diff options
40 files changed, 3406 insertions, 208 deletions
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h index c887dc68a..7e9173247 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h @@ -5,6 +5,10 @@ #ifndef ARDUPILOTMEGA_H #define ARDUPILOTMEGA_H +#ifndef MAVLINK_H + #error Wrong include order: ARDUPILOTMEGA.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call. +#endif + #ifdef __cplusplus extern "C" { #endif @@ -12,15 +16,15 @@ 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, 42, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 20, 24, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 39, 45, 44, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 20, 24, 29, 41, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 118, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, 240, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 212, 121, 172, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, 240, 47, 206, 151, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_COMPASSMOT_STATUS, MAVLINK_MESSAGE_INFO_AHRS2, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_ATTITUDE_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_COMPASSMOT_STATUS, MAVLINK_MESSAGE_INFO_AHRS2, MAVLINK_MESSAGE_INFO_CAMERA_EVENT, MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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" @@ -31,9 +35,64 @@ extern "C" { /** @brief */ +#ifndef HAVE_ENUM_MAV_CMD +#define HAVE_ENUM_MAV_CMD +typedef enum MAV_CMD +{ + MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to MISSION using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */ + 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 or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */ + 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_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor sequence number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| Empty| Empty| Empty| */ + MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| 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| Compass/Motor interference calibration: 0: no, 1: yes| 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| */ + MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ + MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ + MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ + MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ + MAV_CMD_ENUM_END=501, /* | */ +} MAV_CMD; +#endif + +/** @brief */ #ifndef HAVE_ENUM_LIMITS_STATE #define HAVE_ENUM_LIMITS_STATE -enum LIMITS_STATE +typedef enum LIMITS_STATE { LIMITS_INIT=0, /* pre-initialization | */ LIMITS_DISABLED=1, /* disabled | */ @@ -42,42 +101,81 @@ enum LIMITS_STATE LIMITS_RECOVERING=4, /* taking action eg. RTL | */ LIMITS_RECOVERED=5, /* we're no longer in breach of a limit | */ LIMITS_STATE_ENUM_END=6, /* | */ -}; +} LIMITS_STATE; #endif /** @brief */ #ifndef HAVE_ENUM_LIMIT_MODULE #define HAVE_ENUM_LIMIT_MODULE -enum LIMIT_MODULE +typedef enum LIMIT_MODULE { LIMIT_GPSLOCK=1, /* pre-initialization | */ LIMIT_GEOFENCE=2, /* disabled | */ LIMIT_ALTITUDE=4, /* checking limits | */ LIMIT_MODULE_ENUM_END=5, /* | */ -}; +} LIMIT_MODULE; #endif /** @brief Flags in RALLY_POINT message */ #ifndef HAVE_ENUM_RALLY_FLAGS #define HAVE_ENUM_RALLY_FLAGS -enum RALLY_FLAGS +typedef 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, /* | */ -}; +} RALLY_FLAGS; #endif /** @brief */ #ifndef HAVE_ENUM_PARACHUTE_ACTION #define HAVE_ENUM_PARACHUTE_ACTION -enum PARACHUTE_ACTION +typedef enum PARACHUTE_ACTION { PARACHUTE_DISABLE=0, /* Disable parachute release | */ PARACHUTE_ENABLE=1, /* Enable parachute release | */ PARACHUTE_RELEASE=2, /* Release parachute | */ PARACHUTE_ACTION_ENUM_END=3, /* | */ -}; +} PARACHUTE_ACTION; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_MOTOR_TEST_THROTTLE_TYPE +#define HAVE_ENUM_MOTOR_TEST_THROTTLE_TYPE +typedef enum MOTOR_TEST_THROTTLE_TYPE +{ + MOTOR_TEST_THROTTLE_PERCENT=0, /* throttle as a percentage from 0 ~ 100 | */ + MOTOR_TEST_THROTTLE_PWM=1, /* throttle as an absolute PWM value (normally in range of 1000~2000) | */ + MOTOR_TEST_THROTTLE_PILOT=2, /* throttle pass-through from pilot's transmitter | */ + MOTOR_TEST_THROTTLE_TYPE_ENUM_END=3, /* | */ +} MOTOR_TEST_THROTTLE_TYPE; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_CAMERA_EVENT_TYPES +#define HAVE_ENUM_CAMERA_EVENT_TYPES +typedef enum CAMERA_EVENT_TYPES +{ + HEARTBEAT=0, /* Camera heartbeat, announce camera component ID at 1hz | */ + TRIGGER=1, /* Camera image triggered | */ + DISCONNECT=2, /* Camera connection lost | */ + ERROR=3, /* Camera unknown error | */ + LOWBATT=4, /* Camera battery low. Parameter p1 shows reported voltage | */ + LOWSTORE=5, /* Camera storage low. Parameter p1 shows reported shots remaining | */ + LOWSTOREV=6, /* Camera storage low. Parameter p1 shows reported video minutes remaining | */ + CAMERA_EVENT_TYPES_ENUM_END=7, /* | */ +} CAMERA_EVENT_TYPES; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_CAMERA_FEEDBACK_FLAGS +#define HAVE_ENUM_CAMERA_FEEDBACK_FLAGS +typedef enum CAMERA_FEEDBACK_FLAGS +{ + VIDEO=1, /* Shooting video, not stills | */ + BADEXPOSURE=2, /* Unable to achieve requested exposure (e.g. shutter speed too low) | */ + CAMERA_FEEDBACK_FLAGS_ENUM_END=3, /* | */ +} CAMERA_FEEDBACK_FLAGS; #endif #include "../common/common.h" @@ -122,6 +220,8 @@ enum PARACHUTE_ACTION #include "./mavlink_msg_rally_fetch_point.h" #include "./mavlink_msg_compassmot_status.h" #include "./mavlink_msg_ahrs2.h" +#include "./mavlink_msg_camera_event.h" +#include "./mavlink_msg_camera_feedback.h" #ifdef __cplusplus } diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_camera_event.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_camera_event.h new file mode 100644 index 000000000..82e7b3073 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_camera_event.h @@ -0,0 +1,401 @@ +// MESSAGE CAMERA_EVENT PACKING + +#define MAVLINK_MSG_ID_CAMERA_EVENT 179 + +typedef struct __mavlink_camera_event_t +{ + uint64_t time_usec; ///< Image timestamp (microseconds since UNIX epoch, according to camera clock) + float p1; ///< Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + float p2; ///< Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + float p3; ///< Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + float p4; ///< Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + uint16_t img_idx; ///< Image index + uint8_t target_system; ///< System ID + uint8_t cam_idx; ///< Camera ID + uint8_t event_id; ///< See CAMERA_EVENT_TYPES enum for definition of the bitmask +} mavlink_camera_event_t; + +#define MAVLINK_MSG_ID_CAMERA_EVENT_LEN 29 +#define MAVLINK_MSG_ID_179_LEN 29 + +#define MAVLINK_MSG_ID_CAMERA_EVENT_CRC 206 +#define MAVLINK_MSG_ID_179_CRC 206 + + + +#define MAVLINK_MESSAGE_INFO_CAMERA_EVENT { \ + "CAMERA_EVENT", \ + 9, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_event_t, time_usec) }, \ + { "p1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_camera_event_t, p1) }, \ + { "p2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_camera_event_t, p2) }, \ + { "p3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_event_t, p3) }, \ + { "p4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_event_t, p4) }, \ + { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_camera_event_t, img_idx) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_camera_event_t, target_system) }, \ + { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_camera_event_t, cam_idx) }, \ + { "event_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_camera_event_t, event_id) }, \ + } \ +} + + +/** + * @brief Pack a camera_event message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_usec Image timestamp (microseconds since UNIX epoch, according to camera clock) + * @param target_system System ID + * @param cam_idx Camera ID + * @param img_idx Image index + * @param event_id See CAMERA_EVENT_TYPES enum for definition of the bitmask + * @param p1 Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p2 Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p3 Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p4 Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_camera_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CAMERA_EVENT_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, p1); + _mav_put_float(buf, 12, p2); + _mav_put_float(buf, 16, p3); + _mav_put_float(buf, 20, p4); + _mav_put_uint16_t(buf, 24, img_idx); + _mav_put_uint8_t(buf, 26, target_system); + _mav_put_uint8_t(buf, 27, cam_idx); + _mav_put_uint8_t(buf, 28, event_id); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#else + mavlink_camera_event_t packet; + packet.time_usec = time_usec; + packet.p1 = p1; + packet.p2 = p2; + packet.p3 = p3; + packet.p4 = p4; + packet.img_idx = img_idx; + packet.target_system = target_system; + packet.cam_idx = cam_idx; + packet.event_id = event_id; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_CAMERA_EVENT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif +} + +/** + * @brief Pack a camera_event 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_usec Image timestamp (microseconds since UNIX epoch, according to camera clock) + * @param target_system System ID + * @param cam_idx Camera ID + * @param img_idx Image index + * @param event_id See CAMERA_EVENT_TYPES enum for definition of the bitmask + * @param p1 Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p2 Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p3 Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p4 Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_camera_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,uint8_t event_id,float p1,float p2,float p3,float p4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CAMERA_EVENT_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, p1); + _mav_put_float(buf, 12, p2); + _mav_put_float(buf, 16, p3); + _mav_put_float(buf, 20, p4); + _mav_put_uint16_t(buf, 24, img_idx); + _mav_put_uint8_t(buf, 26, target_system); + _mav_put_uint8_t(buf, 27, cam_idx); + _mav_put_uint8_t(buf, 28, event_id); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#else + mavlink_camera_event_t packet; + packet.time_usec = time_usec; + packet.p1 = p1; + packet.p2 = p2; + packet.p3 = p3; + packet.p4 = p4; + packet.img_idx = img_idx; + packet.target_system = target_system; + packet.cam_idx = cam_idx; + packet.event_id = event_id; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_CAMERA_EVENT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif +} + +/** + * @brief Encode a camera_event 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 camera_event C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_camera_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_event_t* camera_event) +{ + return mavlink_msg_camera_event_pack(system_id, component_id, msg, camera_event->time_usec, camera_event->target_system, camera_event->cam_idx, camera_event->img_idx, camera_event->event_id, camera_event->p1, camera_event->p2, camera_event->p3, camera_event->p4); +} + +/** + * @brief Encode a camera_event 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 camera_event C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_camera_event_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_event_t* camera_event) +{ + return mavlink_msg_camera_event_pack_chan(system_id, component_id, chan, msg, camera_event->time_usec, camera_event->target_system, camera_event->cam_idx, camera_event->img_idx, camera_event->event_id, camera_event->p1, camera_event->p2, camera_event->p3, camera_event->p4); +} + +/** + * @brief Send a camera_event message + * @param chan MAVLink channel to send the message + * + * @param time_usec Image timestamp (microseconds since UNIX epoch, according to camera clock) + * @param target_system System ID + * @param cam_idx Camera ID + * @param img_idx Image index + * @param event_id See CAMERA_EVENT_TYPES enum for definition of the bitmask + * @param p1 Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p2 Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p3 Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + * @param p4 Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_camera_event_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CAMERA_EVENT_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, p1); + _mav_put_float(buf, 12, p2); + _mav_put_float(buf, 16, p3); + _mav_put_float(buf, 20, p4); + _mav_put_uint16_t(buf, 24, img_idx); + _mav_put_uint8_t(buf, 26, target_system); + _mav_put_uint8_t(buf, 27, cam_idx); + _mav_put_uint8_t(buf, 28, event_id); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif +#else + mavlink_camera_event_t packet; + packet.time_usec = time_usec; + packet.p1 = p1; + packet.p2 = p2; + packet.p3 = p3; + packet.p4 = p4; + packet.img_idx = img_idx; + packet.target_system = target_system; + packet.cam_idx = cam_idx; + packet.event_id = event_id; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_CAMERA_EVENT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_camera_event_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, p1); + _mav_put_float(buf, 12, p2); + _mav_put_float(buf, 16, p3); + _mav_put_float(buf, 20, p4); + _mav_put_uint16_t(buf, 24, img_idx); + _mav_put_uint8_t(buf, 26, target_system); + _mav_put_uint8_t(buf, 27, cam_idx); + _mav_put_uint8_t(buf, 28, event_id); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif +#else + mavlink_camera_event_t *packet = (mavlink_camera_event_t *)msgbuf; + packet->time_usec = time_usec; + packet->p1 = p1; + packet->p2 = p2; + packet->p3 = p3; + packet->p4 = p4; + packet->img_idx = img_idx; + packet->target_system = target_system; + packet->cam_idx = cam_idx; + packet->event_id = event_id; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, (const char *)packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, (const char *)packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE CAMERA_EVENT UNPACKING + + +/** + * @brief Get field time_usec from camera_event message + * + * @return Image timestamp (microseconds since UNIX epoch, according to camera clock) + */ +static inline uint64_t mavlink_msg_camera_event_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field target_system from camera_event message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_camera_event_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 26); +} + +/** + * @brief Get field cam_idx from camera_event message + * + * @return Camera ID + */ +static inline uint8_t mavlink_msg_camera_event_get_cam_idx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 27); +} + +/** + * @brief Get field img_idx from camera_event message + * + * @return Image index + */ +static inline uint16_t mavlink_msg_camera_event_get_img_idx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 24); +} + +/** + * @brief Get field event_id from camera_event message + * + * @return See CAMERA_EVENT_TYPES enum for definition of the bitmask + */ +static inline uint8_t mavlink_msg_camera_event_get_event_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 28); +} + +/** + * @brief Get field p1 from camera_event message + * + * @return Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + */ +static inline float mavlink_msg_camera_event_get_p1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field p2 from camera_event message + * + * @return Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + */ +static inline float mavlink_msg_camera_event_get_p2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field p3 from camera_event message + * + * @return Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + */ +static inline float mavlink_msg_camera_event_get_p3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field p4 from camera_event message + * + * @return Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum) + */ +static inline float mavlink_msg_camera_event_get_p4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Decode a camera_event message into a struct + * + * @param msg The message to decode + * @param camera_event C-struct to decode the message contents into + */ +static inline void mavlink_msg_camera_event_decode(const mavlink_message_t* msg, mavlink_camera_event_t* camera_event) +{ +#if MAVLINK_NEED_BYTE_SWAP + camera_event->time_usec = mavlink_msg_camera_event_get_time_usec(msg); + camera_event->p1 = mavlink_msg_camera_event_get_p1(msg); + camera_event->p2 = mavlink_msg_camera_event_get_p2(msg); + camera_event->p3 = mavlink_msg_camera_event_get_p3(msg); + camera_event->p4 = mavlink_msg_camera_event_get_p4(msg); + camera_event->img_idx = mavlink_msg_camera_event_get_img_idx(msg); + camera_event->target_system = mavlink_msg_camera_event_get_target_system(msg); + camera_event->cam_idx = mavlink_msg_camera_event_get_cam_idx(msg); + camera_event->event_id = mavlink_msg_camera_event_get_event_id(msg); +#else + memcpy(camera_event, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CAMERA_EVENT_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_camera_feedback.