q1); // 23 - Rot_matrix[6] = 2.0 * (q1*q3 + q0*q2); // 31 - Rot_matrix[7] = 2.0 * (q2*q3 - q0*q1); // 32 - Rot_matrix[8] = q0q0 - q1q1 - q2q2 + q3q3;// 33 + Rot_matrix[1] = 2.f * (q1*q2 + q0*q3); // 12 + Rot_matrix[2] = 2.f * (q1*q3 - q0*q2); // 13 + Rot_matrix[3] = 2.f * (q1*q2 - q0*q3); // 21 + Rot_matrix[4] = q0q0 - q1q1 + q2q2 - q3q3;// 22 + Rot_matrix[5] = 2.f * (q2*q3 + q0*q1); // 23 + Rot_matrix[6] = 2.f * (q1*q3 + q0*q2); // 31 + Rot_matrix[7] = 2.f * (q2*q3 - q0*q1); // 32 + Rot_matrix[8] = q0q0 - q1q1 - q2q2 + q3q3;// 33 //1-2-3 Representation. //Equation (290) @@ -747,29 +600,42 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds // Existing PX4 EKF code was generated by MATLAB which uses coloum major order matrix. euler[0] = atan2f(Rot_matrix[5], Rot_matrix[8]); //! Roll euler[1] = -asinf(Rot_matrix[2]); //! Pitch - euler[2] = atan2f(Rot_matrix[1],Rot_matrix[0]); //! Yaw + euler[2] = atan2f(Rot_matrix[1], Rot_matrix[0]); //! Yaw /* swap values for next iteration, check for fatal inputs */ if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) { - /* Do something */ + // Publish only finite euler angles + att.roll = euler[0] - so3_comp_params.roll_off; + att.pitch = euler[1] - so3_comp_params.pitch_off; + att.yaw = euler[2] - so3_comp_params.yaw_off; } else { /* due to inputs or numerical failure the output is invalid, skip it */ + // Due to inputs or numerical failure the output is invalid + warnx("infinite euler angles, rotation matrix:"); + warnx("%.3f %.3f %.3f", Rot_matrix[0], Rot_matrix[1], Rot_matrix[2]); + warnx("%.3f %.3f %.3f", Rot_matrix[3], Rot_matrix[4], Rot_matrix[5]); + warnx("%.3f %.3f %.3f", Rot_matrix[6], Rot_matrix[7], Rot_matrix[8]); + // Don't publish anything continue; } - if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator so3_comp] sensor data missed! (%llu)\n", raw.timestamp - last_data); + if (last_data > 0 && raw.timestamp > last_data + 12000) { + warnx("sensor data missed"); + } last_data = raw.timestamp; /* send out */ att.timestamp = raw.timestamp; + + // Quaternion + att.q[0] = q0; + att.q[1] = q1; + att.q[2] = q2; + att.q[3] = q3; + att.q_valid = true; - // XXX Apply the same transformation to the rotation matrix - att.roll = euler[0] - so3_comp_params.roll_off; - att.pitch = euler[1] - so3_comp_params.pitch_off; - att.yaw = euler[2] - so3_comp_params.yaw_off; - - //! Euler angle rate. But it needs to be investigated again. + // Euler angle rate. But it needs to be investigated again. /* att.rollspeed = 2.0f*(-q1*dq0 + q0*dq1 - q3*dq2 + q2*dq3); att.pitchspeed = 2.0f*(-q2*dq0 + q3*dq1 + q0*dq2 - q1*dq3); @@ -783,53 +649,30 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds att.pitchacc = 0; att.yawacc = 0; - //! Quaternion - att.q[0] = q0; - att.q[1] = q1; - att.q[2] = q2; - att.q[3] = q3; - att.q_valid = true; - /* TODO: Bias estimation required */ memcpy(&att.rate_offsets, &(gyro_bias), sizeof(att.rate_offsets)); /* copy rotation matrix */ memcpy(&att.R, Rot_matrix, sizeof(float)*9); att.R_valid = true; - - if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { - // Broadcast - orb_publish(ORB_ID(vehicle_attitude), pub_att, &att); - + + // Publish + if (att_pub > 0) { + orb_publish(ORB_ID(vehicle_attitude), att_pub, &att); } else { warnx("NaN in roll/pitch/yaw estimate!"); + orb_advertise(ORB_ID(vehicle_attitude), &att); } perf_end(so3_comp_loop_perf); - - //! This will print out debug packet to visualization software - if(debug_mode) - { - float quat[4]; - quat[0] = q0; - quat[1] = q1; - quat[2] = q2; - quat[3] = q3; - send_uart_float_arr(quat,4); - send_uart_byte('\n'); - } } } } loopcounter++; - }// while + } thread_running = false; - /* Reset the UART flags to original state */ - if (!usb_uart) - tcsetattr(uart, TCSANOW, &uart_config_original); - return 0; } diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c b/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c new file mode 100755 index 000000000..0c8d522b4 --- /dev/null +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Hyon Lim <limhyon@gmail.com> + * Anton Babushkin <anton.babushkin@me.com> + * + * 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 attitude_estimator_so3_params.c + * + * Parameters for nonlinear complementary filters on the SO(3). + */ + +#include "attitude_estimator_so3_params.h" + +/* This is filter gain for nonlinear SO3 complementary filter */ +/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place. + Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP. + If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which + will compensate gyro bias which depends on temperature and vibration of your vehicle */ +PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time. + //! You can set this gain higher if you want more fast response. + //! But note that higher gain will give you also higher overshoot. +PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change) + //! This gain is depend on your vehicle status. + +/* offsets in roll, pitch and yaw of sensor plane and body */ +PARAM_DEFINE_FLOAT(SO3_ROLL_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(SO3_PITCH_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(SO3_YAW_OFFS, 0.0f); + +int parameters_init(struct attitude_estimator_so3_param_handles *h) +{ + /* Filter gain parameters */ + h->Kp = param_find("SO3_COMP_KP"); + h->Ki = param_find("SO3_COMP_KI"); + + /* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */ + h->roll_off = param_find("SO3_ROLL_OFFS"); + h->pitch_off = param_find("SO3_PITCH_OFFS"); + h->yaw_off = param_find("SO3_YAW_OFFS"); + + return OK; +} + +int parameters_update(const struct attitude_estimator_so3_param_handles *h, struct attitude_estimator_so3_params *p) +{ + /* Update filter gain */ + param_get(h->Kp, &(p->Kp)); + param_get(h->Ki, &(p->Ki)); + + /* Update attitude offset */ + param_get(h->roll_off, &(p->roll_off)); + param_get(h->pitch_off, &(p->pitch_off)); + param_get(h->yaw_off, &(p->yaw_off)); + + return OK; +} diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.h b/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.h new file mode 100755 index 000000000..dfb4cad05 --- /dev/null +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Hyon Lim <limhyon@gmail.com> + * Anton Babushkin <anton.babushkin@me.com> + * + * 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 attitude_estimator_so3_params.h + * + * Parameters for nonlinear complementary filters on the SO(3). + */ + +#include <systemlib/param/param.h> + +struct attitude_estimator_so3_params { + float Kp; + float Ki; + float roll_off; + float pitch_off; + float yaw_off; +}; + +struct attitude_estimator_so3_param_handles { + param_t Kp, Ki; + param_t roll_off, pitch_off, yaw_off; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct attitude_estimator_so3_param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct attitude_estimator_so3_param_handles *h, struct attitude_estimator_so3_params *p); diff --git a/src/modules/attitude_estimator_so3/module.mk b/src/modules/attitude_estimator_so3/module.mk new file mode 100644 index 000000000..e29bb16a6 --- /dev/null +++ b/src/modules/attitude_estimator_so3/module.mk @@ -0,0 +1,8 @@ +# +# Attitude estimator (Nonlinear SO(3) complementary Filter) +# + +MODULE_COMMAND = attitude_estimator_so3 + +SRCS = attitude_estimator_so3_main.cpp \ + attitude_estimator_so3_params.c diff --git a/src/modules/attitude_estimator_so3_comp/README b/src/modules/attitude_estimator_so3_comp/README deleted file mode 100644 index 79c50a531..000000000 --- a/src/modules/attitude_estimator_so3_comp/README +++ /dev/null @@ -1,5 +0,0 @@ -Synopsis - - nsh> attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200 - -Option -d is for debugging packet. See code for detailed packet structure. diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c deleted file mode 100755 index f962515df..000000000 --- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c +++ /dev/null @@ -1,63 +0,0 @@ -/* - * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr> - * - * @file attitude_estimator_so3_comp_params.c - * - * Implementation of nonlinear complementary filters on the SO(3). - * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer. - * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix. - * - * Theory of nonlinear complementary filters on the SO(3) is based on [1]. - * Quaternion realization of [1] is based on [2]. - * Optmized quaternion update code is based on Sebastian Madgwick's implementation. - * - * References - * [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008 - * [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008 - */ - -#include "attitude_estimator_so3_comp_params.h" - -/* This is filter gain for nonlinear SO3 complementary filter */ -/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place. - Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP. - If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which - will compensate gyro bias which depends on temperature and vibration of your vehicle */ -PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time. - //! You can set this gain higher if you want more fast response. - //! But note that higher gain will give you also higher overshoot. -PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change) - //! This gain is depend on your vehicle status. - -/* offsets in roll, pitch and yaw of sensor plane and body */ -PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); -PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f); -PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f); - -int parameters_init(struct attitude_estimator_so3_comp_param_handles *h) -{ - /* Filter gain parameters */ - h->Kp = param_find("SO3_COMP_KP"); - h->Ki = param_find("SO3_COMP_KI"); - - /* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */ - h->roll_off = param_find("ATT_ROLL_OFFS"); - h->pitch_off = param_find("ATT_PITCH_OFFS"); - h->yaw_off = param_find("ATT_YAW_OFFS"); - - return OK; -} - -int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p) -{ - /* Update filter gain */ - param_get(h->Kp, &(p->Kp)); - param_get(h->Ki, &(p->Ki)); - - /* Update attitude offset */ - param_get(h->roll_off, &(p->roll_off)); - param_get(h->pitch_off, &(p->pitch_off)); - param_get(h->yaw_off, &(p->yaw_off)); - - return OK; -} diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h deleted file mode 100755 index f00695630..000000000 --- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h +++ /dev/null @@ -1,44 +0,0 @@ -/* - * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr> - * - * @file attitude_estimator_so3_comp_params.h - * - * Implementation of nonlinear complementary filters on the SO(3). - * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer. - * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix. - * - * Theory of nonlinear complementary filters on the SO(3) is based on [1]. - * Quaternion realization of [1] is based on [2]. - * Optmized quaternion update code is based on Sebastian Madgwick's implementation. - * - * References - * [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008 - * [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008 - */ - -#include <systemlib/param/param.h> - -struct attitude_estimator_so3_comp_params { - float Kp; - float Ki; - float roll_off; - float pitch_off; - float yaw_off; -}; - -struct attitude_estimator_so3_comp_param_handles { - param_t Kp, Ki; - param_t roll_off, pitch_off, yaw_off; -}; - -/** - * Initialize all parameter handles and values - * - */ -int parameters_init(struct attitude_estimator_so3_comp_param_handles *h); - -/** - * Update all parameters - * - */ -int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p); diff --git a/src/modules/attitude_estimator_so3_comp/module.mk b/src/modules/attitude_estimator_so3_comp/module.mk deleted file mode 100644 index 92f43d920..000000000 --- a/src/modules/attitude_estimator_so3_comp/module.mk +++ /dev/null @@ -1,8 +0,0 @@ -# -# Attitude estimator (Nonlinear SO3 complementary Filter) -# - -MODULE_COMMAND = attitude_estimator_so3_comp - -SRCS = attitude_estimator_so3_comp_main.cpp \ - attitude_estimator_so3_comp_params.c diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index dfd4d2f73..3fc1d2c19 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -509,6 +509,21 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; + /* Flight termination */ + case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command + + if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO + transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON, control_mode); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + /* reject parachute depoyment not armed */ + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + } + break; + default: break; } @@ -1174,6 +1189,16 @@ int commander_thread_main(int argc, char *argv[]) } } + /* Flight termination in manual mode if assisted switch is on easy position //xxx hack! */ + if (armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { + transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON, &control_mode); + if (flighttermination_res == TRANSITION_CHANGED) { + tune_positive(); + } + } else { + flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF, &control_mode); + } + /* handle commands last, as the system needs to be updated to handle them */ orb_check(cmd_sub, &updated); @@ -1199,6 +1224,7 @@ int commander_thread_main(int argc, char *argv[]) bool arming_state_changed = check_arming_state_changed(); bool main_state_changed = check_main_state_changed(); bool navigation_state_changed = check_navigation_state_changed(); + bool flighttermination_state_changed = check_flighttermination_state_changed(); hrt_abstime t1 = hrt_absolute_time(); @@ -1598,8 +1624,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c /* switch to failsafe mode */ bool manual_control_old = control_mode->flag_control_manual_enabled; - if (!status->condition_landed) { - /* in air: try to hold position */ + if (!status->condition_landed && status->condition_local_position_valid) { + /* in air: try to hold position if possible */ res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); } else { @@ -1725,7 +1751,8 @@ void *commander_low_prio_loop(void *arg) /* ignore commands the high-prio loop handles */ if (cmd.command == VEHICLE_CMD_DO_SET_MODE || cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM || - cmd.command == VEHICLE_CMD_NAV_TAKEOFF) + cmd.command == VEHICLE_CMD_NAV_TAKEOFF || + cmd.command == VEHICLE_CMD_DO_SET_SERVO) continue; /* only handle low-priority commands here */ diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index a50af7daf..ca3ec94b8 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -65,6 +65,7 @@ static const int ERROR = -1; static bool arming_state_changed = true; static bool main_state_changed = true; static bool navigation_state_changed = true; +static bool flighttermination_state_changed = true; transition_result_t arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, @@ -451,6 +452,18 @@ check_navigation_state_changed() } } +bool +check_flighttermination_state_changed() +{ + if (flighttermination_state_changed) { + flighttermination_state_changed = false; + return true; + + } else { + return false; + } +} + void set_navigation_state_changed() { @@ -523,6 +536,44 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s } +/** +* Transition from one flightermination state to another +*/ +transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode) +{ + transition_result_t ret = TRANSITION_DENIED; + + /* only check transition if the new state is actually different from the current one */ + if (new_flighttermination_state == status->flighttermination_state) { + ret = TRANSITION_NOT_CHANGED; + + } else { + + switch (new_flighttermination_state) { + case FLIGHTTERMINATION_STATE_ON: + ret = TRANSITION_CHANGED; + status->flighttermination_state = FLIGHTTERMINATION_STATE_ON; + warnx("state machine helper: change to FLIGHTTERMINATION_STATE_ON"); + break; + case FLIGHTTERMINATION_STATE_OFF: + ret = TRANSITION_CHANGED; + status->flighttermination_state = FLIGHTTERMINATION_STATE_OFF; + break; + + default: + break; + } + + if (ret == TRANSITION_CHANGED) { + flighttermination_state_changed = true; + control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON; + } + } + + return ret; +} + + // /* // * Wrapper functions (to be used in the commander), all functions assume lock on current_status diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 0bfdf36a8..e1ec9d4ad 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -70,8 +70,12 @@ bool check_main_state_changed(); transition_result_t navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode); +transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode); + bool check_navigation_state_changed(); +bool check_flighttermination_state_changed(); + void set_navigation_state_changed(); int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd); diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp index 335439fb7..8cc0d77d4 100644 --- a/src/modules/controllib/uorb/blocks.hpp +++ b/src/modules/controllib/uorb/blocks.hpp @@ -43,7 +43,6 @@ #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> #include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_status.h> diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index 874a47be7..dc2d6c312 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -111,7 +111,8 @@ static unsigned g_func_counts[dm_number_of_funcs]; static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = { DM_KEY_SAFE_POINTS_MAX, DM_KEY_FENCE_POINTS_MAX, - DM_KEY_WAYPOINTS_OFFBOARD_MAX, + DM_KEY_WAYPOINTS_OFFBOARD_0_MAX, + DM_KEY_WAYPOINTS_OFFBOARD_1_MAX, DM_KEY_WAYPOINTS_ONBOARD_MAX }; @@ -572,11 +573,13 @@ task_main(int argc, char *argv[]) g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY); if (g_task_fd < 0) { warnx("Could not open data manager file %s", k_data_manager_device_path); + sem_post(&g_init_sema); return -1; } if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) { close(g_task_fd); warnx("Could not seek data manager file %s", k_data_manager_device_path); + sem_post(&g_init_sema); return -1; } fsync(g_task_fd); @@ -720,7 +723,7 @@ dataman_main(int argc, char *argv[]) if (g_fd < 0) errx(1, "start failed"); - return 0; + exit(0); } if (g_fd < 0) @@ -733,6 +736,6 @@ dataman_main(int argc, char *argv[]) else usage(); - return 0; + exit(1); } diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h index 2a781405a..a70638ccc 100644 --- a/src/modules/dataman/dataman.h +++ b/src/modules/dataman/dataman.h @@ -50,7 +50,8 @@ extern "C" { typedef enum { DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */ DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */ - DM_KEY_WAYPOINTS_OFFBOARD, /* Mission way point coordinates sent over mavlink */ + DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */ + DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alernate between 0 and 1) */ DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */ DM_KEY_NUM_KEYS /* Total number of item types defined */ } dm_item_t; @@ -59,7 +60,8 @@ extern "C" { enum { DM_KEY_SAFE_POINTS_MAX = 8, DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES, - DM_KEY_WAYPOINTS_OFFBOARD_MAX = NUM_MISSIONS_SUPPORTED, + DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED, + DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED, DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED }; diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index ff3f13306..26777f737 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -121,6 +121,7 @@ private: orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */ orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ + orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */ struct vehicle_attitude_s _att; /**< vehicle attitude */ struct accel_report _accel; /**< body frame accelerations */ @@ -128,7 +129,8 @@ private: struct manual_control_setpoint_s _manual; /**< r/c channel data */ struct airspeed_s _airspeed; /**< airspeed */ struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */ - struct actuator_controls_s _actuators; /**< actuator control inputs */ + struct actuator_controls_s _actuators; /**< actuator control inputs */ + struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ struct vehicle_global_position_s _global_pos; /**< global position */ perf_counter_t _loop_perf; /**< loop performance counter */ @@ -286,6 +288,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _rate_sp_pub(-1), _actuators_0_pub(-1), _attitude_sp_pub(-1), + _actuators_1_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), @@ -294,14 +297,15 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _airspeed_valid(false) { /* safely initialize structs */ - vehicle_attitude_s _att = {0}; - accel_report _accel = {0}; - vehicle_attitude_setpoint_s _att_sp = {0}; - manual_control_setpoint_s _manual = {0}; - airspeed_s _airspeed = {0}; - vehicle_control_mode_s _vcontrol_mode = {0}; - actuator_controls_s _actuators = {0}; - vehicle_global_position_s _global_pos = {0}; + _att = {0}; + _accel = {0}; + _att_sp = {0}; + _manual = {0}; + _airspeed = {0}; + _vcontrol_mode = {0}; + _actuators = {0}; + _actuators_airframe = {0}; + _global_pos = {0}; _parameter_handles.tconst = param_find("FW_ATT_TC"); @@ -625,6 +629,15 @@ FixedwingAttitudeControl::task_main() lock_integrator = true; } + /* Simple handling of failsafe: deploy parachute if failsafe is on */ + if (_vcontrol_mode.flag_control_flighttermination_enabled) { + _actuators_airframe.control[1] = 1.0f; +// warnx("_actuators_airframe.control[1] = 1.0f;"); + } else { + _actuators_airframe.control[1] = 0.0f; +// warnx("_actuators_airframe.control[1] = -1.0f;"); + } + /* decide if in stabilized or full manual control */ if (_vcontrol_mode.flag_control_attitude_enabled) { @@ -794,6 +807,7 @@ FixedwingAttitudeControl::task_main() /* lazily publish the setpoint only once available */ _actuators.timestamp = hrt_absolute_time(); + _actuators_airframe.timestamp = hrt_absolute_time(); if (_actuators_0_pub > 0) { /* publish the attitude setpoint */ @@ -804,6 +818,19 @@ FixedwingAttitudeControl::task_main() _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); } + if (_actuators_1_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe); +// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f", +// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2], +// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5], +// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]); + + } else { + /* advertise and publish */ + _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe); + } + } perf_end(_loop_perf); diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 240749fed..0b37f48ba 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -33,9 +33,9 @@ f * Copyright (c) 2013 PX4 Development Team. All rights reserved. ****************************************************************************/ /** - * @file fw_pos_control_l1_params.c + * @file fw_att_control_params.c * - * Parameters defined by the L1 position control task + * Parameters defined by the fixed-wing attitude control task * * @author Lorenz Meier <lm@inf.ethz.ch> */ diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index d60983bce..ae0f8c0ea 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -87,6 +87,7 @@ #include <ecl/l1/ecl_l1_pos_controller.h> #include <external_lgpl/tecs/tecs.h> +#include "landingslope.h" /** * L1 control app start / stop handling function @@ -168,6 +169,9 @@ private: bool land_motor_lim; bool land_onslope; + /* Landingslope object */ + Landingslope landingslope; + float flare_curve_alt_last; /* heading hold */ float target_bearing; @@ -308,11 +312,6 @@ private: void vehicle_setpoint_poll(); /** - * Get Altitude on the landing glide slope - */ - float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude, float landing_slope_angle_rad, float horizontal_displacement); - - /** * Control position. */ bool control_position(const math::Vector2f &global_pos, const math::Vector2f &ground_speed, @@ -536,6 +535,9 @@ FixedwingPositionControl::parameters_update() return 1; } + /* Update the landing slope */ + landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_horizontal_distance, _parameters.land_H1_virt); + return OK; } @@ -707,11 +709,6 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector2f &cu } } -float FixedwingPositionControl::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude, float landing_slope_angle_rad, float horizontal_displacement) -{ - return (wp_distance - horizontal_displacement) * tanf(landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative -} - bool FixedwingPositionControl::control_position(const math::Vector2f ¤t_position, const math::Vector2f &ground_speed, const struct mission_item_triplet_s &mission_item_triplet) @@ -854,20 +851,13 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; - float landing_slope_angle_rad = math::radians(_parameters.land_slope_angle); - float flare_relative_alt = _parameters.land_flare_alt_relative; - float motor_lim_horizontal_distance = _parameters.land_thrust_lim_horizontal_distance;//be generous here as we currently have to rely on the user input for the waypoint float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length; - float H1 = _parameters.land_H1_virt; - float H0 = flare_relative_alt + H1; - float d1 = flare_relative_alt/tanf(landing_slope_angle_rad); - float flare_constant = (H0 * d1)/flare_relative_alt;//-flare_length/(logf(H1/H0)); - float flare_length = - logf(H1/H0) * flare_constant;//d1+20.0f;//-logf(0.01f/flare_relative_alt); - float horizontal_slope_displacement = (flare_length - d1); - float L_altitude = getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); - float landing_slope_alt_desired = getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); + float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); + float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); + + - if ( (_global_pos.alt < _mission_item_triplet.current.altitude + flare_relative_alt) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out + if ( (_global_pos.alt < _mission_item_triplet.current.altitude + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ @@ -877,16 +867,16 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; - if (wp_distance < motor_lim_horizontal_distance || land_motor_lim) { + if (wp_distance < landingslope.motor_lim_horizontal_distance() || land_motor_lim) { throttle_max = math::min(throttle_max, _parameters.throttle_land_max); if (!land_motor_lim) { land_motor_lim = true; - mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, limit throttle"); + mavlink_log_info(_mavlink_fd, "#audio: Landing, limiting throttle"); } } - float flare_curve_alt = _mission_item_triplet.current.altitude + H0 * expf(-math::max(0.0f, flare_length - wp_distance)/flare_constant) - H1; + float flare_curve_alt = _mission_item_triplet.current.altitude + landingslope.H0() * expf(-math::max(0.0f, landingslope.flare_length() - wp_distance)/landingslope.flare_constant()) - landingslope.H1_virt(); /* avoid climbout */ if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground) @@ -902,7 +892,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio flare_angle_rad, math::radians(15.0f)); if (!land_noreturn_vertical) { - mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, flare"); + mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring"); land_noreturn_vertical = true; } //warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance); @@ -921,7 +911,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio if (!land_onslope) { - mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, on slope"); + mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope"); land_onslope = true; } @@ -961,7 +951,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(1.3f * _parameters.airspeed_min), _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::max(math::radians(mission_item_triplet.current.radius), math::radians(10.0f)), + true, math::max(math::radians(mission_item_triplet.current.pitch_min), math::radians(10.0f)), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp new file mode 100644 index 000000000..ecf51b740 --- /dev/null +++ b/src/modules/fw_pos_control_l1/landingslope.cpp @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * + * 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: landingslope.cpp + * + * @author: Thomas Gubler <thomasgubler@gmail.com> + */ + +#include "landingslope.h" + +#include <nuttx/config.h> +#include <stdlib.h> +#include <errno.h> +#include <math.h> +#include <unistd.h> + +void Landingslope::update(float landing_slope_angle_rad, + float flare_relative_alt, + float motor_lim_horizontal_distance, + float H1_virt) +{ + + _landing_slope_angle_rad = landing_slope_angle_rad; + _flare_relative_alt = flare_relative_alt; + _motor_lim_horizontal_distance = motor_lim_horizontal_distance; + _H1_virt = H1_virt; + + calculateSlopeValues(); +} + +void Landingslope::calculateSlopeValues() +{ + _H0 = _flare_relative_alt + _H1_virt; + _d1 = _flare_relative_alt/tanf(_landing_slope_angle_rad); + _flare_constant = (_H0 * _d1)/_flare_relative_alt; + _flare_length = - logf(_H1_virt/_H0) * _flare_constant; + _horizontal_slope_displacement = (_flare_length - _d1); +} + +float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude) +{ + return (wp_distance - _horizontal_slope_displacement) * tanf(_landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative +} + diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/fw_pos_control_l1/landingslope.h index a56434d3b..f855b796f 100644 --- a/src/modules/uORB/topics/vehicle_global_position_setpoint.h +++ b/src/modules/fw_pos_control_l1/landingslope.h @@ -1,9 +1,9 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> * @author Julian Oes <joes@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,53 +34,53 @@ * ****************************************************************************/ -/** - * @file vehicle_global_position_setpoint.h - * Definition of the global WGS84 position setpoint uORB topic. +/* + * @file: landingslope.h + * + * @author: Thomas Gubler <thomasgubler@gmail.com> */ -#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ -#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ +#ifndef LANDINGSLOPE_H_ +#define LANDINGSLOPE_H_ -#include <stdint.h> -#include <stdbool.h> -#include "../uORB.h" -#include "mission.h" +class Landingslope +{ +private: + float _landing_slope_angle_rad; + float _flare_relative_alt; + float _motor_lim_horizontal_distance; + float _H1_virt; + float _H0; + float _d1; + float _flare_constant; + float _flare_length; + float _horizontal_slope_displacement; -/** - * @addtogroup topics - * @{ - */ + void calculateSlopeValues(); -/** - * Global position setpoint in WGS84 coordinates. - * - * This is the position the MAV is heading towards. If it of type loiter, - * the MAV is circling around it with the given loiter radius in meters. - */ -struct vehicle_global_position_setpoint_s -{ - bool altitude_is_relative; /**< true if altitude is relative from start point */ - int32_t lat; /**< latitude in degrees * 1E7 */ - int32_t lon; /**< longitude in degrees * 1E7 */ - float altitude; /**< altitude in meters */ - float yaw; /**< in radians NED -PI..