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_camera_feedback.h new file mode 100644 index 000000000..a70029c56 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_camera_feedback.h @@ -0,0 +1,473 @@ +// MESSAGE CAMERA_FEEDBACK PACKING + +#define MAVLINK_MSG_ID_CAMERA_FEEDBACK 180 + +typedef struct __mavlink_camera_feedback_t +{ + uint64_t time_usec; ///< Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message + int32_t lat; ///< Latitude in (deg * 1E7) + int32_t lng; ///< Longitude in (deg * 1E7) + float alt; ///< Altitude (meters, AMSL) + float roll; ///< Vehicle Roll angle (degrees, +-180) + float pitch; ///< Vehicle Pitch angle (degrees, +-180) + float yaw; ///< Vehicle Heading (degrees, 0-360, true) + float foc_len; ///< Focal Length (mm) + uint16_t img_idx; ///< Image index + uint8_t target_system; ///< System ID + uint8_t cam_idx; ///< Camera ID + uint8_t flags; ///< See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask +} mavlink_camera_feedback_t; + +#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN 41 +#define MAVLINK_MSG_ID_180_LEN 41 + +#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC 151 +#define MAVLINK_MSG_ID_180_CRC 151 + + + +#define MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK { \ + "CAMERA_FEEDBACK", \ + 12, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_feedback_t, time_usec) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_camera_feedback_t, lat) }, \ + { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_feedback_t, lng) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, yaw) }, \ + { "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, foc_len) }, \ + { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_camera_feedback_t, img_idx) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_camera_feedback_t, target_system) }, \ + { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_camera_feedback_t, cam_idx) }, \ + { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_camera_feedback_t, flags) }, \ + } \ +} + + +/** + * @brief Pack a camera_feedback 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_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message + * @param target_system System ID + * @param cam_idx Camera ID + * @param img_idx Image index + * @param lat Latitude in (deg * 1E7) + * @param lng Longitude in (deg * 1E7) + * @param alt Altitude (meters, AMSL) + * @param roll Vehicle Roll angle (degrees, +-180) + * @param pitch Vehicle Pitch angle (degrees, +-180) + * @param yaw Vehicle Heading (degrees, 0-360, true) + * @param foc_len Focal Length (mm) + * @param flags See CAMERA_FEEDBACK_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_camera_feedback_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lng); + _mav_put_float(buf, 16, alt); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + _mav_put_float(buf, 32, foc_len); + _mav_put_uint16_t(buf, 36, img_idx); + _mav_put_uint8_t(buf, 38, target_system); + _mav_put_uint8_t(buf, 39, cam_idx); + _mav_put_uint8_t(buf, 40, flags); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#else + mavlink_camera_feedback_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lng = lng; + packet.alt = alt; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.foc_len = foc_len; + packet.img_idx = img_idx; + packet.target_system = target_system; + packet.cam_idx = cam_idx; + packet.flags = flags; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif +} + +/** + * @brief Pack a camera_feedback 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_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message + * @param target_system System ID + * @param cam_idx Camera ID + * @param img_idx Image index + * @param lat Latitude in (deg * 1E7) + * @param lng Longitude in (deg * 1E7) + * @param alt Altitude (meters, AMSL) + * @param roll Vehicle Roll angle (degrees, +-180) + * @param pitch Vehicle Pitch angle (degrees, +-180) + * @param yaw Vehicle Heading (degrees, 0-360, true) + * @param foc_len Focal Length (mm) + * @param flags See CAMERA_FEEDBACK_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_camera_feedback_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,int32_t lat,int32_t lng,float alt,float roll,float pitch,float yaw,float foc_len,uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lng); + _mav_put_float(buf, 16, alt); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + _mav_put_float(buf, 32, foc_len); + _mav_put_uint16_t(buf, 36, img_idx); + _mav_put_uint8_t(buf, 38, target_system); + _mav_put_uint8_t(buf, 39, cam_idx); + _mav_put_uint8_t(buf, 40, flags); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#else + mavlink_camera_feedback_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lng = lng; + packet.alt = alt; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.foc_len = foc_len; + packet.img_idx = img_idx; + packet.target_system = target_system; + packet.cam_idx = cam_idx; + packet.flags = flags; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif +} + +/** + * @brief Encode a camera_feedback 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 camera_feedback C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_camera_feedback_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback) +{ + return mavlink_msg_camera_feedback_pack(system_id, component_id, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags); +} + +/** + * @brief Encode a camera_feedback 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 camera_feedback C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_camera_feedback_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback) +{ + return mavlink_msg_camera_feedback_pack_chan(system_id, component_id, chan, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags); +} + +/** + * @brief Send a camera_feedback message + * @param chan MAVLink channel to send the message + * + * @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message + * @param target_system System ID + * @param cam_idx Camera ID + * @param img_idx Image index + * @param lat Latitude in (deg * 1E7) + * @param lng Longitude in (deg * 1E7) + * @param alt Altitude (meters, AMSL) + * @param roll Vehicle Roll angle (degrees, +-180) + * @param pitch Vehicle Pitch angle (degrees, +-180) + * @param yaw Vehicle Heading (degrees, 0-360, true) + * @param foc_len Focal Length (mm) + * @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lng); + _mav_put_float(buf, 16, alt); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + _mav_put_float(buf, 32, foc_len); + _mav_put_uint16_t(buf, 36, img_idx); + _mav_put_uint8_t(buf, 38, target_system); + _mav_put_uint8_t(buf, 39, cam_idx); + _mav_put_uint8_t(buf, 40, flags); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif +#else + mavlink_camera_feedback_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lng = lng; + packet.alt = alt; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.foc_len = foc_len; + packet.img_idx = img_idx; + packet.target_system = target_system; + packet.cam_idx = cam_idx; + packet.flags = flags; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_camera_feedback_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lng); + _mav_put_float(buf, 16, alt); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + _mav_put_float(buf, 32, foc_len); + _mav_put_uint16_t(buf, 36, img_idx); + _mav_put_uint8_t(buf, 38, target_system); + _mav_put_uint8_t(buf, 39, cam_idx); + _mav_put_uint8_t(buf, 40, flags); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif +#else + mavlink_camera_feedback_t *packet = (mavlink_camera_feedback_t *)msgbuf; + packet->time_usec = time_usec; + packet->lat = lat; + packet->lng = lng; + packet->alt = alt; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->foc_len = foc_len; + packet->img_idx = img_idx; + packet->target_system = target_system; + packet->cam_idx = cam_idx; + packet->flags = flags; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE CAMERA_FEEDBACK UNPACKING + + +/** + * @brief Get field time_usec from camera_feedback message + * + * @return Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message + */ +static inline uint64_t mavlink_msg_camera_feedback_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field target_system from camera_feedback message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_camera_feedback_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 38); +} + +/** + * @brief Get field cam_idx from camera_feedback message + * + * @return Camera ID + */ +static inline uint8_t mavlink_msg_camera_feedback_get_cam_idx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 39); +} + +/** + * @brief Get field img_idx from camera_feedback message + * + * @return Image index + */ +static inline uint16_t mavlink_msg_camera_feedback_get_img_idx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 36); +} + +/** + * @brief Get field lat from camera_feedback message + * + * @return Latitude in (deg * 1E7) + */ +static inline int32_t mavlink_msg_camera_feedback_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Get field lng from camera_feedback message + * + * @return Longitude in (deg * 1E7) + */ +static inline int32_t mavlink_msg_camera_feedback_get_lng(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 12); +} + +/** + * @brief Get field alt from camera_feedback message + * + * @return Altitude (meters, AMSL) + */ +static inline float mavlink_msg_camera_feedback_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field roll from camera_feedback message + * + * @return Vehicle Roll angle (degrees, +-180) + */ +static inline float mavlink_msg_camera_feedback_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field pitch from camera_feedback message + * + * @return Vehicle Pitch angle (degrees, +-180) + */ +static inline float mavlink_msg_camera_feedback_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field yaw from camera_feedback message + * + * @return Vehicle Heading (degrees, 0-360, true) + */ +static inline float mavlink_msg_camera_feedback_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field foc_len from camera_feedback message + * + * @return Focal Length (mm) + */ +static inline float mavlink_msg_camera_feedback_get_foc_len(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field flags from camera_feedback message + * + * @return See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask + */ +static inline uint8_t mavlink_msg_camera_feedback_get_flags(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 40); +} + +/** + * @brief Decode a camera_feedback message into a struct + * + * @param msg The message to decode + * @param camera_feedback C-struct to decode the message contents into + */ +static inline void mavlink_msg_camera_feedback_decode(const mavlink_message_t* msg, mavlink_camera_feedback_t* camera_feedback) +{ +#if MAVLINK_NEED_BYTE_SWAP + camera_feedback->time_usec = mavlink_msg_camera_feedback_get_time_usec(msg); + camera_feedback->lat = mavlink_msg_camera_feedback_get_lat(msg); + camera_feedback->lng = mavlink_msg_camera_feedback_get_lng(msg); + camera_feedback->alt = mavlink_msg_camera_feedback_get_alt(msg); + camera_feedback->roll = mavlink_msg_camera_feedback_get_roll(msg); + camera_feedback->pitch = mavlink_msg_camera_feedback_get_pitch(msg); + camera_feedback->yaw = mavlink_msg_camera_feedback_get_yaw(msg); + camera_feedback->foc_len = mavlink_msg_camera_feedback_get_foc_len(msg); + camera_feedback->img_idx = mavlink_msg_camera_feedback_get_img_idx(msg); + camera_feedback->target_system = mavlink_msg_camera_feedback_get_target_system(msg); + camera_feedback->cam_idx = mavlink_msg_camera_feedback_get_cam_idx(msg); + camera_feedback->flags = mavlink_msg_camera_feedback_get_flags(msg); +#else + memcpy(camera_feedback, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h index 489553ea4..028a7d753 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h @@ -1504,6 +1504,130 @@ static void mavlink_test_ahrs2(uint8_t system_id, uint8_t component_id, mavlink_ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_camera_event(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_camera_event_t packet_in = { + 93372036854775807ULL, + }73.0, + }101.0, + }129.0, + }157.0, + }18483, + }211, + }22, + }89, + }; + mavlink_camera_event_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_usec = packet_in.time_usec; + packet1.p1 = packet_in.p1; + packet1.p2 = packet_in.p2; + packet1.p3 = packet_in.p3; + packet1.p4 = packet_in.p4; + packet1.img_idx = packet_in.img_idx; + packet1.target_system = packet_in.target_system; + packet1.cam_idx = packet_in.cam_idx; + packet1.event_id = packet_in.event_id; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_camera_event_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_camera_event_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_camera_event_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 ); + mavlink_msg_camera_event_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_camera_event_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 ); + mavlink_msg_camera_event_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_camera_event_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_camera_event_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 ); + mavlink_msg_camera_event_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_camera_feedback(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_camera_feedback_t packet_in = { + 93372036854775807ULL, + }963497880, + }963498088, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }19107, + }247, + }58, + }125, + }; + mavlink_camera_feedback_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_usec = packet_in.time_usec; + packet1.lat = packet_in.lat; + packet1.lng = packet_in.lng; + packet1.alt = packet_in.alt; + packet1.roll = packet_in.roll; + packet1.pitch = packet_in.pitch; + packet1.yaw = packet_in.yaw; + packet1.foc_len = packet_in.foc_len; + packet1.img_idx = packet_in.img_idx; + packet1.target_system = packet_in.target_system; + packet1.cam_idx = packet_in.cam_idx; + packet1.flags = packet_in.flags; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_camera_feedback_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_camera_feedback_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_camera_feedback_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags ); + mavlink_msg_camera_feedback_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_camera_feedback_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags ); + mavlink_msg_camera_feedback_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_camera_feedback_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_camera_feedback_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags ); + mavlink_msg_camera_feedback_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); @@ -1534,6 +1658,8 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_test_rally_fetch_point(system_id, component_id, last_msg); mavlink_test_compassmot_status(system_id, component_id, last_msg); mavlink_test_ahrs2(system_id, component_id, last_msg); + mavlink_test_camera_event(system_id, component_id, last_msg); + mavlink_test_camera_feedback(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 1892fffb3..192d1cb01 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 "Sun Apr 13 09:37:48 2014" +#define MAVLINK_BUILD_DATE "Mon Jun 23 10:13:03 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h index 93e868dc3..464994f86 100644 --- a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h +++ b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h @@ -5,6 +5,10 @@ #ifndef AUTOQUAD_H #define AUTOQUAD_H +#ifndef MAVLINK_H + #error Wrong include order: AUTOQUAD.