+PI */ - float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ - int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ - enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ - float param1; - float param2; - float param3; - float param4; - float turn_distance_xy; /**< The distance on the plane which will mark this as reached */ - float turn_distance_z; /**< The distance in Z direction which will mark this as reached */ -}; +public: + Landingslope() {} + ~Landingslope() {} -/** - * @} - */ + float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude); + + void update(float landing_slope_angle_rad, + float flare_relative_alt, + float motor_lim_horizontal_distance, + float H1_virt); + + + inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;} + inline float flare_relative_alt() {return _flare_relative_alt;} + inline float motor_lim_horizontal_distance() {return _motor_lim_horizontal_distance;} + inline float H1_virt() {return _H1_virt;} + inline float H0() {return _H0;} + inline float d1() {return _d1;} + inline float flare_constant() {return _flare_constant;} + inline float flare_length() {return _flare_length;} + inline float horizontal_slope_displacement() {return _horizontal_slope_displacement;} + +}; -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_global_position_setpoint); -#endif +#endif /* LANDINGSLOPE_H_ */ diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index b00b9aa5a..cf419ec7e 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -38,4 +38,5 @@ MODULE_COMMAND = fw_pos_control_l1 SRCS = fw_pos_control_l1_main.cpp \ - fw_pos_control_l1_params.c + fw_pos_control_l1_params.c \ + landingslope.cpp diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index bfccd5fb0..7b6fad658 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -382,16 +382,15 @@ handle_message(mavlink_message_t *msg) /* hil gyro */ static const float mrad2rad = 1.0e-3f; - hil_sensors.gyro_counter = hil_counter; hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad; hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad; hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad; hil_sensors.gyro_rad_s[0] = imu.xgyro; hil_sensors.gyro_rad_s[1] = imu.ygyro; hil_sensors.gyro_rad_s[2] = imu.zgyro; + hil_sensors.gyro_counter = hil_counter; /* accelerometer */ - hil_sensors.accelerometer_counter = hil_counter; static const float mg2ms2 = 9.8f / 1000.0f; hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; @@ -401,6 +400,7 @@ handle_message(mavlink_message_t *msg) hil_sensors.accelerometer_m_s2[2] = imu.zacc; hil_sensors.accelerometer_mode = 0; // TODO what is this? hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 + hil_sensors.accelerometer_counter = hil_counter; /* adc */ hil_sensors.adc_voltage_v[0] = 0.0f; @@ -409,7 +409,6 @@ handle_message(mavlink_message_t *msg) /* magnetometer */ float mga2ga = 1.0e-3f; - hil_sensors.magnetometer_counter = hil_counter; hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga; hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga; hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga; @@ -419,15 +418,13 @@ handle_message(mavlink_message_t *msg) hil_sensors.magnetometer_range_ga = 32.7f; // int16 hil_sensors.magnetometer_mode = 0; // TODO what is this hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; + hil_sensors.magnetometer_counter = hil_counter; /* baro */ hil_sensors.baro_pres_mbar = imu.abs_pressure; hil_sensors.baro_alt_meter = imu.pressure_alt; hil_sensors.baro_temp_celcius = imu.temperature; - - hil_sensors.gyro_counter = hil_counter; - hil_sensors.magnetometer_counter = hil_counter; - hil_sensors.accelerometer_counter = hil_counter; + hil_sensors.baro_counter = hil_counter; /* differential pressure */ hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c index a7f9a6acf..318dcf08c 100644 --- a/src/modules/mavlink/missionlib.c +++ b/src/modules/mavlink/missionlib.c @@ -73,11 +73,15 @@ #include "waypoints.h" #include "mavlink_parameters.h" + + static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; static uint64_t loiter_start_time; +#if 0 static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command, struct vehicle_global_position_setpoint_s *sp); +#endif int mavlink_missionlib_send_message(mavlink_message_t *msg) @@ -88,6 +92,8 @@ mavlink_missionlib_send_message(mavlink_message_t *msg) return 0; } + + int mavlink_missionlib_send_gcs_string(const char *string) { @@ -127,6 +133,7 @@ uint64_t mavlink_missionlib_get_system_timestamp() return hrt_absolute_time(); } +#if 0 /** * Set special vehicle setpoint fields based on current mission item. * @@ -301,7 +308,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, // sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f; // sp.altitude = wpm->waypoints[last_setpoint_index].z; // sp.altitude_is_relative = false; - // sp.yaw = (wpm->waypoints[last_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F; + // sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F); // set_special_fields(wpm->waypoints[last_setpoint_index].param1, // wpm->waypoints[last_setpoint_index].param2, // wpm->waypoints[last_setpoint_index].param3, @@ -317,7 +324,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, // sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f; // sp.altitude = wpm->waypoints[next_setpoint_index].z; // sp.altitude_is_relative = false; - // sp.yaw = (wpm->waypoints[next_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F; + // sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F); // set_special_fields(wpm->waypoints[next_setpoint_index].param1, // wpm->waypoints[next_setpoint_index].param2, // wpm->waypoints[next_setpoint_index].param3, @@ -343,7 +350,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, sp.lon = param6_lon_y * 1e7f; sp.altitude = param7_alt_z; sp.altitude_is_relative = true; - sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); set_special_fields(param1, param2, param3, param4, command, &sp); /* Initialize publication if necessary */ @@ -364,7 +371,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, sp.x = param5_lat_x; sp.y = param6_lon_y; sp.z = param7_alt_z; - sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); /* Initialize publication if necessary */ if (local_position_setpoint_pub < 0) { @@ -388,3 +395,5 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, printf("%s\n", buf); //printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000); } + +#endif
\ No newline at end of file diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 634586fdb..de902f3da 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -54,6 +54,7 @@ #include <sys/prctl.h> #include <stdlib.h> #include <poll.h> +#include <lib/geo/geo.h> #include <mavlink/mavlink_log.h> @@ -72,7 +73,6 @@ struct vehicle_status_s v_status; struct rc_channels_s rc; struct rc_input_values rc_raw; struct actuator_armed_s armed; -struct actuator_controls_effective_s actuators_effective_0; struct actuator_controls_s actuators_0; struct vehicle_attitude_s att; struct airspeed_s airspeed; @@ -119,7 +119,6 @@ static void l_attitude_setpoint(const struct listener *l); static void l_actuator_outputs(const struct listener *l); static void l_actuator_armed(const struct listener *l); static void l_manual_control_setpoint(const struct listener *l); -static void l_vehicle_attitude_controls_effective(const struct listener *l); static void l_vehicle_attitude_controls(const struct listener *l); static void l_debug_key_value(const struct listener *l); static void l_optical_flow(const struct listener *l); @@ -137,7 +136,7 @@ static const struct listener listeners[] = { {l_input_rc, &mavlink_subs.input_rc_sub, 0}, {l_global_position, &mavlink_subs.global_pos_sub, 0}, {l_local_position, &mavlink_subs.local_pos_sub, 0}, - {l_global_position_setpoint, &mavlink_subs.spg_sub, 0}, + {l_global_position_setpoint, &mavlink_subs.triplet_sub, 0}, {l_local_position_setpoint, &mavlink_subs.spl_sub, 0}, {l_attitude_setpoint, &mavlink_subs.spa_sub, 0}, {l_actuator_outputs, &mavlink_subs.act_0_sub, 0}, @@ -147,7 +146,6 @@ static const struct listener listeners[] = { {l_actuator_armed, &mavlink_subs.armed_sub, 0}, {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, - {l_vehicle_attitude_controls_effective, &mavlink_subs.actuators_effective_sub, 0}, {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, {l_optical_flow, &mavlink_subs.optical_flow, 0}, {l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0}, @@ -242,16 +240,29 @@ l_vehicle_attitude(const struct listener *l) att.rollspeed, att.pitchspeed, att.yawspeed); - + /* limit VFR message rate to 10Hz */ hrt_abstime t = hrt_absolute_time(); if (t >= last_sent_vfr + 100000) { last_sent_vfr = t; float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f; - float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1); + uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F; + float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f; mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz); } + + /* send quaternion values if it exists */ + if(att.q_valid) { + mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + att.q[0], + att.q[1], + att.q[2], + att.q[3], + att.rollspeed, + att.pitchspeed, + att.yawspeed); + } } attitude_counter++; @@ -266,13 +277,7 @@ l_vehicle_gps_position(const struct listener *l) orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps); /* GPS COG is 0..2PI in degrees * 1e2 */ - float cog_deg = gps.cog_rad; - - if (cog_deg > M_PI_F) - cog_deg -= 2.0f * M_PI_F; - - cog_deg *= M_RAD_TO_DEG_F; - + float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F; /* GPS position */ mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, @@ -365,28 +370,16 @@ l_global_position(const struct listener *l) /* copy global position data into local buffer */ orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos); - uint64_t timestamp = global_pos.timestamp; - int32_t lat = global_pos.lat; - int32_t lon = global_pos.lon; - int32_t alt = (int32_t)(global_pos.alt * 1000); - int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f); - int16_t vx = (int16_t)(global_pos.vx * 100.0f); - int16_t vy = (int16_t)(global_pos.vy * 100.0f); - int16_t vz = (int16_t)(global_pos.vz * 100.0f); - - /* heading in degrees * 10, from 0 to 36.000) */ - uint16_t hdg = (global_pos.yaw / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f); - mavlink_msg_global_position_int_send(MAVLINK_COMM_0, - timestamp / 1000, - lat, - lon, - alt, - relative_alt, - vx, - vy, - vz, - hdg); + global_pos.timestamp / 1000, + global_pos.lat, + global_pos.lon, + global_pos.alt * 1000.0f, + global_pos.relative_alt * 1000.0f, + global_pos.vx * 100.0f, + global_pos.vy * 100.0f, + global_pos.vz * 100.0f, + _wrap_2pi(global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f); } void @@ -409,23 +402,24 @@ l_local_position(const struct listener *l) void l_global_position_setpoint(const struct listener *l) { - struct vehicle_global_position_setpoint_s global_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp); + struct mission_item_triplet_s triplet; + orb_copy(ORB_ID(mission_item_triplet), mavlink_subs.triplet_sub, &triplet); uint8_t coordinate_frame = MAV_FRAME_GLOBAL; + + if (!triplet.current_valid) + return; - if (global_sp.altitude_is_relative) + if (triplet.current.altitude_is_relative) coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; if (gcs_link) mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, coordinate_frame, - global_sp.lat, - global_sp.lon, - global_sp.altitude, - global_sp.yaw); + (int32_t)(triplet.current.lat * 1e7f), + (int32_t)(triplet.current.lon * 1e7f), + (int32_t)(triplet.current.altitude * 1e3f), + (int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f)); } void @@ -506,8 +500,8 @@ l_actuator_outputs(const struct listener *l) act_outputs.output[6], act_outputs.output[7]); - /* only send in HIL mode */ - if (mavlink_hil_enabled && armed.armed && l->arg == 0) { + /* only send in HIL mode and only send first group for HIL */ + if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; @@ -604,32 +598,6 @@ l_manual_control_setpoint(const struct listener *l) } void -l_vehicle_attitude_controls_effective(const struct listener *l) -{ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_effective_sub, &actuators_effective_0); - - if (gcs_link) { - /* send, add spaces so that string buffer is at least 10 chars long */ - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl0 ", - actuators_effective_0.control_effective[0]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl1 ", - actuators_effective_0.control_effective[1]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl2 ", - actuators_effective_0.control_effective[2]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl3 ", - actuators_effective_0.control_effective[3]); - } -} - -void l_vehicle_attitude_controls(const struct listener *l) { orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators_0); @@ -803,9 +771,9 @@ uorb_receive_start(void) orb_set_interval(mavlink_subs.local_pos_sub, 1000); /* 1Hz active updates */ /* --- GLOBAL SETPOINT VALUE --- */ - mavlink_subs.spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - orb_set_interval(mavlink_subs.spg_sub, 2000); /* 0.5 Hz updates */ - + mavlink_subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet)); + orb_set_interval(mavlink_subs.triplet_sub, 2000); /* 0.5 Hz updates */ + /* --- LOCAL SETPOINT VALUE --- */ mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); orb_set_interval(mavlink_subs.spl_sub, 2000); /* 0.5 Hz updates */ @@ -839,9 +807,6 @@ uorb_receive_start(void) orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ /* --- ACTUATOR CONTROL VALUE --- */ - mavlink_subs.actuators_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - orb_set_interval(mavlink_subs.actuators_effective_sub, 100); /* 10Hz updates */ - mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h index 2cba25338..7d24b8f93 100644 --- a/src/modules/mavlink/orb_topics.h +++ b/src/modules/mavlink/orb_topics.h @@ -50,8 +50,8 @@ #include <uORB/topics/offboard_control_setpoint.