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call. +#endif + #ifdef __cplusplus extern "C" { #endif @@ -12,15 +16,15 @@ 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, 42, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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} +#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, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 39, 45, 44, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 118, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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} +#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, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 212, 121, 172, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_ATTITUDE_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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" @@ -35,7 +39,7 @@ extern "C" { additional active features/modifiers/constraints. */ #ifndef HAVE_ENUM_AUTOQUAD_NAV_STATUS #define HAVE_ENUM_AUTOQUAD_NAV_STATUS -enum AUTOQUAD_NAV_STATUS +typedef enum AUTOQUAD_NAV_STATUS { AQ_NAV_STATUS_INIT=0, /* System is initializing | */ AQ_NAV_STATUS_STANDBY=1, /* System is standing by, not active | */ @@ -51,13 +55,13 @@ enum AUTOQUAD_NAV_STATUS AQ_NAV_STATUS_RTH=1073741824, /* Automatic Return to Home is active | */ AQ_NAV_STATUS_FAILSAFE=2147483648, /* System is in failsafe recovery mode | */ AUTOQUAD_NAV_STATUS_ENUM_END=2147483649, /* | */ -}; +} AUTOQUAD_NAV_STATUS; #endif /** @brief */ #ifndef HAVE_ENUM_MAV_CMD #define HAVE_ENUM_MAV_CMD -enum MAV_CMD +typedef enum MAV_CMD { MAV_CMD_AQ_TELEMETRY=2, /* Start/stop AutoQuad telemetry values stream. |Start or stop (1 or 0)| Stream frequency in us| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_AQ_FOLLOW=3, /* Command AutoQuad to go to a particular place at a set speed. |Latitude| Lontitude| Altitude| Speed| Empty| Empty| Empty| */ @@ -78,7 +82,7 @@ enum MAV_CMD MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ @@ -96,6 +100,7 @@ enum MAV_CMD 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_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| 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| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */ @@ -107,7 +112,7 @@ enum MAV_CMD MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ MAV_CMD_ENUM_END=501, /* | */ -}; +} MAV_CMD; #endif #include "../common/common.h" diff --git a/mavlink/include/mavlink/v1.0/autoquad/version.h b/mavlink/include/mavlink/v1.0/autoquad/version.h index 5d2f33b60..ce27e3e53 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 "Sun Apr 13 09:38:19 2014" +#define MAVLINK_BUILD_DATE "Mon Jun 23 10:13:13 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/common/common.h b/mavlink/include/mavlink/v1.0/common/common.h index de6e22011..ee2d2df8f 100644 --- a/mavlink/include/mavlink/v1.0/common/common.h +++ b/mavlink/include/mavlink/v1.0/common/common.h @@ -16,15 +16,15 @@ 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, 42, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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} +#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, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 39, 45, 44, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 118, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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} +#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, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 212, 121, 172, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_ATTITUDE_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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}}}, 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" @@ -37,7 +37,7 @@ extern "C" { /** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */ #ifndef HAVE_ENUM_MAV_AUTOPILOT #define HAVE_ENUM_MAV_AUTOPILOT -enum MAV_AUTOPILOT +typedef enum MAV_AUTOPILOT { MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything | */ MAV_AUTOPILOT_PIXHAWK=1, /* PIXHAWK autopilot, http://pixhawk.ethz.ch | */ @@ -57,13 +57,13 @@ enum MAV_AUTOPILOT MAV_AUTOPILOT_ARMAZILA=15, /* Armazila -- http://armazila.com | */ MAV_AUTOPILOT_AEROB=16, /* Aerob -- http://aerob.ru | */ MAV_AUTOPILOT_ENUM_END=17, /* | */ -}; +} MAV_AUTOPILOT; #endif /** @brief */ #ifndef HAVE_ENUM_MAV_TYPE #define HAVE_ENUM_MAV_TYPE -enum MAV_TYPE +typedef enum MAV_TYPE { MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ @@ -85,13 +85,13 @@ enum MAV_TYPE MAV_TYPE_KITE=17, /* Flapping wing | */ MAV_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */ MAV_TYPE_ENUM_END=19, /* | */ -}; +} MAV_TYPE; #endif /** @brief These flags encode the MAV mode. */ #ifndef HAVE_ENUM_MAV_MODE_FLAG #define HAVE_ENUM_MAV_MODE_FLAG -enum MAV_MODE_FLAG +typedef enum MAV_MODE_FLAG { MAV_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 Reserved for future use. | */ MAV_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */ @@ -102,13 +102,13 @@ enum MAV_MODE_FLAG MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */ MAV_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */ MAV_MODE_FLAG_ENUM_END=129, /* | */ -}; +} MAV_MODE_FLAG; #endif /** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */ #ifndef HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION #define HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION -enum MAV_MODE_FLAG_DECODE_POSITION +typedef enum MAV_MODE_FLAG_DECODE_POSITION { MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE=1, /* Eighth bit: 00000001 | */ MAV_MODE_FLAG_DECODE_POSITION_TEST=2, /* Seventh bit: 00000010 | */ @@ -119,27 +119,27 @@ enum MAV_MODE_FLAG_DECODE_POSITION MAV_MODE_FLAG_DECODE_POSITION_MANUAL=64, /* Second bit: 01000000 | */ MAV_MODE_FLAG_DECODE_POSITION_SAFETY=128, /* First bit: 10000000 | */ MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=129, /* | */ -}; +} MAV_MODE_FLAG_DECODE_POSITION; #endif /** @brief Override command, pauses current mission execution and moves immediately to a position */ #ifndef HAVE_ENUM_MAV_GOTO #define HAVE_ENUM_MAV_GOTO -enum MAV_GOTO +typedef enum MAV_GOTO { MAV_GOTO_DO_HOLD=0, /* Hold at the current position. | */ MAV_GOTO_DO_CONTINUE=1, /* Continue with the next item in mission execution. | */ MAV_GOTO_HOLD_AT_CURRENT_POSITION=2, /* Hold at the current position of the system | */ MAV_GOTO_HOLD_AT_SPECIFIED_POSITION=3, /* Hold at the position specified in the parameters of the DO_HOLD action | */ MAV_GOTO_ENUM_END=4, /* | */ -}; +} MAV_GOTO; #endif /** @brief These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. */ #ifndef HAVE_ENUM_MAV_MODE #define HAVE_ENUM_MAV_MODE -enum MAV_MODE +typedef enum MAV_MODE { MAV_MODE_PREFLIGHT=0, /* System is not ready to fly, booting, calibrating, etc. No flag is set. | */ MAV_MODE_MANUAL_DISARMED=64, /* System is allowed to be active, under manual (RC) control, no stabilization | */ @@ -153,13 +153,13 @@ enum MAV_MODE MAV_MODE_GUIDED_ARMED=216, /* System is allowed to be active, under autonomous control, manual setpoint | */ MAV_MODE_AUTO_ARMED=220, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */ MAV_MODE_ENUM_END=221, /* | */ -}; +} MAV_MODE; #endif /** @brief */ #ifndef HAVE_ENUM_MAV_STATE #define HAVE_ENUM_MAV_STATE -enum MAV_STATE +typedef enum MAV_STATE { MAV_STATE_UNINIT=0, /* Uninitialized system, state is unknown. | */ MAV_STATE_BOOT=1, /* System is booting up. | */ @@ -170,13 +170,13 @@ enum MAV_STATE MAV_STATE_EMERGENCY=6, /* System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | */ MAV_STATE_POWEROFF=7, /* System just initialized its power-down sequence, will shut down now. | */ MAV_STATE_ENUM_END=8, /* | */ -}; +} MAV_STATE; #endif /** @brief */ #ifndef HAVE_ENUM_MAV_COMPONENT #define HAVE_ENUM_MAV_COMPONENT -enum MAV_COMPONENT +typedef enum MAV_COMPONENT { MAV_COMP_ID_ALL=0, /* | */ MAV_COMP_ID_CAMERA=100, /* | */ @@ -205,13 +205,13 @@ enum MAV_COMPONENT MAV_COMP_ID_UART_BRIDGE=241, /* | */ MAV_COMP_ID_SYSTEM_CONTROL=250, /* | */ MAV_COMPONENT_ENUM_END=251, /* | */ -}; +} 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 +typedef 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 | */ @@ -234,14 +234,15 @@ enum MAV_SYS_STATUS_SENSOR 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_GEOFENCE=1048576, /* 0x100000 geofence | */ - MAV_SYS_STATUS_SENSOR_ENUM_END=1048577, /* | */ -}; + MAV_SYS_STATUS_AHRS=2097152, /* 0x200000 AHRS subsystem health | */ + MAV_SYS_STATUS_SENSOR_ENUM_END=2097153, /* | */ +} MAV_SYS_STATUS_SENSOR; #endif /** @brief */ #ifndef HAVE_ENUM_MAV_FRAME #define HAVE_ENUM_MAV_FRAME -enum MAV_FRAME +typedef enum MAV_FRAME { MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) | */ MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-up (x: north, y: east, z: down). | */ @@ -250,14 +251,17 @@ enum MAV_FRAME MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-down (x: east, y: north, z: up) | */ MAV_FRAME_GLOBAL_INT=5, /* Global coordinate frame with some fields as scaled integers, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL). Lat / Lon are scaled * 1E7 to avoid floating point accuracy limitations. | */ MAV_FRAME_GLOBAL_RELATIVE_ALT_INT=6, /* Global coordinate frame with some fields as scaled integers, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. Lat / Lon are scaled * 1E7 to avoid floating point accuracy limitations. | */ - MAV_FRAME_ENUM_END=7, /* | */ -}; + MAV_FRAME_LOCAL_OFFSET_NED=7, /* Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position. | */ + MAV_FRAME_BODY_NED=8, /* Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right. | */ + MAV_FRAME_BODY_OFFSET_NED=9, /* Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east. | */ + MAV_FRAME_ENUM_END=10, /* | */ +} MAV_FRAME; #endif /** @brief */ #ifndef HAVE_ENUM_MAVLINK_DATA_STREAM_TYPE #define HAVE_ENUM_MAVLINK_DATA_STREAM_TYPE -enum MAVLINK_DATA_STREAM_TYPE +typedef enum MAVLINK_DATA_STREAM_TYPE { MAVLINK_DATA_STREAM_IMG_JPEG=1, /* | */ MAVLINK_DATA_STREAM_IMG_BMP=2, /* | */ @@ -266,39 +270,39 @@ enum MAVLINK_DATA_STREAM_TYPE MAVLINK_DATA_STREAM_IMG_PGM=5, /* | */ MAVLINK_DATA_STREAM_IMG_PNG=6, /* | */ MAVLINK_DATA_STREAM_TYPE_ENUM_END=7, /* | */ -}; +} MAVLINK_DATA_STREAM_TYPE; #endif /** @brief */ #ifndef HAVE_ENUM_FENCE_ACTION #define HAVE_ENUM_FENCE_ACTION -enum FENCE_ACTION +typedef 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_GUIDED_THR_PASS=3, /* Switched to guided mode to return point (fence point 0) with manual throttle control | */ FENCE_ACTION_ENUM_END=4, /* | */ -}; +} FENCE_ACTION; #endif /** @brief */ #ifndef HAVE_ENUM_FENCE_BREACH #define HAVE_ENUM_FENCE_BREACH -enum FENCE_BREACH +typedef enum FENCE_BREACH { FENCE_BREACH_NONE=0, /* No last fence breach | */ FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */ FENCE_BREACH_MAXALT=2, /* Breached maximum altitude | */ FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */ FENCE_BREACH_ENUM_END=4, /* | */ -}; +} FENCE_BREACH; #endif /** @brief Enumeration of possible mount operation modes */ #ifndef HAVE_ENUM_MAV_MOUNT_MODE #define HAVE_ENUM_MAV_MOUNT_MODE -enum MAV_MOUNT_MODE +typedef enum MAV_MOUNT_MODE { MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization | */ MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | */ @@ -306,24 +310,13 @@ enum MAV_MOUNT_MODE MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */ MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */ MAV_MOUNT_MODE_ENUM_END=5, /* | */ -}; -#endif - -/** @brief Enumeration of distance sensor types */ -#ifndef HAVE_ENUM_MAV_DISTANCE_SENSOR -#define HAVE_ENUM_MAV_DISTANCE_SENSOR -enum MAV_DISTANCE_SENSOR -{ - MAV_DISTANCE_SENSOR_LASER=0, /* Laser altimeter, e.g. LightWare SF02/F or PulsedLight units | */ - MAV_DISTANCE_SENSOR_ULTRASOUND=1, /* Laser altimeter, e.g. MaxBotix units | */ - MAV_DISTANCE_SENSOR_ENUM_END=2, /* | */ -}; +} MAV_MOUNT_MODE; #endif /** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */ #ifndef HAVE_ENUM_MAV_CMD #define HAVE_ENUM_MAV_CMD -enum MAV_CMD +typedef enum MAV_CMD { MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ @@ -341,7 +334,7 @@ enum MAV_CMD MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ @@ -359,6 +352,7 @@ enum MAV_CMD 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_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| 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| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */ @@ -370,7 +364,7 @@ enum MAV_CMD MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ MAV_CMD_ENUM_END=501, /* | */ -}; +} MAV_CMD; #endif /** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a @@ -378,7 +372,7 @@ enum MAV_CMD the recommended messages. */ #ifndef HAVE_ENUM_MAV_DATA_STREAM #define HAVE_ENUM_MAV_DATA_STREAM -enum MAV_DATA_STREAM +typedef enum MAV_DATA_STREAM { MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */ MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */ @@ -390,7 +384,7 @@ enum MAV_DATA_STREAM MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */ MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */ MAV_DATA_STREAM_ENUM_END=13, /* | */ -}; +} MAV_DATA_STREAM; #endif /** @brief The ROI (region of interest) for the vehicle. This can be @@ -398,7 +392,7 @@ enum MAV_DATA_STREAM MAV_CMD_NAV_ROI). */ #ifndef HAVE_ENUM_MAV_ROI #define HAVE_ENUM_MAV_ROI -enum MAV_ROI +typedef enum MAV_ROI { MAV_ROI_NONE=0, /* No region of interest. | */ MAV_ROI_WPNEXT=1, /* Point toward next MISSION. | */ @@ -406,13 +400,13 @@ enum MAV_ROI MAV_ROI_LOCATION=3, /* Point toward fixed location. | */ MAV_ROI_TARGET=4, /* Point toward of given id. | */ MAV_ROI_ENUM_END=5, /* | */ -}; +} MAV_ROI; #endif /** @brief ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. */ #ifndef HAVE_ENUM_MAV_CMD_ACK #define HAVE_ENUM_MAV_CMD_ACK -enum MAV_CMD_ACK +typedef enum MAV_CMD_ACK { MAV_CMD_ACK_OK=1, /* Command / mission item is ok. | */ MAV_CMD_ACK_ERR_FAIL=2, /* Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. | */ @@ -424,13 +418,13 @@ enum MAV_CMD_ACK MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE=8, /* The Y or longitude value is out of range. | */ MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE=9, /* The Z or altitude value is out of range. | */ MAV_CMD_ACK_ENUM_END=10, /* | */ -}; +} MAV_CMD_ACK; #endif /** @brief Specifies the datatype of a MAVLink parameter. */ #ifndef HAVE_ENUM_MAV_PARAM_TYPE #define HAVE_ENUM_MAV_PARAM_TYPE -enum MAV_PARAM_TYPE +typedef enum MAV_PARAM_TYPE { MAV_PARAM_TYPE_UINT8=1, /* 8-bit unsigned integer | */ MAV_PARAM_TYPE_INT8=2, /* 8-bit signed integer | */ @@ -443,13 +437,13 @@ enum MAV_PARAM_TYPE MAV_PARAM_TYPE_REAL32=9, /* 32-bit floating-point | */ MAV_PARAM_TYPE_REAL64=10, /* 64-bit floating-point | */ MAV_PARAM_TYPE_ENUM_END=11, /* | */ -}; +} MAV_PARAM_TYPE; #endif /** @brief result from a mavlink command */ #ifndef HAVE_ENUM_MAV_RESULT #define HAVE_ENUM_MAV_RESULT -enum MAV_RESULT +typedef enum MAV_RESULT { MAV_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */ MAV_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */ @@ -457,13 +451,13 @@ enum MAV_RESULT MAV_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */ MAV_RESULT_FAILED=4, /* Command executed, but failed | */ MAV_RESULT_ENUM_END=5, /* | */ -}; +} MAV_RESULT; #endif /** @brief result in a mavlink mission ack */ #ifndef HAVE_ENUM_MAV_MISSION_RESULT #define HAVE_ENUM_MAV_MISSION_RESULT -enum MAV_MISSION_RESULT +typedef enum MAV_MISSION_RESULT { MAV_MISSION_ACCEPTED=0, /* mission accepted OK | */ MAV_MISSION_ERROR=1, /* generic error / not accepting mission commands at all right now | */ @@ -481,13 +475,13 @@ enum MAV_MISSION_RESULT MAV_MISSION_INVALID_SEQUENCE=13, /* received waypoint out of sequence | */ MAV_MISSION_DENIED=14, /* not accepting any mission commands from this communication partner | */ MAV_MISSION_RESULT_ENUM_END=15, /* | */ -}; +} MAV_MISSION_RESULT; #endif /** @brief Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/. */ #ifndef HAVE_ENUM_MAV_SEVERITY #define HAVE_ENUM_MAV_SEVERITY -enum MAV_SEVERITY +typedef enum MAV_SEVERITY { MAV_SEVERITY_EMERGENCY=0, /* System is unusable. This is a "panic" condition. | */ MAV_SEVERITY_ALERT=1, /* Action should be taken immediately. Indicates error in non-critical systems. | */ @@ -498,13 +492,13 @@ enum MAV_SEVERITY MAV_SEVERITY_INFO=6, /* Normal operational messages. Useful for logging. No action is required for these messages. | */ MAV_SEVERITY_DEBUG=7, /* Useful non-operational messages that can assist in debugging. These should not occur during normal operation. | */ MAV_SEVERITY_ENUM_END=8, /* | */ -}; +} MAV_SEVERITY; #endif /** @brief Power supply status flags (bitmask) */ #ifndef HAVE_ENUM_MAV_POWER_STATUS #define HAVE_ENUM_MAV_POWER_STATUS -enum MAV_POWER_STATUS +typedef enum MAV_POWER_STATUS { MAV_POWER_STATUS_BRICK_VALID=1, /* main brick power supply valid | */ MAV_POWER_STATUS_SERVO_VALID=2, /* main servo power supply valid for FMU | */ @@ -513,26 +507,26 @@ enum MAV_POWER_STATUS MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT=16, /* hi-power peripheral supply is in over-current state | */ MAV_POWER_STATUS_CHANGED=32, /* Power status has changed since boot | */ MAV_POWER_STATUS_ENUM_END=33, /* | */ -}; +} MAV_POWER_STATUS; #endif /** @brief SERIAL_CONTROL device types */ #ifndef HAVE_ENUM_SERIAL_CONTROL_DEV #define HAVE_ENUM_SERIAL_CONTROL_DEV -enum SERIAL_CONTROL_DEV +typedef enum SERIAL_CONTROL_DEV { SERIAL_CONTROL_DEV_TELEM1=0, /* First telemetry port | */ SERIAL_CONTROL_DEV_TELEM2=1, /* Second telemetry port | */ SERIAL_CONTROL_DEV_GPS1=2, /* First GPS port | */ SERIAL_CONTROL_DEV_GPS2=3, /* Second GPS port | */ SERIAL_CONTROL_DEV_ENUM_END=4, /* | */ -}; +} SERIAL_CONTROL_DEV; #endif /** @brief SERIAL_CONTROL flags (bitmask) */ #ifndef HAVE_ENUM_SERIAL_CONTROL_FLAG #define HAVE_ENUM_SERIAL_CONTROL_FLAG -enum SERIAL_CONTROL_FLAG +typedef enum SERIAL_CONTROL_FLAG { SERIAL_CONTROL_FLAG_REPLY=1, /* Set if this is a reply | */ SERIAL_CONTROL_FLAG_RESPOND=2, /* Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message | */ @@ -540,7 +534,18 @@ enum SERIAL_CONTROL_FLAG SERIAL_CONTROL_FLAG_BLOCKING=8, /* Block on writes to the serial port | */ SERIAL_CONTROL_FLAG_MULTI=16, /* Send multiple replies until port is drained | */ SERIAL_CONTROL_FLAG_ENUM_END=17, /* | */ -}; +} SERIAL_CONTROL_FLAG; +#endif + +/** @brief Enumeration of distance sensor types */ +#ifndef HAVE_ENUM_MAV_DISTANCE_SENSOR +#define HAVE_ENUM_MAV_DISTANCE_SENSOR +typedef enum MAV_DISTANCE_SENSOR +{ + MAV_DISTANCE_SENSOR_LASER=0, /* Laser altimeter, e.g. LightWare SF02/F or PulsedLight units | */ + MAV_DISTANCE_SENSOR_ULTRASOUND=1, /* Ultrasound altimeter, e.g. MaxBotix units | */ + MAV_DISTANCE_SENSOR_ENUM_END=2, /* | */ +} MAV_DISTANCE_SENSOR; #endif @@ -620,6 +625,9 @@ enum SERIAL_CONTROL_FLAG #include "./mavlink_msg_command_ack.h" #include "./mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h" #include "./mavlink_msg_manual_setpoint.h" +#include "./mavlink_msg_attitude_setpoint_external.h" +#include "./mavlink_msg_local_ned_position_setpoint_external.h" +#include "./mavlink_msg_global_position_setpoint_external_int.h" #include "./mavlink_msg_local_position_ned_system_global_offset.h" #include "./mavlink_msg_hil_state.h" #include "./mavlink_msg_hil_controls.h" diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_setpoint_external.