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position_setpoint.h> +#include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/vehicle_vicon_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> #include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_rates_setpoint.h> @@ -86,7 +86,7 @@ struct mavlink_subscriptions { int local_pos_sub; int spa_sub; int spl_sub; - int spg_sub; + int triplet_sub; int debug_key_value; int input_rc_sub; int optical_flow; diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 52a580d5b..741ea8aa4 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -103,12 +103,21 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli return MAV_MISSION_ERROR; } + switch (mavlink_mission_item->command) { + case MAV_CMD_NAV_TAKEOFF: + mission_item->pitch_min = mavlink_mission_item->param2; + break; + default: + mission_item->radius = mavlink_mission_item->param2; + break; + } + mission_item->yaw = _wrap_pi(mavlink_mission_item->param4*M_DEG_TO_RAD_F); mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ mission_item->nav_cmd = mavlink_mission_item->command; - mission_item->radius = mavlink_mission_item->param1; - mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */ + + mission_item->time_inside = mavlink_mission_item->param1 / 1e3f; /* from milliseconds to seconds */ mission_item->autocontinue = mavlink_mission_item->autocontinue; mission_item->index = mavlink_mission_item->seq; mission_item->origin = ORIGIN_MAVLINK; @@ -124,6 +133,15 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; } + switch (mission_item->nav_cmd) { + case NAV_CMD_TAKEOFF: + mavlink_mission_item->param2 = mission_item->pitch_min; + break; + default: + mavlink_mission_item->param2 = mission_item->radius; + break; + } + mavlink_mission_item->x = (float)mission_item->lat; mavlink_mission_item->y = (float)mission_item->lon; mavlink_mission_item->z = mission_item->altitude; @@ -131,8 +149,7 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F; mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction; mavlink_mission_item->command = mission_item->nav_cmd; - mavlink_mission_item->param1 = mission_item->radius; - mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ + mavlink_mission_item->param1 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ mavlink_mission_item->autocontinue = mission_item->autocontinue; mavlink_mission_item->seq = mission_item->index; @@ -152,6 +169,8 @@ void mavlink_wpm_init(mavlink_wpm_storage *state) state->timestamp_lastaction = 0; // state->timestamp_last_send_setpoint = 0; state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; + + state->current_dataman_id = 0; // 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 @@ -595,6 +614,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi // wpm->yaw_reached = false; // wpm->pos_reached = false; + mission.current_index = wpc.seq; publish_mission(); @@ -701,7 +721,15 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi struct mission_item_s mission_item; ssize_t len = sizeof(struct mission_item_s); - if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, wpr.seq, &mission_item, len) == len) { + dm_item_t dm_current; + + if (wpm->current_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + + if (dm_read(dm_current, wpr.seq, &mission_item, len) == len) { if (mission.current_index == wpr.seq) { wp.current = true; @@ -838,10 +866,6 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi if (wpc.count > NUM_MISSIONS_SUPPORTED) { warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); - } else { - /* set count to 0 while copying */ - mission.count = 0; - publish_mission(); } #ifdef MAVLINK_WPM_NO_PRINTF @@ -975,7 +999,17 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi size_t len = sizeof(struct mission_item_s); - if (dm_write(DM_KEY_WAYPOINTS_OFFBOARD, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { + dm_item_t dm_next; + + if (wpm->current_dataman_id == 0) { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; + mission.dataman_id = 1; + } else { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; + mission.dataman_id = 0; + } + + if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); wpm->current_state = MAVLINK_WPM_STATE_IDLE; break; @@ -1021,6 +1055,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi publish_mission(); + wpm->current_dataman_id = mission.dataman_id; wpm->size = wpm->current_count; //get the new current waypoint @@ -1115,9 +1150,11 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi // wpm->pos_reached = false; /* prepare mission topic */ + mission.dataman_id = -1; mission.count = 0; + mission.current_index = -1; - if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD) == OK) { + if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); } else { mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index fc68285e9..801bc0bcf 100644 --- a/src/modules/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h @@ -110,6 +110,7 @@ struct mavlink_wpm_storage { // uint64_t timestamp_firstinside_orbit; // uint64_t timestamp_lastoutside_orbit; uint32_t timeout; + int current_dataman_id; // uint32_t delay_setpoint; // float accept_range_yaw; // float accept_range_distance; diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h index 1b49c9ce4..86bfa26f2 100644 --- a/src/modules/mavlink_onboard/orb_topics.h +++ b/src/modules/mavlink_onboard/orb_topics.h @@ -50,7 +50,7 @@ #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_vicon_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/optical_flow.h> diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 3d23d0c09..5af7e2a82 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -61,8 +61,8 @@ #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> +#include <uORB/topics/mission_item_triplet.h> #include <systemlib/systemlib.h> #include <systemlib/pid/pid.h> #include <mavlink/mavlink_log.h> @@ -190,12 +190,12 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) memset(&manual, 0, sizeof(manual)); struct vehicle_local_position_s local_pos; memset(&local_pos, 0, sizeof(local_pos)); - struct vehicle_local_position_setpoint_s local_pos_sp; - memset(&local_pos_sp, 0, sizeof(local_pos_sp)); - struct vehicle_global_position_setpoint_s global_pos_sp; - memset(&global_pos_sp, 0, sizeof(global_pos_sp)); + struct mission_item_triplet_s triplet; + memset(&triplet, 0, sizeof(triplet)); struct vehicle_global_velocity_setpoint_s global_vel_sp; memset(&global_vel_sp, 0, sizeof(global_vel_sp)); + struct vehicle_local_position_setpoint_s local_pos_sp; + memset(&local_pos_sp, 0, sizeof(local_pos_sp)); /* subscribe to attitude, motor setpoints and system state */ int param_sub = orb_subscribe(ORB_ID(parameter_update)); @@ -203,9 +203,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); - int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + int mission_triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet)); /* publish setpoint */ orb_advert_t local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &local_pos_sp); @@ -292,11 +290,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); } - orb_check(global_pos_sp_sub, &updated); + orb_check(mission_triplet_sub, &updated); if (updated) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), global_pos_sp_sub, &global_pos_sp); - global_pos_sp_valid = true; + orb_copy(ORB_ID(mission_item_triplet), mission_triplet_sub, &triplet); + global_pos_sp_valid = triplet.current_valid; reset_mission_sp = true; } @@ -329,7 +327,6 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); - orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos); float z_sp_offs_max = params.z_vel_max / params.z_p * 2.0f; float xy_sp_offs_max = params.xy_vel_max / params.xy_p * 2.0f; @@ -459,24 +456,22 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* update global setpoint projection */ if (global_pos_sp_valid) { - /* global position setpoint valid, use it */ - double sp_lat = global_pos_sp.lat * 1e-7; - double sp_lon = global_pos_sp.lon * 1e-7; + /* project global setpoint to local setpoint */ - map_projection_project(sp_lat, sp_lon, &(local_pos_sp.x), &(local_pos_sp.y)); + map_projection_project(triplet.current.lat, triplet.current.lon, &(local_pos_sp.x), &(local_pos_sp.y)); - if (global_pos_sp.altitude_is_relative) { - local_pos_sp.z = -global_pos_sp.altitude; + if (triplet.current.altitude_is_relative) { + local_pos_sp.z = -triplet.current.altitude; } else { - local_pos_sp.z = local_pos.ref_alt - global_pos_sp.altitude; + local_pos_sp.z = local_pos.ref_alt - triplet.current.lat; } /* update yaw setpoint only if value is valid */ - if (isfinite(global_pos_sp.yaw) && fabsf(global_pos_sp.yaw) < M_TWOPI) { - att_sp.yaw_body = global_pos_sp.yaw; + if (isfinite(triplet.current.yaw) && fabsf(triplet.current.yaw) < M_TWOPI) { + att_sp.yaw_body = triplet.current.yaw; } - mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", (double)sp_lat, sp_lon, (double)local_pos_sp.x, (double)local_pos_sp.y); + mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", triplet.current.lat, triplet.current.lon, (double)local_pos_sp.x, (double)local_pos_sp.y); } else { if (reset_auto_sp_xy) { diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index d93ecc7cd..48f828ff7 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -440,6 +440,7 @@ Navigator::offboard_mission_update() struct mission_s offboard_mission; if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) { + _mission.set_offboard_dataman_id(offboard_mission.dataman_id); _mission.set_current_offboard_mission_index(offboard_mission.current_index); _mission.set_offboard_mission_count(offboard_mission.count); diff --git a/src/modules/navigator/navigator_mission.cpp b/src/modules/navigator/navigator_mission.cpp index 993f8f133..6576aae70 100644 --- a/src/modules/navigator/navigator_mission.cpp +++ b/src/modules/navigator/navigator_mission.cpp @@ -53,7 +53,8 @@ static const int ERROR = -1; Mission::Mission() : - + + _offboard_dataman_id(-1), _current_offboard_mission_index(0), _current_onboard_mission_index(0), _offboard_mission_item_count(0), @@ -68,6 +69,12 @@ Mission::~Mission() } void +Mission::set_offboard_dataman_id(int new_id) +{ + _offboard_dataman_id = new_id; +} + +void Mission::set_current_offboard_mission_index(int new_index) { if (new_index != -1) { @@ -132,8 +139,16 @@ Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool /* otherwise fallback to offboard */ } else if (current_offboard_mission_available()) { + dm_item_t dm_current; + + if (_offboard_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + const ssize_t len = sizeof(struct mission_item_s); - if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, _current_offboard_mission_index, new_mission_item, len) != len) { + if (dm_read(dm_current, _current_offboard_mission_index, new_mission_item, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ _current_mission_type = MISSION_TYPE_NONE; return ERROR; @@ -166,8 +181,16 @@ Mission::get_next_mission_item(struct mission_item_s *new_mission_item) /* otherwise fallback to offboard */ } else if (next_offboard_mission_available()) { + dm_item_t dm_current; + + if (_offboard_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + const ssize_t len = sizeof(struct mission_item_s); - if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, _current_offboard_mission_index + 1, new_mission_item, len) != len) { + if (dm_read(dm_current, _current_offboard_mission_index + 1, new_mission_item, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ return ERROR; } diff --git a/src/modules/navigator/navigator_mission.h b/src/modules/navigator/navigator_mission.h index e8e476382..15d4e86bf 100644 --- a/src/modules/navigator/navigator_mission.h +++ b/src/modules/navigator/navigator_mission.h @@ -55,6 +55,7 @@ public: */ ~Mission(); + void set_offboard_dataman_id(int new_id); void set_current_offboard_mission_index(int new_index); void set_current_onboard_mission_index(int new_index); void set_offboard_mission_count(unsigned new_count); @@ -78,6 +79,7 @@ private: bool next_onboard_mission_available(); bool next_offboard_mission_available(); + int _offboard_dataman_id; unsigned _current_offboard_mission_index; unsigned _current_onboard_mission_index; unsigned _offboard_mission_item_count; /** number of offboard mission items available */ diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 10007bf96..3084b6d92 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -236,13 +236,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (ret < 0) { /* poll error */ - errx(1, "subscriptions poll error on init."); + mavlink_log_info(mavlink_fd, "[inav] poll error on init"); } else if (ret > 0) { if (fds_init[0].revents & POLLIN) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (wait_baro && sensor.baro_counter > baro_counter) { + if (wait_baro && sensor.baro_counter != baro_counter) { baro_counter = sensor.baro_counter; /* mean calculation over several measurements */ @@ -320,8 +320,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (ret < 0) { /* poll error */ - warnx("subscriptions poll error."); - thread_should_exit = true; + mavlink_log_info(mavlink_fd, "[inav] poll error on init"); continue; } else if (ret > 0) { @@ -355,7 +354,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (fds[4].revents & POLLIN) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (sensor.accelerometer_counter > accel_counter) { + if (sensor.accelerometer_counter != accel_counter) { if (att.R_valid) { /* correct accel bias, now only for Z */ sensor.accelerometer_m_s2[2] -= accel_bias[2]; @@ -381,7 +380,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) accel_updates++; } - if (sensor.baro_counter > baro_counter) { + if (sensor.baro_counter != baro_counter) { baro_corr = - sensor.baro_alt_meter - z_est[0]; baro_counter = sensor.baro_counter; baro_updates++; diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 5c621cfb2..f630b6f2a 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -66,7 +66,7 @@ controls_init(void) sbus_init("/dev/ttyS2"); /* default to a 1:1 input map, all enabled */ - for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { + for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) { unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0; @@ -94,6 +94,9 @@ controls_tick() { * other. Don't do that. */ + /* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */ + uint16_t rssi = 0; + perf_begin(c_gather_dsm); uint16_t temp_count = r_raw_rc_count; bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count); @@ -104,14 +107,15 @@ controls_tick() { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11; else r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11; + + rssi = 1000; } perf_end(c_gather_dsm); perf_begin(c_gather_sbus); - bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */); + bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS); if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; - r_raw_rc_count = 8; } perf_end(c_gather_sbus); @@ -122,10 +126,19 @@ controls_tick() { */ perf_begin(c_gather_ppm); bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count); - if (ppm_updated) + if (ppm_updated) { + + /* XXX sample RSSI properly here */ + rssi = 1000; + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; + } perf_end(c_gather_ppm); + /* limit number of channels to allowable data size */ + if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) + r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS; + /* * In some cases we may have received a frame, but input has still * been lost. @@ -197,14 +210,16 @@ controls_tick() { /* and update the scaled/mapped version */ unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - ASSERT(mapped < PX4IO_CONTROL_CHANNELS); + if (mapped < PX4IO_CONTROL_CHANNELS) { - /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ - scaled = -scaled; + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ + scaled = -scaled; - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); + + } } } @@ -221,7 +236,7 @@ controls_tick() { * This might happen if a protocol-based receiver returns an update * that contains no channels that we have mapped. */ - if (assigned_channels == 0) { + if (assigned_channels == 0 || rssi == 0) { rc_input_lost = true; } else { /* set RC OK flag */ @@ -321,8 +336,8 @@ ppm_input(uint16_t *values, uint16_t *num_values) /* PPM data exists, copy it */ *num_values = ppm_decoded_channels; - if (*num_values > PX4IO_CONTROL_CHANNELS) - *num_values = PX4IO_CONTROL_CHANNELS; + if (*num_values > PX4IO_RC_INPUT_CHANNELS) + *num_values = PX4IO_RC_INPUT_CHANNELS; for (unsigned i = 0; i < *num_values; i++) values[i] = ppm_buffer[i]; diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index fd3b72015..4d306d6d0 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -355,7 +355,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) continue; /* ignore channels out of range */ - if (channel >= PX4IO_INPUT_CHANNELS) + if (channel >= PX4IO_RC_INPUT_CHANNELS) continue; /* update the decoded channel count */ diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 05897b4ce..e55ef784a 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -77,7 +77,8 @@ enum mixer_source { MIX_NONE, MIX_FMU, MIX_OVERRIDE, - MIX_FAILSAFE + MIX_FAILSAFE, + MIX_OVERRIDE_FMU_OK }; static mixer_source source; @@ -135,10 +136,19 @@ mixer_tick(void) if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && - !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) { + !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) && + !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { /* if allowed, mix from RC inputs directly */ source = MIX_OVERRIDE; + } else if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && + !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { + + /* if allowed, mix from RC inputs directly up to available rc channels */ + source = MIX_OVERRIDE_FMU_OK; } } @@ -185,7 +195,7 @@ mixer_tick(void) r_page_servos[i] = r_page_servo_failsafe[i]; /* safe actuators for FMU feedback */ - r_page_actuators[i] = (r_page_servos[i] - 1500) / 600.0f; + r_page_actuators[i] = FLOAT_TO_REG((r_page_servos[i] - 1500) / 600.0f); } @@ -201,6 +211,10 @@ mixer_tick(void) for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servos[i] = 0; + + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { + r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); + } } if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { @@ -236,24 +250,35 @@ mixer_callback(uintptr_t handle, uint8_t control_index, float &control) { - if (control_group != 0) + if (control_group > 3) return -1; switch (source) { case MIX_FMU: - if (control_index < PX4IO_CONTROL_CHANNELS) { - control = REG_TO_FLOAT(r_page_controls[control_index]); + if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS ) { + control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]); break; } return -1; case MIX_OVERRIDE: - if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) { + if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) { control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]); break; } return -1; + case MIX_OVERRIDE_FMU_OK: + /* FMU is ok but we are in override mode, use direct rc control for the available rc channels. The remaining channels are still controlled by the fmu */ + if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) { + control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]); + break; + } else if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS) { + control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]); + break; + } + return -1; + case MIX_FAILSAFE: case MIX_NONE: control = 0.0f; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 5e5396782..c10f0167c 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 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 @@ -63,7 +63,7 @@ * readable pages to be densely packed. Page numbers do not need to be * packed. * - * Definitions marked 1 are only valid on PX4IOv1 boards. Likewise, + * Definitions marked [1] are only valid on PX4IOv1 boards. Likewise, * [2] denotes definitions specific to the PX4IOv2 board. */ @@ -76,6 +76,9 @@ #define PX4IO_PROTOCOL_VERSION 4 +/* maximum allowable sizes on this protocol version */ +#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 /**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */ + /* static configuration page */ #define PX4IO_PAGE_CONFIG 0 #define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */ @@ -87,6 +90,7 @@ #define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */ #define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ #define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */ +#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT 8 /**< hardcoded # of control groups*/ /* dynamic status page */ #define PX4IO_PAGE_STATUS 1 @@ -124,6 +128,7 @@ #define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ #define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ #define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ +#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -184,44 +189,59 @@ enum { /* DSM bind states */ dsm_bind_reinit_uart }; /* 8 */ -#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ + +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */ +#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ +#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ +#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ + +#define PX4IO_P_CONTROLS_GROUP_VALID 64 +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */ /* raw text load to the mixer parser - ignores offset */ -#define PX4IO_PAGE_MIXERLOAD 52 +#define PX4IO_PAGE_MIXERLOAD 52 /* R/C channel config */ -#define PX4IO_PAGE_RC_CONFIG 53 /* R/C input configuration */ -#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */ -#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */ -#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */ -#define PX4IO_P_RC_CONFIG_DEADZONE 3 /* band around center that is ignored */ -#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /* mapped input value */ -#define PX4IO_P_RC_CONFIG_OPTIONS 5 /* channel options bitmask */ +#define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */ +#define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */ +#define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */ +#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */ +#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */ +#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */ +#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */ #define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) -#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ +#define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */ /* PWM output - overrides mixer */ -#define PX4IO_PAGE_DIRECT_PWM 54 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ /* PWM failsafe values - zero disables the output */ -#define PX4IO_PAGE_FAILSAFE_PWM 55 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ /* Debug and test page - not used in normal operation */ -#define PX4IO_PAGE_TEST 127 -#define PX4IO_P_TEST_LED 0 /* set the amber LED on/off */ +#define PX4IO_PAGE_TEST 127 +#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */ /* PWM minimum values for certain ESCs */ -#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ /* PWM maximum values for certain ESCs */ -#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ /* PWM disarmed values that are active, even when SAFETY_SAFE */ -#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /** * As-needed mixer data upload. diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index ff9eecd74..745bd5705 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -45,6 +45,7 @@ #include <string.h> #include <poll.h> #include <signal.h> +#include <crc32.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_hrt.h> @@ -117,6 +118,29 @@ show_debug_messages(void) } } +static void +heartbeat_blink(void) +{ + static bool heartbeat = false; + LED_BLUE(heartbeat = !heartbeat); +} + + +static void +calculate_fw_crc(void) +{ +#define APP_SIZE_MAX 0xf000 +#define APP_LOAD_ADDRESS 0x08001000 + // compute CRC of the current firmware + uint32_t sum = 0; + for (unsigned p = 0; p < APP_SIZE_MAX; p += 4) { + uint32_t bytes = *(uint32_t *)(p + APP_LOAD_ADDRESS); + sum = crc32part((uint8_t *)&bytes, sizeof(bytes), sum); + } + r_page_setup[PX4IO_P_SETUP_CRC] = sum & 0xFFFF; + r_page_setup[PX4IO_P_SETUP_CRC+1] = sum >> 16; +} + int user_start(int argc, char *argv[]) { @@ -129,6 +153,9 @@ user_start(int argc, char *argv[]) /* configure the high-resolution time/callout interface */ hrt_init(); + /* calculate our fw CRC so FMU can decide if we need to update */ + calculate_fw_crc(); + /* * Poll at 1ms intervals for received bytes that have not triggered * a DMA event. @@ -201,6 +228,7 @@ user_start(int argc, char *argv[]) */ uint64_t last_debug_time = 0; + uint64_t last_heartbeat_time = 0; for (;;) { /* track the rate at which the loop is running */ @@ -216,6 +244,11 @@ user_start(int argc, char *argv[]) controls_tick(); perf_end(controls_perf); + if ((hrt_absolute_time() - last_heartbeat_time) > 250*1000) { + last_heartbeat_time = hrt_absolute_time(); + heartbeat_blink(); + } + #if 0 /* check for debug activity */ show_debug_messages(); diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 4fea0288c..dea04a663 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -53,7 +53,9 @@ */ #define PX4IO_SERVO_COUNT 8 #define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_INPUT_CHANNELS 8 // XXX this should be 18 channels +#define PX4IO_CONTROL_GROUPS 2 +#define PX4IO_RC_INPUT_CHANNELS 18 +#define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */ /* * Debug logging @@ -169,6 +171,8 @@ extern pwm_limit_t pwm_limit; #define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) +#define CONTROL_PAGE_INDEX(_group, _channel) (_group * PX4IO_CONTROL_CHANNELS + _channel) + /* * Mixer */ @@ -209,7 +213,7 @@ extern int dsm_init(const char *device); extern bool dsm_input(uint16_t *values, uint16_t *num_values); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); -extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels); +extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels); /** global debug level for isr_debug() */ extern volatile uint8_t debug_level; diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 86a40bc22..916b893c4 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 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 @@ -45,6 +45,8 @@ #include <drivers/drv_hrt.h> #include <drivers/drv_pwm_output.h> +#include <systemlib/systemlib.h> +#include <stm32_pwr.h> #include "px4io.h" #include "protocol.h" @@ -68,7 +70,7 @@ static const uint16_t r_page_config[] = { [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS, [PX4IO_P_CONFIG_ACTUATOR_COUNT] = PX4IO_SERVO_COUNT, - [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_CONTROL_CHANNELS, + [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_RC_INPUT_CHANNELS, [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = PX4IO_ADC_CHANNEL_COUNT, [PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS, }; @@ -112,7 +114,7 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT]; uint16_t r_page_raw_rc_input[] = { [PX4IO_P_RAW_RC_COUNT] = 0, - [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 + [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0 }; /** @@ -122,7 +124,7 @@ uint16_t r_page_raw_rc_input[] = */ uint16_t r_page_rc_input[] = { [PX4IO_P_RC_VALID] = 0, - [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 + [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_RC_MAPPED_CONTROL_CHANNELS)] = 0 }; /** @@ -154,6 +156,8 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_VBATT_SCALE] = 10000, #endif [PX4IO_P_SETUP_SET_DEBUG] = 0, + [PX4IO_P_SETUP_REBOOT_BL] = 0, + [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0, }; #define PX4IO_P_SETUP_FEATURES_VALID (0) @@ -172,7 +176,7 @@ volatile uint16_t r_page_setup[] = * * Control values from the FMU. */ -volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS]; +volatile uint16_t r_page_controls[PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS]; /* * PAGE 102 does not have a buffer. @@ -183,7 +187,7 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS]; * * R/C