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_setpoint_external.h new file mode 100644 index 000000000..d50179f45 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_setpoint_external.h @@ -0,0 +1,393 @@ +// MESSAGE ATTITUDE_SETPOINT_EXTERNAL PACKING + +#define MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL 82 + +typedef struct __mavlink_attitude_setpoint_external_t +{ + uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot + float q[4]; ///< Quaternion + float body_roll_rate; ///< Body roll rate in radians per second + float body_pitch_rate; ///< Body roll rate in radians per second + float body_yaw_rate; ///< Body roll rate in radians per second + float thrust; ///< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t ignore_mask; ///< Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: roll, bit 2: pitch, bit 3: yaw, bit 4: roll rate, bit 5: pitch rate, bit 6: yaw rate, bit 7: thrust +} mavlink_attitude_setpoint_external_t; + +#define MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN 39 +#define MAVLINK_MSG_ID_82_LEN 39 + +#define MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_CRC 212 +#define MAVLINK_MSG_ID_82_CRC 212 + +#define MAVLINK_MSG_ATTITUDE_SETPOINT_EXTERNAL_FIELD_Q_LEN 4 + +#define MAVLINK_MESSAGE_INFO_ATTITUDE_SETPOINT_EXTERNAL { \ + "ATTITUDE_SETPOINT_EXTERNAL", \ + 9, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_setpoint_external_t, time_boot_ms) }, \ + { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_setpoint_external_t, q) }, \ + { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_setpoint_external_t, body_roll_rate) }, \ + { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_setpoint_external_t, body_pitch_rate) }, \ + { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_setpoint_external_t, body_yaw_rate) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_setpoint_external_t, thrust) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_setpoint_external_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 37, offsetof(mavlink_attitude_setpoint_external_t, target_component) }, \ + { "ignore_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_attitude_setpoint_external_t, ignore_mask) }, \ + } \ +} + + +/** + * @brief Pack a attitude_setpoint_external 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 in milliseconds since system boot + * @param target_system System ID + * @param target_component Component ID + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: roll, bit 2: pitch, bit 3: yaw, bit 4: roll rate, bit 5: pitch rate, bit 6: yaw rate, bit 7: thrust + * @param q Quaternion + * @param body_roll_rate Body roll rate in radians per second + * @param body_pitch_rate Body roll rate in radians per second + * @param body_yaw_rate Body roll rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_setpoint_external_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t ignore_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 20, body_roll_rate); + _mav_put_float(buf, 24, body_pitch_rate); + _mav_put_float(buf, 28, body_yaw_rate); + _mav_put_float(buf, 32, thrust); + _mav_put_uint8_t(buf, 36, target_system); + _mav_put_uint8_t(buf, 37, target_component); + _mav_put_uint8_t(buf, 38, ignore_mask); + _mav_put_float_array(buf, 4, q, 4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#else + mavlink_attitude_setpoint_external_t packet; + packet.time_boot_ms = time_boot_ms; + packet.body_roll_rate = body_roll_rate; + packet.body_pitch_rate = body_pitch_rate; + packet.body_yaw_rate = body_yaw_rate; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + packet.ignore_mask = ignore_mask; + mav_array_memcpy(packet.q, q, sizeof(float)*4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif +} + +/** + * @brief Pack a attitude_setpoint_external 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 in milliseconds since system boot + * @param target_system System ID + * @param target_component Component ID + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: roll, bit 2: pitch, bit 3: yaw, bit 4: roll rate, bit 5: pitch rate, bit 6: yaw rate, bit 7: thrust + * @param q Quaternion + * @param body_roll_rate Body roll rate in radians per second + * @param body_pitch_rate Body roll rate in radians per second + * @param body_yaw_rate Body roll rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_setpoint_external_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t ignore_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 20, body_roll_rate); + _mav_put_float(buf, 24, body_pitch_rate); + _mav_put_float(buf, 28, body_yaw_rate); + _mav_put_float(buf, 32, thrust); + _mav_put_uint8_t(buf, 36, target_system); + _mav_put_uint8_t(buf, 37, target_component); + _mav_put_uint8_t(buf, 38, ignore_mask); + _mav_put_float_array(buf, 4, q, 4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#else + mavlink_attitude_setpoint_external_t packet; + packet.time_boot_ms = time_boot_ms; + packet.body_roll_rate = body_roll_rate; + packet.body_pitch_rate = body_pitch_rate; + packet.body_yaw_rate = body_yaw_rate; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + packet.ignore_mask = ignore_mask; + mav_array_memcpy(packet.q, q, sizeof(float)*4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif +} + +/** + * @brief Encode a attitude_setpoint_external 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 attitude_setpoint_external C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_setpoint_external_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_setpoint_external_t* attitude_setpoint_external) +{ + return mavlink_msg_attitude_setpoint_external_pack(system_id, component_id, msg, attitude_setpoint_external->time_boot_ms, attitude_setpoint_external->target_system, attitude_setpoint_external->target_component, attitude_setpoint_external->ignore_mask, attitude_setpoint_external->q, attitude_setpoint_external->body_roll_rate, attitude_setpoint_external->body_pitch_rate, attitude_setpoint_external->body_yaw_rate, attitude_setpoint_external->thrust); +} + +/** + * @brief Encode a attitude_setpoint_external 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 attitude_setpoint_external C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_setpoint_external_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_setpoint_external_t* attitude_setpoint_external) +{ + return mavlink_msg_attitude_setpoint_external_pack_chan(system_id, component_id, chan, msg, attitude_setpoint_external->time_boot_ms, attitude_setpoint_external->target_system, attitude_setpoint_external->target_component, attitude_setpoint_external->ignore_mask, attitude_setpoint_external->q, attitude_setpoint_external->body_roll_rate, attitude_setpoint_external->body_pitch_rate, attitude_setpoint_external->body_yaw_rate, attitude_setpoint_external->thrust); +} + +/** + * @brief Send a attitude_setpoint_external message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp in milliseconds since system boot + * @param target_system System ID + * @param target_component Component ID + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: roll, bit 2: pitch, bit 3: yaw, bit 4: roll rate, bit 5: pitch rate, bit 6: yaw rate, bit 7: thrust + * @param q Quaternion + * @param body_roll_rate Body roll rate in radians per second + * @param body_pitch_rate Body roll rate in radians per second + * @param body_yaw_rate Body roll rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_attitude_setpoint_external_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t ignore_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 20, body_roll_rate); + _mav_put_float(buf, 24, body_pitch_rate); + _mav_put_float(buf, 28, body_yaw_rate); + _mav_put_float(buf, 32, thrust); + _mav_put_uint8_t(buf, 36, target_system); + _mav_put_uint8_t(buf, 37, target_component); + _mav_put_uint8_t(buf, 38, ignore_mask); + _mav_put_float_array(buf, 4, q, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL, buf, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL, buf, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif +#else + mavlink_attitude_setpoint_external_t packet; + packet.time_boot_ms = time_boot_ms; + packet.body_roll_rate = body_roll_rate; + packet.body_pitch_rate = body_pitch_rate; + packet.body_yaw_rate = body_yaw_rate; + packet.thrust = thrust; + packet.target_system = target_system; + packet.target_component = target_component; + packet.ignore_mask = ignore_mask; + mav_array_memcpy(packet.q, q, sizeof(float)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_attitude_setpoint_external_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t ignore_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 20, body_roll_rate); + _mav_put_float(buf, 24, body_pitch_rate); + _mav_put_float(buf, 28, body_yaw_rate); + _mav_put_float(buf, 32, thrust); + _mav_put_uint8_t(buf, 36, target_system); + _mav_put_uint8_t(buf, 37, target_component); + _mav_put_uint8_t(buf, 38, ignore_mask); + _mav_put_float_array(buf, 4, q, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL, buf, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL, buf, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif +#else + mavlink_attitude_setpoint_external_t *packet = (mavlink_attitude_setpoint_external_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->body_roll_rate = body_roll_rate; + packet->body_pitch_rate = body_pitch_rate; + packet->body_yaw_rate = body_yaw_rate; + packet->thrust = thrust; + packet->target_system = target_system; + packet->target_component = target_component; + packet->ignore_mask = ignore_mask; + mav_array_memcpy(packet->q, q, sizeof(float)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE ATTITUDE_SETPOINT_EXTERNAL UNPACKING + + +/** + * @brief Get field time_boot_ms from attitude_setpoint_external message + * + * @return Timestamp in milliseconds since system boot + */ +static inline uint32_t mavlink_msg_attitude_setpoint_external_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field target_system from attitude_setpoint_external message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_attitude_setpoint_external_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 36); +} + +/** + * @brief Get field target_component from attitude_setpoint_external message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_attitude_setpoint_external_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 37); +} + +/** + * @brief Get field ignore_mask from attitude_setpoint_external message + * + * @return Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: roll, bit 2: pitch, bit 3: yaw, bit 4: roll rate, bit 5: pitch rate, bit 6: yaw rate, bit 7: thrust + */ +static inline uint8_t mavlink_msg_attitude_setpoint_external_get_ignore_mask(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 38); +} + +/** + * @brief Get field q from attitude_setpoint_external message + * + * @return Quaternion + */ +static inline uint16_t mavlink_msg_attitude_setpoint_external_get_q(const mavlink_message_t* msg, float *q) +{ + return _MAV_RETURN_float_array(msg, q, 4, 4); +} + +/** + * @brief Get field body_roll_rate from attitude_setpoint_external message + * + * @return Body roll rate in radians per second + */ +static inline float mavlink_msg_attitude_setpoint_external_get_body_roll_rate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field body_pitch_rate from attitude_setpoint_external message + * + * @return Body roll rate in radians per second + */ +static inline float mavlink_msg_attitude_setpoint_external_get_body_pitch_rate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field body_yaw_rate from attitude_setpoint_external message + * + * @return Body roll rate in radians per second + */ +static inline float mavlink_msg_attitude_setpoint_external_get_body_yaw_rate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field thrust from attitude_setpoint_external message + * + * @return Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + */ +static inline float mavlink_msg_attitude_setpoint_external_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Decode a attitude_setpoint_external message into a struct + * + * @param msg The message to decode + * @param attitude_setpoint_external C-struct to decode the message contents into + */ +static inline void mavlink_msg_attitude_setpoint_external_decode(const mavlink_message_t* msg, mavlink_attitude_setpoint_external_t* attitude_setpoint_external) +{ +#if MAVLINK_NEED_BYTE_SWAP + attitude_setpoint_external->time_boot_ms = mavlink_msg_attitude_setpoint_external_get_time_boot_ms(msg); + mavlink_msg_attitude_setpoint_external_get_q(msg, attitude_setpoint_external->q); + attitude_setpoint_external->body_roll_rate = mavlink_msg_attitude_setpoint_external_get_body_roll_rate(msg); + attitude_setpoint_external->body_pitch_rate = mavlink_msg_attitude_setpoint_external_get_body_pitch_rate(msg); + attitude_setpoint_external->body_yaw_rate = mavlink_msg_attitude_setpoint_external_get_body_yaw_rate(msg); + attitude_setpoint_external->thrust = mavlink_msg_attitude_setpoint_external_get_thrust(msg); + attitude_setpoint_external->target_system = mavlink_msg_attitude_setpoint_external_get_target_system(msg); + attitude_setpoint_external->target_component = mavlink_msg_attitude_setpoint_external_get_target_component(msg); + attitude_setpoint_external->ignore_mask = mavlink_msg_attitude_setpoint_external_get_ignore_mask(msg); +#else + memcpy(attitude_setpoint_external, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_distance_sensor.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_distance_sensor.h index 39b384396..8743b6485 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_distance_sensor.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_distance_sensor.h @@ -44,17 +44,17 @@ typedef struct __mavlink_distance_sensor_t * @param msg The MAVLink message to compress the data into * * @param time_boot_ms Time since system boot - * @param type Type from MAV_DISTANCE_SENSOR enum. - * @param id Onboard ID of the sensor - * @param orientation Direction the sensor faces from FIXME enum. * @param min_distance Minimum distance the sensor can measure in centimeters * @param max_distance Maximum distance the sensor can measure in centimeters * @param current_distance Current distance reading + * @param type Type from MAV_DISTANCE_SENSOR enum. + * @param id Onboard ID of the sensor + * @param orientation Direction the sensor faces from FIXME enum. * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance) + uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; @@ -97,18 +97,18 @@ static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8 * @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 Time since system boot - * @param type Type from MAV_DISTANCE_SENSOR enum. - * @param id Onboard ID of the sensor - * @param orientation Direction the sensor faces from FIXME enum. * @param min_distance Minimum distance the sensor can measure in centimeters * @param max_distance Maximum distance the sensor can measure in centimeters * @param current_distance Current distance reading + * @param type Type from MAV_DISTANCE_SENSOR enum. + * @param id Onboard ID of the sensor + * @param orientation Direction the sensor faces from FIXME enum. * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_distance_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint32_t time_boot_ms,uint8_t type,uint8_t id,uint8_t orientation,uint16_t min_distance,uint16_t max_distance,uint16_t current_distance,uint8_t covariance) + uint32_t time_boot_ms,uint16_t min_distance,uint16_t max_distance,uint16_t current_distance,uint8_t type,uint8_t id,uint8_t orientation,uint8_t covariance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; @@ -154,7 +154,7 @@ static inline uint16_t mavlink_msg_distance_sensor_pack_chan(uint8_t system_id, */ static inline uint16_t mavlink_msg_distance_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor) { - return mavlink_msg_distance_sensor_pack(system_id, component_id, msg, distance_sensor->time_boot_ms, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->covariance); + return mavlink_msg_distance_sensor_pack(system_id, component_id, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance); } /** @@ -168,7 +168,7 @@ static inline uint16_t mavlink_msg_distance_sensor_encode(uint8_t system_id, uin */ static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor) { - return mavlink_msg_distance_sensor_pack_chan(system_id, component_id, chan, msg, distance_sensor->time_boot_ms, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->covariance); + return mavlink_msg_distance_sensor_pack_chan(system_id, component_id, chan, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance); } /** @@ -176,17 +176,17 @@ static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id * @param chan MAVLink channel to send the message * * @param time_boot_ms Time since system boot - * @param type Type from MAV_DISTANCE_SENSOR enum. - * @param id Onboard ID of the sensor - * @param orientation Direction the sensor faces from FIXME enum. * @param min_distance Minimum distance the sensor can measure in centimeters * @param max_distance Maximum distance the sensor can measure in centimeters * @param current_distance Current distance reading + * @param type Type from MAV_DISTANCE_SENSOR enum. + * @param id Onboard ID of the sensor + * @param orientation Direction the sensor faces from FIXME enum. * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance) +static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; @@ -231,7 +231,7 @@ static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ -static inline void mavlink_msg_distance_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance) +static inline void mavlink_msg_distance_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; @@ -285,63 +285,63 @@ static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlin } /** - * @brief Get field type from distance_sensor message + * @brief Get field min_distance from distance_sensor message * - * @return Type from MAV_DISTANCE_SENSOR enum. + * @return Minimum distance the sensor can measure in centimeters */ -static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 10); + return _MAV_RETURN_uint16_t(msg, 4); } /** - * @brief Get field id from distance_sensor message + * @brief Get field max_distance from distance_sensor message * - * @return Onboard ID of the sensor + * @return Maximum distance the sensor can measure in centimeters */ -static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 11); + return _MAV_RETURN_uint16_t(msg, 6); } /** - * @brief Get field orientation from distance_sensor message + * @brief Get field current_distance from distance_sensor message * - * @return Direction the sensor faces from FIXME enum. + * @return Current distance reading */ -static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 12); + return _MAV_RETURN_uint16_t(msg, 8); } /** - * @brief Get field min_distance from distance_sensor message + * @brief Get field type from distance_sensor message * - * @return Minimum distance the sensor can measure in centimeters + * @return Type from MAV_DISTANCE_SENSOR enum. */ -static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg) +static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 4); + return _MAV_RETURN_uint8_t(msg, 10); } /** - * @brief Get field max_distance from distance_sensor message + * @brief Get field id from distance_sensor message * - * @return Maximum distance the sensor can measure in centimeters + * @return Onboard ID of the sensor */ -static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg) +static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 6); + return _MAV_RETURN_uint8_t(msg, 11); } /** - * @brief Get field current_distance from distance_sensor message + * @brief Get field orientation from distance_sensor message * - * @return Current distance reading + * @return Direction the sensor faces from FIXME enum. */ -static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const mavlink_message_t* msg) +static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 8); + return _MAV_RETURN_uint8_t(msg, 12); } /** diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_external_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_external_int.h new file mode 100644 index 000000000..46ab556d8 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_external_int.h @@ -0,0 +1,497 @@ +// MESSAGE GLOBAL_POSITION_SETPOINT_EXTERNAL_INT PACKING + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT 84 + +typedef struct __mavlink_global_position_setpoint_external_int_t +{ + uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. + int32_t lat_int; ///< X Position in WGS84 frame in 1e7 * meters + int32_t lon_int; ///< Y Position in WGS84 frame in 1e7 * meters + float alt; ///< Altitude in WGS84, not AMSL + float vx; ///< X velocity in NED frame in meter / s + float vy; ///< Y velocity in NED frame in meter / s + float vz; ///< Z velocity in NED frame in meter / s + float ax; ///< X acceleration in NED frame in meter / s^2 + float ay; ///< Y acceleration in NED frame in meter / s^2 + float az; ///< Z acceleration in NED frame in meter / s^2 + uint16_t ignore_mask; ///< Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: lat, bit 2: lon, bit 3: alt, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_global_position_setpoint_external_int_t; + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN 44 +#define MAVLINK_MSG_ID_84_LEN 44 + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_CRC 172 +#define MAVLINK_MSG_ID_84_CRC 172 + + + +#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT { \ + "GLOBAL_POSITION_SETPOINT_EXTERNAL_INT", \ + 13, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_setpoint_external_int_t, time_boot_ms) }, \ + { "lat_int", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_setpoint_external_int_t, lat_int) }, \ + { "lon_int", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_setpoint_external_int_t, lon_int) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_position_setpoint_external_int_t, alt) }, \ + { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_position_setpoint_external_int_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_position_setpoint_external_int_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_setpoint_external_int_t, vz) }, \ + { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_setpoint_external_int_t, ax) }, \ + { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_setpoint_external_int_t, ay) }, \ + { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_global_position_setpoint_external_int_t, az) }, \ + { "ignore_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_global_position_setpoint_external_int_t, ignore_mask) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_global_position_setpoint_external_int_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_global_position_setpoint_external_int_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a global_position_setpoint_external_int 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 in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. + * @param target_system System ID + * @param target_component Component ID + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: lat, bit 2: lon, bit 3: alt, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + * @param lat_int X Position in WGS84 frame in 1e7 * meters + * @param lon_int Y Position in WGS84 frame in 1e7 * meters + * @param alt Altitude in WGS84, not AMSL + * @param vx X velocity in NED frame in meter / s + * @param vy Y velocity in NED frame in meter / s + * @param vz Z velocity in NED frame in meter / s + * @param ax X acceleration in NED frame in meter / s^2 + * @param ay Y acceleration in NED frame in meter / s^2 + * @param az Z acceleration in NED frame in meter / s^2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_setpoint_external_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint16_t ignore_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float ax, float ay, float az) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, lat_int); + _mav_put_int32_t(buf, 8, lon_int); + _mav_put_float(buf, 12, alt); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + _mav_put_float(buf, 28, ax); + _mav_put_float(buf, 32, ay); + _mav_put_float(buf, 36, az); + _mav_put_uint16_t(buf, 40, ignore_mask); + _mav_put_uint8_t(buf, 42, target_system); + _mav_put_uint8_t(buf, 43, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#else + mavlink_global_position_setpoint_external_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.lat_int = lat_int; + packet.lon_int = lon_int; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ax = ax; + packet.ay = ay; + packet.az = az; + packet.ignore_mask = ignore_mask; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif +} + +/** + * @brief Pack a global_position_setpoint_external_int 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 in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. + * @param target_system System ID + * @param target_component Component ID + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: lat, bit 2: lon, bit 3: alt, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + * @param lat_int X Position in WGS84 frame in 1e7 * meters + * @param lon_int Y Position in WGS84 frame in 1e7 * meters + * @param alt Altitude in WGS84, not AMSL + * @param vx X velocity in NED frame in meter / s + * @param vy Y velocity in NED frame in meter / s + * @param vz Z velocity in NED frame in meter / s + * @param ax X acceleration in NED frame in meter / s^2 + * @param ay Y acceleration in NED frame in meter / s^2 + * @param az Z acceleration in NED frame in meter / s^2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_setpoint_external_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint16_t ignore_mask,int32_t lat_int,int32_t lon_int,float alt,float vx,float vy,float vz,float ax,float ay,float az) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, lat_int); + _mav_put_int32_t(buf, 8, lon_int); + _mav_put_float(buf, 12, alt); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + _mav_put_float(buf, 28, ax); + _mav_put_float(buf, 32, ay); + _mav_put_float(buf, 36, az); + _mav_put_uint16_t(buf, 40, ignore_mask); + _mav_put_uint8_t(buf, 42, target_system); + _mav_put_uint8_t(buf, 43, target_component); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#else + mavlink_global_position_setpoint_external_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.lat_int = lat_int; + packet.lon_int = lon_int; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ax = ax; + packet.ay = ay; + packet.az = az; + packet.ignore_mask = ignore_mask; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif +} + +/** + * @brief Encode a global_position_setpoint_external_int 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 global_position_setpoint_external_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_global_position_setpoint_external_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_setpoint_external_int_t* global_position_setpoint_external_int) +{ + return mavlink_msg_global_position_setpoint_external_int_pack(system_id, component_id, msg, global_position_setpoint_external_int->time_boot_ms, global_position_setpoint_external_int->target_system, global_position_setpoint_external_int->target_component, global_position_setpoint_external_int->ignore_mask, global_position_setpoint_external_int->lat_int, global_position_setpoint_external_int->lon_int, global_position_setpoint_external_int->alt, global_position_setpoint_external_int->vx, global_position_setpoint_external_int->vy, global_position_setpoint_external_int->vz, global_position_setpoint_external_int->ax, global_position_setpoint_external_int->ay, global_position_setpoint_external_int->az); +} + +/** + * @brief Encode a global_position_setpoint_external_int 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 global_position_setpoint_external_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_global_position_setpoint_external_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_setpoint_external_int_t* global_position_setpoint_external_int) +{ + return mavlink_msg_global_position_setpoint_external_int_pack_chan(system_id, component_id, chan, msg, global_position_setpoint_external_int->time_boot_ms, global_position_setpoint_external_int->target_system, global_position_setpoint_external_int->target_component, global_position_setpoint_external_int->ignore_mask, global_position_setpoint_external_int->lat_int, global_position_setpoint_external_int->lon_int, global_position_setpoint_external_int->alt, global_position_setpoint_external_int->vx, global_position_setpoint_external_int->vy, global_position_setpoint_external_int->vz, global_position_setpoint_external_int->ax, global_position_setpoint_external_int->ay, global_position_setpoint_external_int->az); +} + +/** + * @brief Send a global_position_setpoint_external_int message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. + * @param target_system System ID + * @param target_component Component ID + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: lat, bit 2: lon, bit 3: alt, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + * @param lat_int X Position in WGS84 frame in 1e7 * meters + * @param lon_int Y Position in WGS84 frame in 1e7 * meters + * @param alt Altitude in WGS84, not AMSL + * @param vx X velocity in NED frame in meter / s + * @param vy Y velocity in NED frame in meter / s + * @param vz Z velocity in NED frame in meter / s + * @param ax X acceleration in NED frame in meter / s^2 + * @param ay Y acceleration in NED frame in meter / s^2 + * @param az Z acceleration in NED frame in meter / s^2 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_global_position_setpoint_external_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint16_t ignore_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float ax, float ay, float az) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, lat_int); + _mav_put_int32_t(buf, 8, lon_int); + _mav_put_float(buf, 12, alt); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + _mav_put_float(buf, 28, ax); + _mav_put_float(buf, 32, ay); + _mav_put_float(buf, 36, az); + _mav_put_uint16_t(buf, 40, ignore_mask); + _mav_put_uint8_t(buf, 42, target_system); + _mav_put_uint8_t(buf, 43, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif +#else + mavlink_global_position_setpoint_external_int_t packet; + packet.time_boot_ms = time_boot_ms; + packet.lat_int = lat_int; + packet.lon_int = lon_int; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ax = ax; + packet.ay = ay; + packet.az = az; + packet.ignore_mask = ignore_mask; + packet.target_system = target_system; + packet.target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_global_position_setpoint_external_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint16_t ignore_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float ax, float ay, float az) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, lat_int); + _mav_put_int32_t(buf, 8, lon_int); + _mav_put_float(buf, 12, alt); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + _mav_put_float(buf, 28, ax); + _mav_put_float(buf, 32, ay); + _mav_put_float(buf, 36, az); + _mav_put_uint16_t(buf, 40, ignore_mask); + _mav_put_uint8_t(buf, 42, target_system); + _mav_put_uint8_t(buf, 43, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif +#else + mavlink_global_position_setpoint_external_int_t *packet = (mavlink_global_position_setpoint_external_int_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->lat_int = lat_int; + packet->lon_int = lon_int; + packet->alt = alt; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->ax = ax; + packet->ay = ay; + packet->az = az; + packet->ignore_mask = ignore_mask; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE GLOBAL_POSITION_SETPOINT_EXTERNAL_INT UNPACKING + + +/** + * @brief Get field time_boot_ms from global_position_setpoint_external_int message + * + * @return Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. + */ +static inline uint32_t mavlink_msg_global_position_setpoint_external_int_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field target_system from global_position_setpoint_external_int message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_global_position_setpoint_external_int_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 42); +} + +/** + * @brief Get field target_component from global_position_setpoint_external_int message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_global_position_setpoint_external_int_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 43); +} + +/** + * @brief Get field ignore_mask from global_position_setpoint_external_int message + * + * @return Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: lat, bit 2: lon, bit 3: alt, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + */ +static inline uint16_t mavlink_msg_global_position_setpoint_external_int_get_ignore_mask(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 40); +} + +/** + * @brief Get field lat_int from global_position_setpoint_external_int message + * + * @return X Position in WGS84 frame in 1e7 * meters + */ +static inline int32_t mavlink_msg_global_position_setpoint_external_int_get_lat_int(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field lon_int from global_position_setpoint_external_int message + * + * @return Y Position in WGS84 frame in 1e7 * meters + */ +static inline int32_t mavlink_msg_global_position_setpoint_external_int_get_lon_int(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Get field alt from global_position_setpoint_external_int message + * + * @return Altitude in WGS84, not AMSL + */ +static inline float mavlink_msg_global_position_setpoint_external_int_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field vx from global_position_setpoint_external_int message + * + * @return X velocity in NED frame in meter / s + */ +static inline float mavlink_msg_global_position_setpoint_external_int_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field vy from global_position_setpoint_external_int message + * + * @return Y velocity in NED frame in meter / s + */ +static inline float mavlink_msg_global_position_setpoint_external_int_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field vz from global_position_setpoint_external_int message + * + * @return Z velocity in NED frame in meter / s + */ +static inline float mavlink_msg_global_position_setpoint_external_int_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field ax from global_position_setpoint_external_int message + * + * @return X acceleration in NED frame in meter / s^2 + */ +static inline float mavlink_msg_global_position_setpoint_external_int_get_ax(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field ay from global_position_setpoint_external_int message + * + * @return Y acceleration in NED frame in meter / s^2 + */ +static inline float mavlink_msg_global_position_setpoint_external_int_get_ay(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field az from global_position_setpoint_external_int message + * + * @return Z acceleration in NED frame in meter / s^2 + */ +static inline float mavlink_msg_global_position_setpoint_external_int_get_az(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 36); +} + +/** + * @brief Decode a global_position_setpoint_external_int message into a struct + * + * @param msg The message to decode + * @param global_position_setpoint_external_int C-struct to decode the message contents into + */ +static inline void mavlink_msg_global_position_setpoint_external_int_decode(const