channel input configuration. */ -uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; +uint16_t r_page_rc_input_config[PX4IO_RC_INPUT_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; /* valid options */ #define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) @@ -235,7 +239,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num case PX4IO_PAGE_CONTROLS: /* copy channel data */ - while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { + while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { /* XXX range-check value? */ r_page_controls[offset] = *values; @@ -501,6 +505,29 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]); break; + case PX4IO_P_SETUP_REBOOT_BL: + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || + (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || + (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + // don't allow reboot while armed + break; + } + + // check the magic value + if (value != PX4IO_REBOOT_BL_MAGIC) + break; + + // note that we don't set BL_WAIT_MAGIC in + // BKP_DR1 as that is not necessary given the + // timing of the forceupdate command. The + // bootloader on px4io waits for enough time + // anyway, and this method works with older + // bootloader versions (tested with both + // revision 3 and revision 4). + + up_systemreset(); + break; + case PX4IO_P_SETUP_DSM: dsm_bind(value & 0x0f, (value >> 4) & 7); break; @@ -525,7 +552,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE; uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE]; - if (channel >= PX4IO_CONTROL_CHANNELS) + if (channel >= PX4IO_RC_INPUT_CHANNELS) return -1; /* disable the channel until we have a chance to sanity-check it */ @@ -573,7 +600,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) { + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { count++; } diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c index 95335f038..cdb54a80a 100644 --- a/src/modules/px4iofirmware/safety.c +++ b/src/modules/px4iofirmware/safety.c @@ -77,7 +77,6 @@ static unsigned blink_counter = 0; static bool safety_button_pressed; static void safety_check_button(void *arg); -static void heartbeat_blink(void *arg); static void failsafe_blink(void *arg); void @@ -86,9 +85,6 @@ safety_init(void) /* arrange for the button handler to be called at 10Hz */ hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL); - /* arrange for the heartbeat handler to be called at 4Hz */ - hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL); - /* arrange for the failsafe blinker to be called at 8Hz */ hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL); } @@ -164,16 +160,6 @@ safety_check_button(void *arg) } static void -heartbeat_blink(void *arg) -{ - static bool heartbeat = false; - - /* XXX add flags here that need to be frobbed by various loops */ - - LED_BLUE(heartbeat = !heartbeat); -} - -static void failsafe_blink(void *arg) { /* indicate that a serious initialisation error occured */ @@ -192,4 +178,4 @@ failsafe_blink(void *arg) } LED_AMBER(failsafe); -}
\ No newline at end of file +} diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index c523df6ca..6aca2bd11 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -54,6 +54,27 @@ #define SBUS_FRAME_SIZE 25 #define SBUS_INPUT_CHANNELS 16 +#define SBUS_FLAGS_BYTE 23 +#define SBUS_FAILSAFE_BIT 3 +#define SBUS_FRAMELOST_BIT 2 + +/* + Measured values with Futaba FX-30/R6108SB: + -+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV) + -+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV) + -+152% on TX: PCM 0.884/1.520/2.160ms -> SBus raw values: 1/1024/2047 (140% ATV plus dirty tricks) +*/ + +/* define range mapping here, -+100% -> 1000..2000 */ +#define SBUS_RANGE_MIN 200.0f +#define SBUS_RANGE_MAX 1800.0f + +#define SBUS_TARGET_MIN 1000.0f +#define SBUS_TARGET_MAX 2000.0f + +/* pre-calculate the floating point stuff as far as possible at compile time */ +#define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN)) +#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f)) static int sbus_fd = -1; @@ -66,7 +87,7 @@ static unsigned partial_frame_count; unsigned sbus_frame_drops; -static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_channels); +static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels); int sbus_init(const char *device) @@ -97,7 +118,7 @@ sbus_init(const char *device) } bool -sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels) +sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels) { ssize_t ret; hrt_abstime now; @@ -154,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels) * decode it. */ partial_frame_count = 0; - return sbus_decode(now, values, num_values, max_channels); + return sbus_decode(now, values, num_values, rssi, max_channels); } /* @@ -194,7 +215,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { }; static bool -sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_values) +sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values) { /* check frame boundary markers to avoid out-of-sync cases */ if ((frame[0] != 0x0f) || (frame[24] != 0x00)) { @@ -202,15 +223,6 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint return false; } - /* if the failsafe or connection lost bit is set, we consider the frame invalid */ - if ((frame[23] & (1 << 2)) && /* signal lost */ - (frame[23] & (1 << 3))) { /* failsafe */ - - /* actively announce signal loss */ - *values = 0; - return false; - } - /* we have received something we think is a frame */ last_frame_time = frame_time; @@ -234,22 +246,41 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint } } - /* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ - values[channel] = (value / 2) + 998; + + /* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */ + values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR +.5f) + SBUS_SCALE_OFFSET; } /* decode switch channels if data fields are wide enough */ - if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) { + if (PX4IO_RC_INPUT_CHANNELS > 17 && chancount > 15) { chancount = 18; /* channel 17 (index 16) */ - values[16] = (frame[23] & (1 << 0)) * 1000 + 998; + values[16] = (frame[SBUS_FLAGS_BYTE] & (1 << 0)) * 1000 + 998; /* channel 18 (index 17) */ - values[17] = (frame[23] & (1 << 1)) * 1000 + 998; + values[17] = (frame[SBUS_FLAGS_BYTE] & (1 << 1)) * 1000 + 998; } /* note the number of channels decoded */ *num_values = chancount; + /* decode and handle failsafe and frame-lost flags */ + if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */ + /* report that we failed to read anything valid off the receiver */ + *rssi = 0; + return false; + } + else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */ + /* set a special warning flag or try to calculate some kind of RSSI information - to be implemented + * + * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this + * condition as fail-safe greatly reduces the reliability and range of the radio link, + * e.g. by prematurely issueing return-to-launch!!! */ + + *rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet) + } + + *rssi = 1000; + return true; } diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index f94875d5b..5dc325a05 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -68,12 +68,11 @@ #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> @@ -691,11 +690,10 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_rates_setpoint_s rates_sp; struct actuator_outputs_s act_outputs; struct actuator_controls_s act_controls; - struct actuator_controls_effective_s act_controls_effective; struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; - struct vehicle_global_position_setpoint_s global_pos_sp; + struct mission_item_triplet_s triplet; struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; @@ -717,11 +715,10 @@ int sdlog2_thread_main(int argc, char *argv[]) int rates_sp_sub; int act_outputs_sub; int act_controls_sub; - int act_controls_effective_sub; int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; - int global_pos_sp_sub; + int triplet_sub; int gps_pos_sub; int vicon_pos_sub; int flow_sub; @@ -763,9 +760,9 @@ int sdlog2_thread_main(int argc, char *argv[]) memset(&log_msg.body, 0, sizeof(log_msg.body)); /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 20; - /* Sanity check variable and index */ + /* number of subscriptions */ + const ssize_t fdsc = 19; + /* sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ struct pollfd fds[fdsc]; @@ -824,12 +821,6 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; - /* --- ACTUATOR CONTROL EFFECTIVE --- */ - subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - fds[fdsc_count].fd = subs.act_controls_effective_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - /* --- LOCAL POSITION --- */ subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); fds[fdsc_count].fd = subs.local_pos_sub; @@ -849,8 +840,8 @@ int sdlog2_thread_main(int argc, char *argv[]) fdsc_count++; /* --- GLOBAL POSITION SETPOINT--- */ - subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - fds[fdsc_count].fd = subs.global_pos_sp_sub; + subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet)); + fds[fdsc_count].fd = subs.triplet_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; @@ -1114,12 +1105,6 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(ATTC); } - /* --- ACTUATOR CONTROL EFFECTIVE --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective); - // TODO not implemented yet - } - /* --- LOCAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); @@ -1165,20 +1150,21 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GLOBAL POSITION SETPOINT --- */ if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp); + orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet); log_msg.msg_type = LOG_GPSP_MSG; - log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative; - log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat; - log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon; - log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude; - log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw; - log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius; - log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction; - log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd; - log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1; - log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2; - log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3; - log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4; + log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative; + log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7); + log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7); + log_msg.body.log_GPSP.altitude = buf.triplet.current.altitude; + log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; + log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd; + log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; + log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; + log_msg.body.log_GPSP.radius = buf.triplet.current.radius; + log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside; + log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; LOGBUFFER_WRITE_AND_COUNT(GPSP); } @@ -1208,6 +1194,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); + log_msg.body.log_RC.channel_count = buf.rc.chan_count; LOGBUFFER_WRITE_AND_COUNT(RC); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 90093a407..cb1393f1f 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -159,6 +159,7 @@ struct log_STAT_s { #define LOG_RC_MSG 11 struct log_RC_s { float channel[8]; + uint8_t channel_count; }; /* --- OUT0 - ACTUATOR_0 OUTPUT --- */ @@ -213,13 +214,12 @@ struct log_GPSP_s { int32_t lon; float altitude; float yaw; + uint8_t nav_cmd; float loiter_radius; int8_t loiter_direction; - uint8_t nav_cmd; - float param1; - float param2; - float param3; - float param4; + float radius; + float time_inside; + float pitch_min; }; /* --- ESC - ESC STATE --- */ @@ -281,13 +281,13 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT(STAT, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"), - LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), + LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), - LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"), + LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitRad,LoitDir,Rad,TimeIn,pitMin"), LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), /* system-level messages, ID >= 0x80 */ diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 587b81588..c54128cb5 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -190,11 +190,30 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000); PARAM_DEFINE_FLOAT(RC15_REV, 1.0f); PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC16_MIN, 1000); +PARAM_DEFINE_FLOAT(RC16_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC16_MAX, 2000); +PARAM_DEFINE_FLOAT(RC16_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC17_MIN, 1000); +PARAM_DEFINE_FLOAT(RC17_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC17_MAX, 2000); +PARAM_DEFINE_FLOAT(RC17_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC18_MIN, 1000); +PARAM_DEFINE_FLOAT(RC18_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC18_MAX, 2000); +PARAM_DEFINE_FLOAT(RC18_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f); + #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ #endif PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */ +PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); #else @@ -226,3 +245,7 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f); PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); + +PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */ +PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */ +PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */ diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 6d38b98ec..d9f037c27 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -165,7 +165,7 @@ public: int start(); private: - static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */ + static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */ hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */ @@ -260,6 +260,10 @@ private: float rc_scale_yaw; float rc_scale_flaps; + int rc_fs_ch; + int rc_fs_mode; + float rc_fs_thr; + float battery_voltage_scaling; } _parameters; /**< local copies of interesting parameters */ @@ -305,6 +309,10 @@ private: param_t rc_scale_yaw; param_t rc_scale_flaps; + param_t rc_fs_ch; + param_t rc_fs_mode; + param_t rc_fs_thr; + param_t battery_voltage_scaling; param_t board_rotation; @@ -517,6 +525,11 @@ Sensors::Sensors() : _parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); + /* RC