mavlink_message_t* msg, mavlink_global_position_setpoint_external_int_t* global_position_setpoint_external_int) +{ +#if MAVLINK_NEED_BYTE_SWAP + global_position_setpoint_external_int->time_boot_ms = mavlink_msg_global_position_setpoint_external_int_get_time_boot_ms(msg); + global_position_setpoint_external_int->lat_int = mavlink_msg_global_position_setpoint_external_int_get_lat_int(msg); + global_position_setpoint_external_int->lon_int = mavlink_msg_global_position_setpoint_external_int_get_lon_int(msg); + global_position_setpoint_external_int->alt = mavlink_msg_global_position_setpoint_external_int_get_alt(msg); + global_position_setpoint_external_int->vx = mavlink_msg_global_position_setpoint_external_int_get_vx(msg); + global_position_setpoint_external_int->vy = mavlink_msg_global_position_setpoint_external_int_get_vy(msg); + global_position_setpoint_external_int->vz = mavlink_msg_global_position_setpoint_external_int_get_vz(msg); + global_position_setpoint_external_int->ax = mavlink_msg_global_position_setpoint_external_int_get_ax(msg); + global_position_setpoint_external_int->ay = mavlink_msg_global_position_setpoint_external_int_get_ay(msg); + global_position_setpoint_external_int->az = mavlink_msg_global_position_setpoint_external_int_get_az(msg); + global_position_setpoint_external_int->ignore_mask = mavlink_msg_global_position_setpoint_external_int_get_ignore_mask(msg); + global_position_setpoint_external_int->target_system = mavlink_msg_global_position_setpoint_external_int_get_target_system(msg); + global_position_setpoint_external_int->target_component = mavlink_msg_global_position_setpoint_external_int_get_target_component(msg); +#else + memcpy(global_position_setpoint_external_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h index 902e381ca..733886b9a 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h @@ -7,7 +7,7 @@ typedef struct __mavlink_heartbeat_t uint32_t custom_mode; ///< A bitfield for use for autopilot-specific flags. uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) uint8_t autopilot; ///< Autopilot type / class. defined in MAV_AUTOPILOT ENUM - uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h uint8_t system_status; ///< System status flag, see MAV_STATE ENUM uint8_t mavlink_version; ///< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version } mavlink_heartbeat_t; @@ -41,7 +41,7 @@ typedef struct __mavlink_heartbeat_t * * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM - * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h * @param custom_mode A bitfield for use for autopilot-specific flags. * @param system_status System status flag, see MAV_STATE ENUM * @return length of the message in bytes (excluding serial stream start sign) @@ -87,7 +87,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com * @param msg The MAVLink message to compress the data into * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM - * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h * @param custom_mode A bitfield for use for autopilot-specific flags. * @param system_status System status flag, see MAV_STATE ENUM * @return length of the message in bytes (excluding serial stream start sign) @@ -159,7 +159,7 @@ static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint * * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM - * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h * @param custom_mode A bitfield for use for autopilot-specific flags. * @param system_status System status flag, see MAV_STATE ENUM */ @@ -268,7 +268,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_ /** * @brief Get field base_mode from heartbeat message * - * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h + * @return System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h */ static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg) { diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_ned_position_setpoint_external.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_ned_position_setpoint_external.h new file mode 100644 index 000000000..6e60578ce --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_ned_position_setpoint_external.h @@ -0,0 +1,521 @@ +// MESSAGE LOCAL_NED_POSITION_SETPOINT_EXTERNAL PACKING + +#define MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL 83 + +typedef struct __mavlink_local_ned_position_setpoint_external_t +{ + uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot + float x; ///< X Position in NED frame in meters + float y; ///< Y Position in NED frame in meters + float z; ///< Z Position in NED frame in meters (note, altitude is negative in NED) + float vx; ///< X velocity in NED frame in meter / s + float vy; ///< Y velocity in NED frame in meter / s + float vz; ///< Z velocity in NED frame in meter / s + float ax; ///< X acceleration in NED frame in meter / s^2 + float ay; ///< Y acceleration in NED frame in meter / s^2 + float az; ///< Z acceleration in NED frame in meter / s^2 + uint16_t ignore_mask; ///< Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t coordinate_frame; ///< Valid options are: MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_OFFSET_NED = 5, MAV_FRAME_BODY_NED = 6, MAV_FRAME_BODY_OFFSET_NED = 7 +} mavlink_local_ned_position_setpoint_external_t; + +#define MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN 45 +#define MAVLINK_MSG_ID_83_LEN 45 + +#define MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_CRC 121 +#define MAVLINK_MSG_ID_83_CRC 121 + + + +#define MAVLINK_MESSAGE_INFO_LOCAL_NED_POSITION_SETPOINT_EXTERNAL { \ + "LOCAL_NED_POSITION_SETPOINT_EXTERNAL", \ + 14, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_ned_position_setpoint_external_t, time_boot_ms) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_ned_position_setpoint_external_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_ned_position_setpoint_external_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_ned_position_setpoint_external_t, z) }, \ + { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_ned_position_setpoint_external_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_ned_position_setpoint_external_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_ned_position_setpoint_external_t, vz) }, \ + { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_ned_position_setpoint_external_t, ax) }, \ + { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_local_ned_position_setpoint_external_t, ay) }, \ + { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_local_ned_position_setpoint_external_t, az) }, \ + { "ignore_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_local_ned_position_setpoint_external_t, ignore_mask) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_local_ned_position_setpoint_external_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_local_ned_position_setpoint_external_t, target_component) }, \ + { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_local_ned_position_setpoint_external_t, coordinate_frame) }, \ + } \ +} + + +/** + * @brief Pack a local_ned_position_setpoint_external 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 in milliseconds since system boot + * @param target_system System ID + * @param target_component Component ID + * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_OFFSET_NED = 5, MAV_FRAME_BODY_NED = 6, MAV_FRAME_BODY_OFFSET_NED = 7 + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + * @param x X Position in NED frame in meters + * @param y Y Position in NED frame in meters + * @param z Z Position in NED frame in meters (note, altitude is negative in NED) + * @param vx X velocity in NED frame in meter / s + * @param vy Y velocity in NED frame in meter / s + * @param vz Z velocity in NED frame in meter / s + * @param ax X acceleration in NED frame in meter / s^2 + * @param ay Y acceleration in NED frame in meter / s^2 + * @param az Z acceleration in NED frame in meter / s^2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_ned_position_setpoint_external_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t ignore_mask, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + _mav_put_float(buf, 28, ax); + _mav_put_float(buf, 32, ay); + _mav_put_float(buf, 36, az); + _mav_put_uint16_t(buf, 40, ignore_mask); + _mav_put_uint8_t(buf, 42, target_system); + _mav_put_uint8_t(buf, 43, target_component); + _mav_put_uint8_t(buf, 44, coordinate_frame); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#else + mavlink_local_ned_position_setpoint_external_t packet; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ax = ax; + packet.ay = ay; + packet.az = az; + packet.ignore_mask = ignore_mask; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif +} + +/** + * @brief Pack a local_ned_position_setpoint_external 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 in milliseconds since system boot + * @param target_system System ID + * @param target_component Component ID + * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_OFFSET_NED = 5, MAV_FRAME_BODY_NED = 6, MAV_FRAME_BODY_OFFSET_NED = 7 + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + * @param x X Position in NED frame in meters + * @param y Y Position in NED frame in meters + * @param z Z Position in NED frame in meters (note, altitude is negative in NED) + * @param vx X velocity in NED frame in meter / s + * @param vy Y velocity in NED frame in meter / s + * @param vz Z velocity in NED frame in meter / s + * @param ax X acceleration in NED frame in meter / s^2 + * @param ay Y acceleration in NED frame in meter / s^2 + * @param az Z acceleration in NED frame in meter / s^2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_ned_position_setpoint_external_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t coordinate_frame,uint16_t ignore_mask,float x,float y,float z,float vx,float vy,float vz,float ax,float ay,float az) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + _mav_put_float(buf, 28, ax); + _mav_put_float(buf, 32, ay); + _mav_put_float(buf, 36, az); + _mav_put_uint16_t(buf, 40, ignore_mask); + _mav_put_uint8_t(buf, 42, target_system); + _mav_put_uint8_t(buf, 43, target_component); + _mav_put_uint8_t(buf, 44, coordinate_frame); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#else + mavlink_local_ned_position_setpoint_external_t packet; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ax = ax; + packet.ay = ay; + packet.az = az; + packet.ignore_mask = ignore_mask; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif +} + +/** + * @brief Encode a local_ned_position_setpoint_external 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 local_ned_position_setpoint_external C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_ned_position_setpoint_external_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_ned_position_setpoint_external_t* local_ned_position_setpoint_external) +{ + return mavlink_msg_local_ned_position_setpoint_external_pack(system_id, component_id, msg, local_ned_position_setpoint_external->time_boot_ms, local_ned_position_setpoint_external->target_system, local_ned_position_setpoint_external->target_component, local_ned_position_setpoint_external->coordinate_frame, local_ned_position_setpoint_external->ignore_mask, local_ned_position_setpoint_external->x, local_ned_position_setpoint_external->y, local_ned_position_setpoint_external->z, local_ned_position_setpoint_external->vx, local_ned_position_setpoint_external->vy, local_ned_position_setpoint_external->vz, local_ned_position_setpoint_external->ax, local_ned_position_setpoint_external->ay, local_ned_position_setpoint_external->az); +} + +/** + * @brief Encode a local_ned_position_setpoint_external 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 local_ned_position_setpoint_external C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_ned_position_setpoint_external_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_ned_position_setpoint_external_t* local_ned_position_setpoint_external) +{ + return mavlink_msg_local_ned_position_setpoint_external_pack_chan(system_id, component_id, chan, msg, local_ned_position_setpoint_external->time_boot_ms, local_ned_position_setpoint_external->target_system, local_ned_position_setpoint_external->target_component, local_ned_position_setpoint_external->coordinate_frame, local_ned_position_setpoint_external->ignore_mask, local_ned_position_setpoint_external->x, local_ned_position_setpoint_external->y, local_ned_position_setpoint_external->z, local_ned_position_setpoint_external->vx, local_ned_position_setpoint_external->vy, local_ned_position_setpoint_external->vz, local_ned_position_setpoint_external->ax, local_ned_position_setpoint_external->ay, local_ned_position_setpoint_external->az); +} + +/** + * @brief Send a local_ned_position_setpoint_external message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp in milliseconds since system boot + * @param target_system System ID + * @param target_component Component ID + * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_OFFSET_NED = 5, MAV_FRAME_BODY_NED = 6, MAV_FRAME_BODY_OFFSET_NED = 7 + * @param ignore_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + * @param x X Position in NED frame in meters + * @param y Y Position in NED frame in meters + * @param z Z Position in NED frame in meters (note, altitude is negative in NED) + * @param vx X velocity in NED frame in meter / s + * @param vy Y velocity in NED frame in meter / s + * @param vz Z velocity in NED frame in meter / s + * @param ax X acceleration in NED frame in meter / s^2 + * @param ay Y acceleration in NED frame in meter / s^2 + * @param az Z acceleration in NED frame in meter / s^2 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_local_ned_position_setpoint_external_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t ignore_mask, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + _mav_put_float(buf, 28, ax); + _mav_put_float(buf, 32, ay); + _mav_put_float(buf, 36, az); + _mav_put_uint16_t(buf, 40, ignore_mask); + _mav_put_uint8_t(buf, 42, target_system); + _mav_put_uint8_t(buf, 43, target_component); + _mav_put_uint8_t(buf, 44, coordinate_frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, buf, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, buf, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif +#else + mavlink_local_ned_position_setpoint_external_t packet; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ax = ax; + packet.ay = ay; + packet.az = az; + packet.ignore_mask = ignore_mask; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_local_ned_position_setpoint_external_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t ignore_mask, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + _mav_put_float(buf, 28, ax); + _mav_put_float(buf, 32, ay); + _mav_put_float(buf, 36, az); + _mav_put_uint16_t(buf, 40, ignore_mask); + _mav_put_uint8_t(buf, 42, target_system); + _mav_put_uint8_t(buf, 43, target_component); + _mav_put_uint8_t(buf, 44, coordinate_frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, buf, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, buf, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif +#else + mavlink_local_ned_position_setpoint_external_t *packet = (mavlink_local_ned_position_setpoint_external_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->x = x; + packet->y = y; + packet->z = z; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->ax = ax; + packet->ay = ay; + packet->az = az; + packet->ignore_mask = ignore_mask; + packet->target_system = target_system; + packet->target_component = target_component; + packet->coordinate_frame = coordinate_frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, (const char *)packet, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, (const char *)packet, MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE LOCAL_NED_POSITION_SETPOINT_EXTERNAL UNPACKING + + +/** + * @brief Get field time_boot_ms from local_ned_position_setpoint_external message + * + * @return Timestamp in milliseconds since system boot + */ +static inline uint32_t mavlink_msg_local_ned_position_setpoint_external_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field target_system from local_ned_position_setpoint_external message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_local_ned_position_setpoint_external_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 42); +} + +/** + * @brief Get field target_component from local_ned_position_setpoint_external message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_local_ned_position_setpoint_external_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 43); +} + +/** + * @brief Get field coordinate_frame from local_ned_position_setpoint_external message + * + * @return Valid options are: MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_OFFSET_NED = 5, MAV_FRAME_BODY_NED = 6, MAV_FRAME_BODY_OFFSET_NED = 7 + */ +static inline uint8_t mavlink_msg_local_ned_position_setpoint_external_get_coordinate_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 44); +} + +/** + * @brief Get field ignore_mask from local_ned_position_setpoint_external message + * + * @return Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates it should follow the commanded attitude and rate and none of the setpoint dimensions should be ignored. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az + */ +static inline uint16_t mavlink_msg_local_ned_position_setpoint_external_get_ignore_mask(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 40); +} + +/** + * @brief Get field x from local_ned_position_setpoint_external message + * + * @return X Position in NED frame in meters + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field y from local_ned_position_setpoint_external message + * + * @return Y Position in NED frame in meters + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field z from local_ned_position_setpoint_external message + * + * @return Z Position in NED frame in meters (note, altitude is negative in NED) + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field vx from local_ned_position_setpoint_external message + * + * @return X velocity in NED frame in meter / s + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field vy from local_ned_position_setpoint_external message + * + * @return Y velocity in NED frame in meter / s + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field vz from local_ned_position_setpoint_external message + * + * @return Z velocity in NED frame in meter / s + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field ax from local_ned_position_setpoint_external message + * + * @return X acceleration in NED frame in meter / s^2 + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_ax(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field ay from local_ned_position_setpoint_external message + * + * @return Y acceleration in NED frame in meter / s^2 + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_ay(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field az from local_ned_position_setpoint_external message + * + * @return Z acceleration in NED frame in meter / s^2 + */ +static inline float mavlink_msg_local_ned_position_setpoint_external_get_az(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 36); +} + +/** + * @brief Decode a local_ned_position_setpoint_external message into a struct + * + * @param msg The message to decode + * @param local_ned_position_setpoint_external C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_ned_position_setpoint_external_decode(const mavlink_message_t* msg, mavlink_local_ned_position_setpoint_external_t* local_ned_position_setpoint_external) +{ +#if MAVLINK_NEED_BYTE_SWAP + local_ned_position_setpoint_external->time_boot_ms = mavlink_msg_local_ned_position_setpoint_external_get_time_boot_ms(msg); + local_ned_position_setpoint_external->x = mavlink_msg_local_ned_position_setpoint_external_get_x(msg); + local_ned_position_setpoint_external->y = mavlink_msg_local_ned_position_setpoint_external_get_y(msg); + local_ned_position_setpoint_external->z = mavlink_msg_local_ned_position_setpoint_external_get_z(msg); + local_ned_position_setpoint_external->vx = mavlink_msg_local_ned_position_setpoint_external_get_vx(msg); + local_ned_position_setpoint_external->vy = mavlink_msg_local_ned_position_setpoint_external_get_vy(msg); + local_ned_position_setpoint_external->vz = mavlink_msg_local_ned_position_setpoint_external_get_vz(msg); + local_ned_position_setpoint_external->ax = mavlink_msg_local_ned_position_setpoint_external_get_ax(msg); + local_ned_position_setpoint_external->ay = mavlink_msg_local_ned_position_setpoint_external_get_ay(msg); + local_ned_position_setpoint_external->az = mavlink_msg_local_ned_position_setpoint_external_get_az(msg); + local_ned_position_setpoint_external->ignore_mask = mavlink_msg_local_ned_position_setpoint_external_get_ignore_mask(msg); + local_ned_position_setpoint_external->target_system = mavlink_msg_local_ned_position_setpoint_external_get_target_system(msg); + local_ned_position_setpoint_external->target_component = mavlink_msg_local_ned_position_setpoint_external_get_target_component(msg); + local_ned_position_setpoint_external->coordinate_frame = mavlink_msg_local_ned_position_setpoint_external_get_coordinate_frame(msg); +#else + memcpy(local_ned_position_setpoint_external, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h index de23fcb2a..ccfe74f08 100644 --- a/mavlink/include/mavlink/v1.0/common/testsuite.h +++ b/mavlink/include/mavlink/v1.0/common/testsuite.h @@ -3367,6 +3367,201 @@ static void mavlink_test_manual_setpoint(uint8_t system_id, uint8_t component_id MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_attitude_setpoint_external(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_attitude_setpoint_external_t packet_in = { + 963497464, + }{ 45.0, 46.0, 47.0, 48.0 }, + }157.0, + }185.0, + }213.0, + }241.0, + }113, + }180, + }247, + }; + mavlink_attitude_setpoint_external_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_boot_ms = packet_in.time_boot_ms; + packet1.body_roll_rate = packet_in.body_roll_rate; + packet1.body_pitch_rate = packet_in.body_pitch_rate; + packet1.body_yaw_rate = packet_in.body_yaw_rate; + packet1.thrust = packet_in.thrust; + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + packet1.ignore_mask = packet_in.ignore_mask; + + mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_attitude_setpoint_external_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_attitude_setpoint_external_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_attitude_setpoint_external_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.ignore_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); + mavlink_msg_attitude_setpoint_external_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_attitude_setpoint_external_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.ignore_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); + mavlink_msg_attitude_setpoint_external_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_attitude_setpoint_external_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_attitude_setpoint_external_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.ignore_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); + mavlink_msg_attitude_setpoint_external_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_local_ned_position_setpoint_external(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_local_ned_position_setpoint_external_t packet_in = { + 963497464, + }45.0, + }73.0, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }19315, + }3, + }70, + }137, + }; + mavlink_local_ned_position_setpoint_external_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_boot_ms = packet_in.time_boot_ms; + packet1.x = packet_in.x; + packet1.y = packet_in.y; + packet1.z = packet_in.z; + packet1.vx = packet_in.vx; + packet1.vy = packet_in.vy; + packet1.vz = packet_in.vz; + packet1.ax = packet_in.ax; + packet1.ay = packet_in.ay; + packet1.az = packet_in.az; + packet1.ignore_mask = packet_in.ignore_mask; + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + packet1.coordinate_frame = packet_in.coordinate_frame; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_local_ned_position_setpoint_external_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_local_ned_position_setpoint_external_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_local_ned_position_setpoint_external_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.ignore_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az ); + mavlink_msg_local_ned_position_setpoint_external_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_local_ned_position_setpoint_external_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.ignore_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az ); + mavlink_msg_local_ned_position_setpoint_external_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_local_ned_position_setpoint_external_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_local_ned_position_setpoint_external_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.ignore_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az ); + mavlink_msg_local_ned_position_setpoint_external_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_global_position_setpoint_external_int(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_global_position_setpoint_external_int_t packet_in = { + 963497464, + }963497672, + }963497880, + }101.0, + }129.0, + }157.0, + }185.0, + }213.0, + }241.0, + }269.0, + }19315, + }3, + }70, + }; + mavlink_global_position_setpoint_external_int_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_boot_ms = packet_in.time_boot_ms; + packet1.lat_int = packet_in.lat_int; + packet1.lon_int = packet_in.lon_int; + packet1.alt = packet_in.alt; + packet1.vx = packet_in.vx; + packet1.vy = packet_in.vy; + packet1.vz = packet_in.vz; + packet1.ax = packet_in.ax; + packet1.ay = packet_in.ay; + packet1.az = packet_in.az; + packet1.ignore_mask = packet_in.ignore_mask; + packet1.target_system = packet_in.target_system; + packet1.target_component = packet_in.target_component; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_global_position_setpoint_external_int_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_global_position_setpoint_external_int_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_global_position_setpoint_external_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.ignore_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az ); + mavlink_msg_global_position_setpoint_external_int_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_global_position_setpoint_external_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.ignore_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az ); + mavlink_msg_global_position_setpoint_external_int_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_global_position_setpoint_external_int_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_global_position_setpoint_external_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.ignore_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az ); + mavlink_msg_global_position_setpoint_external_int_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + static void mavlink_test_local_position_ned_system_global_offset(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; @@ -5270,12 +5465,12 @@ static void mavlink_test_distance_sensor(uint8_t system_id, uint8_t component_id MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_distance_sensor_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.type , packet1.id , packet1.orientation , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.covariance ); + mavlink_msg_distance_sensor_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance ); mavlink_msg_distance_sensor_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_distance_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.type , packet1.id , packet1.orientation , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.covariance ); + mavlink_msg_distance_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance ); mavlink_msg_distance_sensor_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); @@ -5288,7 +5483,7 @@ static void mavlink_test_distance_sensor(uint8_t system_id, uint8_t component_id MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_distance_sensor_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.type , packet1.id , packet1.orientation , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.covariance ); + mavlink_msg_distance_sensor_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance ); mavlink_msg_distance_sensor_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } @@ -5821,6 +6016,9 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink mavlink_test_command_ack(system_id, component_id, last_msg); mavlink_test_roll_pitch_yaw_rates_thrust_setpoint(system_id, component_id, last_msg); mavlink_test_manual_setpoint(system_id, component_id, last_msg); + mavlink_test_attitude_setpoint_external(system_id, component_id, last_msg); + mavlink_test_local_ned_position_setpoint_external(system_id, component_id, last_msg); + mavlink_test_global_position_setpoint_external_int(system_id, component_id, last_msg); mavlink_test_local_position_ned_system_global_offset(system_id, component_id, last_msg); mavlink_test_hil_state(system_id, component_id, last_msg); mavlink_test_hil_controls(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 8ad378355..d590ce283 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 "Sun Apr 13 09:39:04 2014" +#define MAVLINK_BUILD_DATE "Mon Jun 23 10:14:06 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h index cc7545cfe..01b9c4d69 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h @@ -5,6 +5,10 @@ #ifndef MATRIXPILOT_H #define MATRIXPILOT_H +#ifndef MAVLINK_H + #error Wrong include order: MATRIXPILOT.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call. +#endif + #ifdef __cplusplus extern "C" { #endif @@ -12,15 +16,15 @@ 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, 42, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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} +#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, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 39, 45, 44, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 118, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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} +#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, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 212, 121, 172, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_ATTITUDE_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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" @@ -33,7 +37,7 @@ extern "C" { /** @brief Action required when performing CMD_PREFLIGHT_STORAGE */ #ifndef HAVE_ENUM_MAV_PREFLIGHT_STORAGE_ACTION #define HAVE_ENUM_MAV_PREFLIGHT_STORAGE_ACTION -enum MAV_PREFLIGHT_STORAGE_ACTION +typedef enum MAV_PREFLIGHT_STORAGE_ACTION { MAV_PFS_CMD_READ_ALL=0, /* Read all parameters from storage | */ MAV_PFS_CMD_WRITE_ALL=1, /* Write all parameters to storage | */ @@ -43,13 +47,13 @@ enum MAV_PREFLIGHT_STORAGE_ACTION MAV_PFS_CMD_CLEAR_SPECIFIC=5, /* Clear specific parameters in storage | */ MAV_PFS_CMD_DO_NOTHING=6, /* do nothing | */ MAV_PREFLIGHT_STORAGE_ACTION_ENUM_END=7, /* | */ -}; +} MAV_PREFLIGHT_STORAGE_ACTION; #endif /** @brief */ #ifndef HAVE_ENUM_MAV_CMD #define HAVE_ENUM_MAV_CMD -enum MAV_CMD +typedef enum MAV_CMD { MAV_CMD_PREFLIGHT_STORAGE_ADVANCED=0, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED| Storage area as defined by parameter database| Storage flags as defined by parameter database| Empty| Empty| Empty| Empty| */ MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ @@ -68,7 +72,7 @@ enum MAV_CMD MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ @@ -86,6 +90,7 @@ enum MAV_CMD 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_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| 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| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */ @@ -97,7 +102,7 @@ enum MAV_CMD MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ MAV_CMD_ENUM_END=501, /* | */ -}; +} MAV_CMD; #endif #include "../common/common.h" diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/version.h b/mavlink/include/mavlink/v1.0/matrixpilot/version.h index 50cbda6c7..40273061d 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 "Sun Apr 13 09:38:32 2014" +#define MAVLINK_BUILD_DATE "Mon Jun 23 10:13:29 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h index a624a2579..6a55f592b 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h @@ -5,6 +5,10 @@ #ifndef PIXHAWK_H #define PIXHAWK_H +#ifndef MAVLINK_H + #error Wrong include order: PIXHAWK.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call. +#endif + #ifdef __cplusplus extern "C" { #endif @@ -12,15 +16,15 @@ 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, 42, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 0, 0, 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, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 39, 45, 44, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 0, 0, 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, 118, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, 0, 0, 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, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 212, 121, 172, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, 0, 0, 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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_ATTITUDE_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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" @@ -33,19 +37,19 @@ extern "C" { /** @brief Content Types for data transmission handshake */ #ifndef HAVE_ENUM_DATA_TYPES #define HAVE_ENUM_DATA_TYPES -enum DATA_TYPES +typedef enum DATA_TYPES { DATA_TYPE_JPEG_IMAGE=1, /* | */ DATA_TYPE_RAW_IMAGE=2, /* | */ DATA_TYPE_KINECT=3, /* | */ DATA_TYPES_ENUM_END=4, /* | */ -}; +} DATA_TYPES; #endif /** @brief */ #ifndef HAVE_ENUM_MAV_CMD #define HAVE_ENUM_MAV_CMD -enum MAV_CMD +typedef enum MAV_CMD { MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ @@ -63,7 +67,7 @@ enum MAV_CMD MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ @@ -81,6 +85,7 @@ enum MAV_CMD 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_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| 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| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */ @@ -95,7 +100,7 @@ enum MAV_CMD MAV_CMD_DO_START_SEARCH=10001, /* Starts a search |1 to arm, 0 to disarm| */ MAV_CMD_DO_FINISH_SEARCH=10002, /* Starts a search |1 to arm, 0 to disarm| */ MAV_CMD_NAV_SWEEP=10003, /* Starts a search |1 to arm, 0 to disarm| */ -}; +} MAV_CMD; #endif #include "../common/common.h" diff --git a/mavlink/include/mavlink/v1.0/pixhawk/version.h b/mavlink/include/mavlink/v1.0/pixhawk/version.h index 6610a894c..6a639918e 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 "Sun Apr 13 09:38:46 2014" +#define MAVLINK_BUILD_DATE "Mon Jun 23 10:13:53 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h index 2eab86354..4fb651853 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h @@ -5,6 +5,10 @@ #ifndef SENSESOAR_H #define SENSESOAR_H +#ifndef MAVLINK_H + #error Wrong include order: SENSESOAR.