failsafe */ + _parameter_handles.rc_fs_ch = param_find("RC_FS_CH"); + _parameter_handles.rc_fs_mode = param_find("RC_FS_MODE"); + _parameter_handles.rc_fs_thr = param_find("RC_FS_THR"); + /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); _parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF"); @@ -589,7 +602,7 @@ Sensors::parameters_update() float tmpRevFactor = 0.0f; /* rc values */ - for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) { + for (unsigned int i = 0; i < _rc_max_chan_count; i++) { param_get(_parameter_handles.min[i], &(_parameters.min[i])); param_get(_parameter_handles.trim[i], &(_parameters.trim[i])); @@ -668,6 +681,9 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)); + param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch)); + param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode)); + param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr)); /* update RC function mappings */ _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; @@ -1256,6 +1272,18 @@ Sensors::rc_poll() if (rc_input.channel_count < 4) return; + /* failsafe check */ + if (_parameters.rc_fs_ch != 0) { + if (_parameters.rc_fs_mode == 0) { + if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) + return; + + } else if (_parameters.rc_fs_mode == 1) { + if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) + return; + } + } + unsigned channel_limit = rc_input.channel_count; if (channel_limit > _rc_max_chan_count) diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c index bf84b7945..b4ca0ed3e 100644 --- a/src/modules/systemlib/perf_counter.c +++ b/src/modules/systemlib/perf_counter.c @@ -295,10 +295,11 @@ perf_print_counter(perf_counter_t handle) case PC_ELAPSED: { struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n", + printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n", handle->name, pce->event_count, pce->time_total, + pce->time_total / pce->event_count, pce->time_least, pce->time_most); break; diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c index b4350cc24..21e15ec56 100644 --- a/src/modules/systemlib/rc_check.c +++ b/src/modules/systemlib/rc_check.c @@ -45,7 +45,7 @@ #include <systemlib/rc_check.h> #include <systemlib/param/param.h> #include <mavlink/mavlink_log.h> -#include <uORB/topics/rc_channels.h> +#include <drivers/drv_rc_input.h> int rc_calibration_check(int mavlink_fd) { @@ -66,7 +66,7 @@ int rc_calibration_check(int mavlink_fd) { int channel_fail_count = 0; - for (int i = 0; i < RC_CHANNELS_MAX; i++) { + for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) { /* should the channel be enabled? */ uint8_t count = 0; diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 9489550c6..79a820c06 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -117,9 +117,6 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi #include "topics/vehicle_bodyframe_speed_setpoint.h" ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s); -#include "topics/vehicle_global_position_setpoint.h" -ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s); - #include "topics/mission_item_triplet.h" ORB_DEFINE(mission_item_triplet, struct mission_item_triplet_s); @@ -176,13 +173,6 @@ ORB_DEFINE(actuator_controls_3, struct actuator_controls_s); #include "topics/actuator_armed.h" ORB_DEFINE(actuator_armed, struct actuator_armed_s); -/* actuator controls, as set by actuators / mixers after limiting */ -#include "topics/actuator_controls_effective.h" -ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s); -ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s); -ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s); -ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s); - #include "topics/actuator_outputs.h" ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s); diff --git a/src/modules/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h index d7b404ad4..54d84231f 100644 --- a/src/modules/uORB/topics/actuator_controls_effective.h +++ b/src/modules/uORB/topics/actuator_controls_effective.h @@ -46,34 +46,34 @@ #ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H #define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H -#include <stdint.h> -#include "../uORB.h" -#include "actuator_controls.h" +//#include <stdint.h> +//#include "../uORB.h" +//#include "actuator_controls.h" +// +//#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS +//#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */ +// +///** +// * @addtogroup topics +// * @{ +// */ +// +//struct actuator_controls_effective_s { +// uint64_t timestamp; +// float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE]; +//}; +// +///** +// * @} +// */ +// +///* actuator control sets; this list can be expanded as more controllers emerge */ +//ORB_DECLARE(actuator_controls_effective_0); +//ORB_DECLARE(actuator_controls_effective_1); +//ORB_DECLARE(actuator_controls_effective_2); +//ORB_DECLARE(actuator_controls_effective_3); +// +///* control sets with pre-defined applications */ +//#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0) -#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS -#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */ - -/** - * @addtogroup topics - * @{ - */ - -struct actuator_controls_effective_s { - uint64_t timestamp; - float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE]; -}; - -/** - * @} - */ - -/* actuator control sets; this list can be expanded as more controllers emerge */ -ORB_DECLARE(actuator_controls_effective_0); -ORB_DECLARE(actuator_controls_effective_1); -ORB_DECLARE(actuator_controls_effective_2); -ORB_DECLARE(actuator_controls_effective_3); - -/* control sets with pre-defined applications */ -#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0) - -#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
\ No newline at end of file +#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */ diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 370242007..dcdb234fa 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -80,8 +80,8 @@ enum ORIGIN { struct mission_item_s { bool altitude_is_relative; /**< true if altitude is relative from start point */ - double lat; /**< latitude in degrees * 1E7 */ - double lon; /**< longitude in degrees * 1E7 */ + double lat; /**< latitude in degrees */ + double lon; /**< longitude in degrees */ float altitude; /**< altitude in meters */ float yaw; /**< in radians NED -PI..+PI */ float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ @@ -89,6 +89,7 @@ struct mission_item_s enum NAV_CMD nav_cmd; /**< navigation command */ float radius; /**< radius in which the mission is accepted as reached in meters */ float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */ + float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ bool autocontinue; /**< true if next waypoint should follow after this one */ int index; /**< index matching the mavlink waypoint */ enum ORIGIN origin; /**< where the waypoint has been generated */ @@ -96,6 +97,7 @@ struct mission_item_s struct mission_s { + int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */ unsigned count; /**< count of the missions stored in the datamanager */ int current_index; /**< default -1, start at the one changed latest */ }; diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 5a8580143..086b2ef15 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Nils Wenzler <wenzlern@student.ethz.ch> - * @author Ivan Ovinnikov <oivan@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -47,13 +44,13 @@ /** * The number of RC channel inputs supported. - * Current (Q1/2013) radios support up to 18 channels, + * Current (Q4/2013) radios support up to 18 channels, * leaving at a sane value of 15. * This number can be greater then number of RC channels, * because single RC channel can be mapped to multiple * functions, e.g. for various mode switches. */ -#define RC_CHANNELS_MAX 15 +#define RC_CHANNELS_MAPPED_MAX 15 /** * This defines the mapping of the RC functions. @@ -91,7 +88,7 @@ struct rc_channels_s { uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ struct { float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ - } chan[RC_CHANNELS_MAX]; + } chan[RC_CHANNELS_MAPPED_MAX]; uint8_t chan_count; /**< number of valid channels */ /*String array to store the names of the functions*/ diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 38fb74c9b..e26fb97c8 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -78,6 +78,7 @@ struct vehicle_control_mode_s bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ + bool flag_control_flighttermination_enabled; /**< true if flighttermination is enabled */ bool flag_control_auto_enabled; // TEMP uint8_t auto_state; // TEMP navigation state for AUTO modes diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 1c184d3a7..1c3763924 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -95,6 +95,12 @@ typedef enum { HIL_STATE_ON } hil_state_t; + +typedef enum { + FLIGHTTERMINATION_STATE_OFF = 0, + FLIGHTTERMINATION_STATE_ON +} flighttermination_state_t; + typedef enum { MODE_SWITCH_MANUAL = 0, MODE_SWITCH_ASSISTED, @@ -229,6 +235,8 @@ struct vehicle_status_s uint16_t errors_count2; uint16_t errors_count3; uint16_t errors_count4; + + flighttermination_state_t flighttermination_state; }; /** diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index 07581459b..982b03782 100644 --- a/src/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -200,7 +200,7 @@ system_eval: led_toggle(leds, LED_BLUE); /* display and sound error */ - for (int i = 0; i < 50; i++) + for (int i = 0; i < 14; i++) { led_toggle(leds, LED_BLUE); led_toggle(leds, LED_AMBER); diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 898c04cd5..7c23f38c2 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -210,7 +210,7 @@ pwm_main(int argc, char *argv[]) err(1, "PWM_SERVO_GET_COUNT"); if (!strcmp(argv[1], "arm")) { - /* tell IO that its ok to disable its safety with the switch */ + /* tell safety that its ok to disable it with the switch */ ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); if (ret != OK) err(1, "PWM_SERVO_SET_ARM_OK"); diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 53c0e6b4f..68a080c77 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -24,9 +24,8 @@ SRCS = test_adc.c \ test_uart_loopback.c \ test_uart_send.c \ test_mixer.cpp \ - test_dataman.c \ - tests_file.c \ + test_file.c \ tests_main.c \ - tests_param.c - -INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink + test_param.c \ + test_ppm_loopback.c \ + test_rc.c diff --git a/src/systemcmds/tests/tests_file.c b/src/systemcmds/tests/test_file.c index 7f3a654bf..798724cf1 100644 --- a/src/systemcmds/tests/tests_file.c +++ b/src/systemcmds/tests/test_file.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file tests_file.c + * @file test_file.c * * File write test. */ diff --git a/src/systemcmds/tests/tests_param.c b/src/systemcmds/tests/test_param.c index 13f17bc43..318d2505b 100644 --- a/src/systemcmds/tests/tests_param.c +++ b/src/systemcmds/tests/test_param.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file tests_param.c + * @file test_param.c * * Tests related to the parameter system. */ diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c new file mode 100644 index 000000000..b9041b013 --- /dev/null +++ b/src/systemcmds/tests/test_ppm_loopback.c @@ -0,0 +1,178 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 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 test_ppm_loopback.c + * Tests the PWM outputs and PPM input + * + */ + +#include <nuttx/config.h> + +#include <sys/types.h> + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> + +#include <arch/board/board.h> +#include <drivers/drv_pwm_output.h> +#include <drivers/drv_rc_input.h> +#include <uORB/topics/rc_channels.h> +#include <systemlib/err.h> + +#include "tests.h" + +#include <math.h> +#include <float.h> + +int test_ppm_loopback(int argc, char *argv[]) +{ + + int _rc_sub = orb_subscribe(ORB_ID(input_rc)); + + int servo_fd, result; + servo_position_t data[PWM_OUTPUT_MAX_CHANNELS]; + servo_position_t pos; + + servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR); + + if (servo_fd < 0) { + printf("failed opening /dev/pwm_servo\n"); + } + + printf("Servo readback, pairs of values should match defaults\n"); + + unsigned servo_count; + result = ioctl(servo_fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); + if (result != OK) { + warnx("PWM_SERVO_GET_COUNT"); + return ERROR; + } + + for (unsigned i = 0; i < servo_count; i++) { + result = ioctl(servo_fd, PWM_SERVO_GET(i), (unsigned long)&pos); + + if (result < 0) { + printf("failed reading channel %u\n", i); + } + + //printf("%u: %u %u\n", i, pos, data[i]); + + } + + // /* tell safety that its ok to disable it with the switch */ + // result = ioctl(servo_fd, PWM_SERVO_SET_ARM_OK, 0); + // if (result != OK) + // warnx("FAIL: PWM_SERVO_SET_ARM_OK"); + // tell output device that the system is armed (it will output values if safety is off) + // result = ioctl(servo_fd, PWM_SERVO_ARM, 0); + // if (result != OK) + // warnx("FAIL: PWM_SERVO_ARM"); + + int pwm_values[] = {1200, 1300, 1900, 1700, 1500, 1250, 1800, 1400}; + + + // for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) { + // result = ioctl(servo_fd, PWM_SERVO_SET(i), pwm_values[i]); + + // if (result) { + // (void)close(servo_fd); + // return ERROR; + // } else { + // warnx("channel %d set to %d", i, pwm_values[i]); + // } + // } + + warnx("servo count: %d", servo_count); + + struct pwm_output_values pwm_out = {.values = {0}, .channel_count = 0}; + + for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) { + pwm_out.values[i] = pwm_values[i]; + //warnx("channel %d: disarmed PWM: %d", i+1, pwm_values[i]); + pwm_out.channel_count++; + } + + result = ioctl(servo_fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_out); + + /* give driver 10 ms to propagate */ + + /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ + struct rc_input_values rc_input; + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + usleep(100000); + + /* open PPM input and expect values close to the output values */ + + bool rc_updated; + orb_check(_rc_sub, &rc_updated); + + if (rc_updated) { + + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + + // int ppm_fd = open(RC_INPUT_DEVICE_PATH, O_RDONLY); + + + + // struct rc_input_values rc; + // result = read(ppm_fd, &rc, sizeof(rc)); + + // if (result != sizeof(rc)) { + // warnx("Error reading RC output"); + // (void)close(servo_fd); + // (void)close(ppm_fd); + // return ERROR; + // } + + /* go and check values */ + for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) { + if (fabsf(rc_input.values[i] - pwm_values[i]) > 10) { + warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], pwm_values[i]); + (void)close(servo_fd); + return ERROR; + } + } + } else { + warnx("failed reading RC input data"); + return ERROR; + } + + warnx("PPM LOOPBACK TEST PASSED SUCCESSFULLY!"); + + return 0; +} diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c new file mode 100644 index 000000000..72619fc8b --- /dev/null +++ b/src/systemcmds/tests/test_rc.c @@ -0,0 +1,146 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 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 test_ppm_loopback.c + * Tests the PWM outputs and PPM input + * + */ + +#include <nuttx/config.h> + +#include <sys/types.h> + +#include <stdio.h> +#include <poll.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> + +#include <arch/board/board.h> +#include <drivers/drv_pwm_output.h> +#include <drivers/drv_rc_input.h> +#include <systemlib/err.h> + +#include "tests.h" + +#include <math.h> +#include <float.h> + +int test_rc(int argc, char *argv[]) +{ + + int _rc_sub = orb_subscribe(ORB_ID(input_rc)); + + /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ + struct rc_input_values rc_input; + struct rc_input_values rc_last; + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + usleep(100000); + + /* open PPM input and expect values close to the output values */ + + bool rc_updated; + orb_check(_rc_sub, &rc_updated); + + warnx("Reading PPM values - press any key to abort"); + warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes."); + + if (rc_updated) { + + /* copy initial set */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + rc_last.values[i] = rc_input.values[i]; + } + + rc_last.channel_count = rc_input.channel_count; + + /* poll descriptor */ + struct pollfd fds[2]; + fds[0].fd = _rc_sub; + fds[0].events = POLLIN; + fds[1].fd = 0; + fds[1].events = POLLIN; + + while (true) { + + int ret = poll(fds, 2, 200); + + if (ret > 0) { + + if (fds[0].revents & POLLIN) { + + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + + /* go and check values */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) { + warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]); + (void)close(_rc_sub); + return ERROR; + } + + rc_last.values[i] = rc_input.values[i]; + } + + if (rc_last.channel_count != rc_input.channel_count) { + warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count); + (void)close(_rc_sub); + return ERROR; + } + + if (hrt_absolute_time() - rc_input.timestamp > 100000) { + warnx("TIMEOUT, less than 10 Hz updates"); + (void)close(_rc_sub); + return ERROR; + } + + } else { + /* key pressed, bye bye */ + return 0; + } + + } + } + + } else { + warnx("failed reading RC input data"); + return ERROR; + } + + warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!"); + + return 0; +} diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c index 14503276c..096106ff3 100644 --- a/src/systemcmds/tests/test_sensors.c +++ b/src/systemcmds/tests/test_sensors.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -49,6 +48,8 @@ #include <fcntl.h> #include <errno.h> #include <debug.h> +#include <math.h> +#include <systemlib/err.h> #include <arch/board/board.h> @@ -77,6 +78,8 @@ static int accel(int argc, char *argv[]); static int gyro(int argc, char *argv[]); static int mag(int argc, char *argv[]); static int baro(int argc, char *argv[]); +static int accel1(int argc, char *argv[]); +static int gyro1(int argc, char *argv[]); /**************************************************************************** * Private Data @@ -91,6 +94,8 @@ struct { {"gyro", "/dev/gyro", gyro}, {"mag", "/dev/mag", mag}, {"baro", "/dev/baro", baro}, + {"accel1", "/dev/accel1", accel1}, + {"gyro1", "/dev/gyro1", gyro1}, {NULL, NULL, NULL} }; @@ -133,23 +138,58 @@ accel(int argc, char *argv[]) printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); } - // /* wait at least 10ms, sensor should have data after no more than 2ms */ - // usleep(100000); + if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) { + warnx("ACCEL1 acceleration values out of range!"); + return ERROR; + } + + /* Let user know everything is ok */ + printf("\tOK: ACCEL passed all tests successfully\n"); + close(fd); + + return OK; +} + +static int +accel1(int argc, char *argv[]) +{ + printf("\tACCEL1: test start\n"); + fflush(stdout); + + int fd; + struct accel_report buf; + int ret; - // ret = read(fd, buf, sizeof(buf)); + fd = open("/dev/accel1", O_RDONLY); - // if (ret != sizeof(buf)) { - // printf("\tMPU-6000: read2 fail (%d)\n", ret); - // return ERROR; + if (fd < 0) { + printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n"); + return ERROR; + } + + /* wait at least 100ms, sensor should have data after no more than 20ms */ + usleep(100000); + + /* read data - expect samples */ + ret = read(fd, &buf, sizeof(buf)); + + if (ret != sizeof(buf)) { + printf("\tACCEL1: read1 fail (%d)\n", ret); + return ERROR; - // } else { - // printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]); - // } + } else { + printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); + } - /* XXX more tests here */ + if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) { + warnx("ACCEL1 acceleration values out of range!"); + return ERROR; + } /* Let user know everything is ok */ - printf("\tOK: ACCEL passed all tests successfully\n"); + printf("\tOK: ACCEL1 passed all tests successfully\n"); + + close(fd); return OK; } @@ -187,6 +227,45 @@ gyro(int argc, char *argv[]) /* Let user know everything is ok */ printf("\tOK: GYRO passed all tests successfully\n"); + close(fd); + + return OK; +} + +static int +gyro1(int argc, char *argv[]) +{ + printf("\tGYRO1: test start\n"); + fflush(stdout); + + int fd; + struct gyro_report buf; + int ret; + + fd = open("/dev/gyro1", O_RDONLY); + + if (fd < 0) { + printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n"); + return ERROR; + } + + /* wait at least 5 ms, sensor should have data after that */ + usleep(5000); + + /* read data - expect samples */ + ret = read(fd, &buf, sizeof(buf)); + + if (ret != sizeof(buf)) { + printf("\tGYRO1: read fail (%d)\n", ret); + return ERROR; + + } else { + printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z); + } + + /* Let user know everything is ok */ + printf("\tOK: GYRO1 passed all tests successfully\n"); + close(fd); return OK; } @@ -224,6 +303,7 @@ mag(int argc, char *argv[]) /* Let user know everything is ok */ printf("\tOK: MAG passed all tests successfully\n"); + close(fd); return OK; } @@ -261,6 +341,7 @@ baro(int argc, char *argv[]) /* Let user know everything is ok */ printf("\tOK: BARO passed all tests successfully\n"); + close(fd); return OK; } diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c index f95760ca8..ef8512bf5 100644 --- a/src/systemcmds/tests/test_servo.c +++ b/src/systemcmds/tests/test_servo.c @@ -1,7 +1,6 @@ /**************************************************************************** - * px4/sensors/test_hrt.c * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 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 @@ -13,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be + * 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. * @@ -32,9 +31,11 @@ * ****************************************************************************/ -/**************************************************************************** - * Included Files - ****************************************************************************/ +/** + * @file test_servo.c + * Tests the servo outputs + * + */ #include <nuttx/config.h> @@ -55,39 +56,6 @@ #include "tests.h" -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_servo - ****************************************************************************/ - int test_servo(int argc, char *argv[]) { int fd, result; @@ -110,7 +78,14 @@ int test_servo(int argc, char *argv[]) printf("Servo readback, pairs of values should match defaults\n"); - for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) { + unsigned servo_count; + result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); + if (result != OK) { + warnx("PWM_SERVO_GET_COUNT"); + return ERROR; + } + + for (unsigned i = 0; i < servo_count; i++) { result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos); if (result < 0) { @@ -122,11 +97,20 @@ int test_servo(int argc, char *argv[]) } - printf("Servos arming at default values\n"); + /* tell safety that its ok to disable it with the switch */ + result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); + if (result != OK) + warnx("FAIL: PWM_SERVO_SET_ARM_OK"); + /* tell output device that the system is armed (it will output values if safety is off) */ result = ioctl(fd, PWM_SERVO_ARM, 0); + if (result != OK) + warnx("FAIL: PWM_SERVO_ARM"); + usleep(5000000); printf("Advancing channel 0 to 1500\n"); result = ioctl(fd, PWM_SERVO_SET(0), 1500); + printf("Advancing channel 1 to 1800\n"); + result = ioctl(fd, PWM_SERVO_SET(1), 1800); out: return 0; } diff --git a/src/systemcmds/tests/test_uart_loopback.c b/src/systemcmds/tests/test_uart_loopback.c index 3be152004..f1d41739b 100644 --- a/src/systemcmds/tests/test_uart_loopback.c +++ b/src/systemcmds/tests/test_uart_loopback.c @@ -1,8 +1,6 @@ /**************************************************************************** - * px4/sensors/test_gpio.c * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -14,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be + * 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. * @@ -33,9 +31,11 @@ * ****************************************************************************/ -/**************************************************************************** - * Included Files - ****************************************************************************/ +/** + * @file test_uart_loopback.c + * Tests the uart outputs + * + */ #include <nuttx/config.h> @@ -55,40 +55,6 @@ #include <math.h> #include <float.h> - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - int test_uart_loopback(int argc, char *argv[]) { @@ -97,11 +63,11 @@ int test_uart_loopback(int argc, char *argv[]) int uart5_nwrite = 0; int uart2_nwrite = 0; - int uart1 = open("/dev/ttyS0", O_RDWR | O_NOCTTY); // + /* opening stdout */ + int stdout_fd = 1; - /* assuming NuttShell is on UART1 (/dev/ttyS0) */ - int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); // - int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); // + int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); + int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); if (uart2 < 0) { printf("ERROR opening UART2, aborting..\n"); @@ -113,7 +79,7 @@ int test_uart_loopback(int argc, char *argv[]) exit(uart5); } - uint8_t sample_uart1[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'}; + uint8_t sample_stdout_fd[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'}; uint8_t sample_uart2[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0}; uint8_t sample_uart5[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0}; @@ -121,7 +87,7 @@ int test_uart_loopback(int argc, char *argv[]) for (i = 0; i < 1000; i++) { // printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); + write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd)); /* uart2 -> uart5 */ r = write(uart2, sample_uart2, sizeof(sample_uart2)); @@ -130,7 +96,7 @@ int test_uart_loopback(int argc, char *argv[]) uart2_nwrite += r; // printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); + write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd)); /* uart2 -> uart5 */ r = write(uart5, sample_uart5, sizeof(sample_uart5)); @@ -139,7 +105,7 @@ int test_uart_loopback(int argc, char *argv[]) uart5_nwrite += r; // printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); + write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd)); /* try to read back values */ do { @@ -150,7 +116,7 @@ int test_uart_loopback(int argc, char *argv[]) } while (r > 0); // printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); + write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd)); do { r = read(uart2, sample_uart5, sizeof(sample_uart5)); @@ -160,7 +126,7 @@ int test_uart_loopback(int argc, char *argv[]) } while (r > 0); // printf("TEST #%d\n",i); -// write(uart1, sample_uart1, sizeof(sample_uart5)); +// write(stdout_fd, sample_stdout_fd, sizeof(sample_uart5)); } for (i = 0; i < 200000; i++) { @@ -181,7 +147,7 @@ int test_uart_loopback(int argc, char *argv[]) } - close(uart1); + close(stdout_fd); close(uart2); close(uart5); diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index 4a5eaa0c5..a57d04be3 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 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 @@ -34,6 +34,12 @@ #ifndef __APPS_PX4_TESTS_H #define __APPS_PX4_TESTS_H +/** + * @file tests.h + * Tests declaration file. + * + */ + /**************************************************************************** * Included Files ****************************************************************************/ @@ -88,6 +94,7 @@ extern int test_int(int argc, char *argv[]); extern int test_float(int argc, char *argv[]); extern int test_ppm(int argc, char *argv[]); extern int test_servo(int argc, char *argv[]); +extern int test_ppm_loopback(int argc, char *argv[]); extern int test_uart_loopback(int argc, char *argv[]); extern int test_uart_baudchange(int argc, char *argv[]); extern int test_cpuload(int argc, char *argv[]); @@ -101,7 +108,7 @@ extern int test_param(int argc, char *argv[]); extern int test_bson(int argc, char *argv[]); extern int test_file(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); -extern int test_dataman(int argc, char *argv[]); +extern int test_rc(int argc, char *argv[]); __END_DECLS diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 9b1cfb1fe..1088a4407 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -35,6 +34,8 @@ /** * @file tests_main.c * Tests main file, loads individual tests. + * + * @author Lorenz Meier <lm@inf.ethz.ch> */ #include <nuttx/config.h> @@ -58,14 +59,6 @@ #include "tests.h" /**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** * Private Function Prototypes ****************************************************************************/ @@ -94,6 +87,7 @@ const struct { {"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST}, {"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST}, {"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"ppm_loopback", test_ppm_loopback, OPT_NOALLTEST}, {"adc", test_adc, OPT_NOJIGTEST}, {"jig_voltages", test_jig_voltages, OPT_NOALLTEST}, {"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST}, @@ -111,8 +105,8 @@ const struct { {"bson", test_bson, 0}, {"file", test_file, 0}, {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, - {"dataman", test_dataman, OPT_NOALLTEST}, {NULL, NULL, 0} }; |