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call. +#endif + #ifdef __cplusplus extern "C" { #endif @@ -12,15 +16,15 @@ 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, 42, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 39, 45, 44, 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, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 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, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 118, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 212, 121, 172, 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, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 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, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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}}}, MAVLINK_MESSAGE_INFO_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_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}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_RC_CHANNELS, 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, MAVLINK_MESSAGE_INFO_ATTITUDE_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_LOCAL_NED_POSITION_SETPOINT_EXTERNAL, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_EXTERNAL_INT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK, 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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}}}, 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" @@ -33,13 +37,13 @@ extern "C" { /** @brief Different flight modes */ #ifndef HAVE_ENUM_SENSESOAR_MODE #define HAVE_ENUM_SENSESOAR_MODE -enum SENSESOAR_MODE +typedef enum SENSESOAR_MODE { SENSESOAR_MODE_GLIDING=1, /* Gliding mode with motors off | */ SENSESOAR_MODE_AUTONOMOUS=2, /* Autonomous flight | */ SENSESOAR_MODE_MANUAL=3, /* RC controlled | */ SENSESOAR_MODE_ENUM_END=4, /* | */ -}; +} SENSESOAR_MODE; #endif #include "../common/common.h" diff --git a/mavlink/include/mavlink/v1.0/sensesoar/version.h b/mavlink/include/mavlink/v1.0/sensesoar/version.h index 78d562803..de8a60750 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/version.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Sun Apr 13 09:39:00 2014" +#define MAVLINK_BUILD_DATE "Mon Jun 23 10:13:41 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bb42889ea..ff99e7baf 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -124,6 +124,7 @@ extern struct system_load_s system_load; #define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */ #define RC_TIMEOUT 500000 #define DL_TIMEOUT 5 * 1000* 1000 +#define OFFBOARD_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 @@ -164,6 +165,7 @@ static struct vehicle_status_s status; static struct actuator_armed_s armed; static struct safety_s safety; static struct vehicle_control_mode_s control_mode; +static struct offboard_control_setpoint_s sp_offboard; /* tasks waiting for low prio thread */ typedef enum { @@ -437,6 +439,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) { /* ACRO */ main_ret = main_state_transition(status, MAIN_STATE_ACRO); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) { + /* OFFBOARD */ + main_ret = main_state_transition(status, MAIN_STATE_OFFBOARD); } } else { @@ -633,6 +639,7 @@ int commander_thread_main(int argc, char *argv[]) main_states_str[MAIN_STATE_AUTO_LOITER] = "AUTO_LOITER"; main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL"; main_states_str[MAIN_STATE_ACRO] = "ACRO"; + main_states_str[MAIN_STATE_OFFBOARD] = "OFFBOARD"; char *arming_states_str[ARMING_STATE_MAX]; arming_states_str[ARMING_STATE_INIT] = "INIT"; @@ -655,6 +662,7 @@ int commander_thread_main(int argc, char *argv[]) nav_states_str[NAVIGATION_STATE_LAND] = "LAND"; nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND"; nav_states_str[NAVIGATION_STATE_TERMINATION] = "TERMINATION"; + nav_states_str[NAVIGATION_STATE_OFFBOARD] = "OFFBOARD"; /* pthread for slow low prio thread */ pthread_t commander_low_prio_thread; @@ -779,7 +787,6 @@ int commander_thread_main(int argc, char *argv[]) /* Subscribe to offboard control data */ int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - struct offboard_control_setpoint_s sp_offboard; memset(&sp_offboard, 0, sizeof(sp_offboard)); /* Subscribe to telemetry status */ @@ -927,6 +934,19 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); } + if (sp_offboard.timestamp != 0 && + sp_offboard.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) { + if (status.offboard_control_signal_lost) { + status.offboard_control_signal_lost = false; + status_changed = true; + } + } else { + if (!status.offboard_control_signal_lost) { + status.offboard_control_signal_lost = true; + status_changed = true; + } + } + orb_check(telemetry_sub, &updated); if (updated) { @@ -1588,6 +1608,18 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin /* set main state according to RC switches */ transition_result_t res = TRANSITION_DENIED; + /* offboard switch overrides main switch */ + if (sp_man->offboard_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_OFFBOARD); + if (res == TRANSITION_DENIED) { + print_reject_mode(status, "OFFBOARD"); + + } else { + return res; + } + } + + /* offboard switched off or denied, check main mode switch */ switch (sp_man->mode_switch) { case SWITCH_POS_NONE: res = TRANSITION_NOT_CHANGED; @@ -1700,6 +1732,7 @@ set_control_mode() /* TODO: check this */ control_mode.flag_external_manual_override_ok = !status.is_rotary_wing; control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON; + control_mode.flag_control_offboard_enabled = false; switch (status.nav_state) { case NAVIGATION_STATE_MANUAL: @@ -1738,6 +1771,54 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; + case NAVIGATION_STATE_OFFBOARD: + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_offboard_enabled = true; + + switch (sp_offboard.mode) { + case OFFBOARD_CONTROL_MODE_DIRECT_RATES: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */ + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_position_enabled = true; /* XXX: hack for now */ + control_mode.flag_control_velocity_enabled = true; + break; + case OFFBOARD_CONTROL_MODE_DIRECT_POSITION: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = true; + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_position_enabled = true; + control_mode.flag_control_velocity_enabled = true; + break; + default: + control_mode.flag_control_rates_enabled = false; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + } + break; + case NAVIGATION_STATE_POSCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index 7f5f93801..eaf309288 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -16,6 +16,7 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_POSCTL, PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_MAIN_MODE_ACRO, + PX4_CUSTOM_MAIN_MODE_OFFBOARD, }; enum PX4_CUSTOM_SUB_MODE_AUTO { diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 74885abf6..4339a7a76 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -234,6 +234,15 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta } break; + case MAIN_STATE_OFFBOARD: + + /* need offboard signal */ + if (!status->offboard_control_signal_lost) { + ret = TRANSITION_CHANGED; + } + + break; + case MAIN_STATE_MAX: default: break; @@ -532,6 +541,25 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en } break; + case MAIN_STATE_OFFBOARD: + /* require offboard control, otherwise stay where you are */ + if (status->offboard_control_signal_lost && !status->rc_signal_lost) { + status->failsafe = true; + + status->nav_state = NAVIGATION_STATE_POSCTL; + } else if (status->offboard_control_signal_lost && status->rc_signal_lost) { + status->failsafe = true; + + if (status->condition_local_position_valid) { + status->nav_state = NAVIGATION_STATE_LAND; + } else if (status->condition_local_altitude_valid) { + status->nav_state = NAVIGATION_STATE_DESCEND; + } else { + status->nav_state = NAVIGATION_STATE_TERMINATION; + } + } else { + status->nav_state = NAVIGATION_STATE_OFFBOARD; + } default: break; } diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index bb977d277..6aba72161 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -102,18 +102,25 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _cmd_pub(-1), _flow_pub(-1), _offboard_control_sp_pub(-1), + _local_pos_sp_pub(-1), + _global_vel_sp_pub(-1), + _att_sp_pub(-1), + _rates_sp_pub(-1), _vicon_position_pub(-1), _telemetry_status_pub(-1), _rc_pub(-1), _manual_pub(-1), _telemetry_heartbeat_time(0), _radio_status_available(false), + _control_mode_sub(-1), _hil_frames(0), _old_timestamp(0), _hil_local_proj_inited(0), _hil_local_alt0(0.0) { + _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); memset(&hil_local_pos, 0, sizeof(hil_local_pos)); + memset(&_control_mode, 0, sizeof(_control_mode)); // make sure the FTP server is started (void)MavlinkFTP::getServer(); @@ -359,53 +366,21 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg) void MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg) { - mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); + mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t swarm_offboard_control; + mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &swarm_offboard_control); - if (mavlink_system.sysid < 4) { + /* Only accept system IDs from 1 to 4 */ + if (mavlink_system.sysid >= 1 && mavlink_system.sysid <= 4) { struct offboard_control_setpoint_s offboard_control_sp; memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); - uint8_t ml_mode = 0; - bool ml_armed = false; + /* Convert values * 1000 back */ + offboard_control_sp.p1 = (float)swarm_offboard_control.roll[mavlink_system.sysid - 1] / 1000.0f; + offboard_control_sp.p2 = (float)swarm_offboard_control.pitch[mavlink_system.sysid - 1] / 1000.0f; + offboard_control_sp.p3 = (float)swarm_offboard_control.yaw[mavlink_system.sysid - 1] / 1000.0f; + offboard_control_sp.p4 = (float)swarm_offboard_control.thrust[mavlink_system.sysid - 1] / 1000.0f; - switch (quad_motors_setpoint.mode) { - case 0: - ml_armed = false; - break; - - case 1: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; - ml_armed = true; - - break; - - case 2: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; - ml_armed = true; - - break; - - case 3: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; - break; - - case 4: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; - break; - } - - offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; - - if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) { - ml_armed = false; - } - - offboard_control_sp.armed = ml_armed; - offboard_control_sp.mode = static_cast<enum OFFBOARD_CONTROL_MODE>(ml_mode); + offboard_control_sp.mode = (enum OFFBOARD_CONTROL_MODE)swarm_offboard_control.mode; offboard_control_sp.timestamp = hrt_absolute_time(); @@ -464,6 +439,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) manual.r = man.r / 1000.0f; manual.z = man.z / 1000.0f; + warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", manual.x, manual.y, manual.r, manual.z); + if (_manual_pub < 0) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 040a07480..65ef884a2 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -36,6 +36,7 @@ * MAVLink 1.0 uORB listener definition * * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #pragma once @@ -44,6 +45,7 @@ #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_global_position.h> @@ -53,6 +55,7 @@ #include <uORB/topics/offboard_control_setpoint.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position_setpoint.h> +#include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_attitude_setpoint.h> @@ -124,6 +127,7 @@ private: mavlink_status_t status; struct vehicle_local_position_s hil_local_pos; + struct vehicle_control_mode_s _control_mode; orb_advert_t _global_pos_pub; orb_advert_t _local_pos_pub; orb_advert_t _attitude_pub; @@ -138,12 +142,17 @@ private: orb_advert_t _cmd_pub; orb_advert_t _flow_pub; orb_advert_t _offboard_control_sp_pub; + orb_advert_t _local_pos_sp_pub; + orb_advert_t _global_vel_sp_pub; + orb_advert_t _att_sp_pub; + orb_advert_t _rates_sp_pub; orb_advert_t _vicon_position_pub; orb_advert_t _telemetry_status_pub; orb_advert_t _rc_pub; orb_advert_t _manual_pub; hrt_abstime _telemetry_heartbeat_time; bool _radio_status_available; + int _control_mode_sub; int _hil_frames; uint64_t _old_timestamp; bool _hil_local_proj_inited; diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 09960d106..6541788f6 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -117,7 +117,9 @@ private: int _manual_sub; /**< notification of manual control updates */ int _arming_sub; /**< arming status of outputs */ int _local_pos_sub; /**< vehicle local position */ - int _pos_sp_triplet_sub; /**< position setpoint triplet */ + int _pos_sp_triplet_sub; /**< position setpoint triplet */ + int _local_pos_sp_sub; /**< offboard local position setpoint */ + int _global_vel_sp_sub; /**< offboard global velocity setpoint */ orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */ @@ -133,6 +135,7 @@ private: struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */ struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */ + struct { param_t thr_min; param_t thr_max; @@ -255,6 +258,7 @@ MulticopterPositionControl::MulticopterPositionControl() : _manual_sub(-1), _arming_sub(-1), _local_pos_sub(-1), + _global_vel_sp_sub(-1), _pos_sp_triplet_sub(-1), /* publications */ @@ -528,6 +532,9 @@ MulticopterPositionControl::task_main() _arming_sub = orb_subscribe(ORB_ID(actuator_armed)); _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); _pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); + _local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); + _global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); + parameters_update(true); @@ -549,6 +556,9 @@ MulticopterPositionControl::task_main() math::Vector<3> sp_move_rate; sp_move_rate.zero(); + + float yaw_sp_move_rate; + math::Vector<3> thrust_int; thrust_int.zero(); math::Matrix<3, 3> R; @@ -664,6 +674,82 @@ MulticopterPositionControl::task_main() _pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max); } + } else if (_control_mode.flag_control_offboard_enabled) { + /* Offboard control */ + bool updated; + orb_check(_pos_sp_triplet_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); + } + + if (_pos_sp_triplet.current.valid) { + + if (_control_mode.flag_control_position_enabled && _pos_sp_triplet.current.position_valid) { + + _pos_sp(0) = _pos_sp_triplet.current.x; + _pos_sp(1) = _pos_sp_triplet.current.y; + _pos_sp(2) = _pos_sp_triplet.current.z; + _att_sp.yaw_body = _pos_sp_triplet.current.yaw; + + } else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) { + /* reset position setpoint to current position if needed */ + reset_pos_sp(); + /* move position setpoint with roll/pitch stick */ + sp_move_rate(0) = _pos_sp_triplet.current.vx; + sp_move_rate(1) = _pos_sp_triplet.current.vy; + yaw_sp_move_rate = _pos_sp_triplet.current.yawspeed; + _att_sp.yaw_body = _att.yaw + yaw_sp_move_rate * dt; + } + + if (_control_mode.flag_control_altitude_enabled) { + /* reset alt setpoint to current altitude if needed */ + reset_alt_sp(); + + /* move altitude setpoint with throttle stick */ + sp_move_rate(2) = -scale_control(_pos_sp_triplet.current.vz - 0.5f, 0.5f, alt_ctl_dz);; + } + + /* limit setpoint move rate */ + float sp_move_norm = sp_move_rate.length(); + + if (sp_move_norm > 1.0f) { + sp_move_rate /= sp_move_norm; + } + + /* scale to max speed and rotate around yaw */ + math::Matrix<3, 3> R_yaw_sp; + R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp.yaw_body); + sp_move_rate = R_yaw_sp * sp_move_rate.emult(_params.vel_max); + + /* move position setpoint */ + _pos_sp += sp_move_rate * dt; + + /* check if position setpoint is too far from actual position */ + math::Vector<3> pos_sp_offs; + pos_sp_offs.zero(); + + if (_control_mode.flag_control_position_enabled) { + pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0); + pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1); + } + + if (_control_mode.flag_control_altitude_enabled) { + pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2); + } + + float pos_sp_offs_norm = pos_sp_offs.length(); + + if (pos_sp_offs_norm > 1.0f) { + pos_sp_offs /= pos_sp_offs_norm; + _pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max); + } + + } else { + reset_pos_sp(); + reset_alt_sp(); + } + } else { /* AUTO */ bool updated; @@ -710,6 +796,7 @@ MulticopterPositionControl::task_main() _local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp); } + if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) { /* idle state, don't run controller and set zero thrust */ R.identity(); @@ -753,6 +840,7 @@ MulticopterPositionControl::task_main() _vel_sp(2) = _params.land_speed; } + if (!_control_mode.flag_control_manual_enabled) { /* limit 3D speed only in non-manual modes */ float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length(); @@ -1040,6 +1128,7 @@ MulticopterPositionControl::task_main() _reset_pos_sp = true; reset_int_z = true; reset_int_xy = true; + } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk index a1e109030..637eaae59 100644 --- a/src/modules/navigator/module.mk +++ b/src/modules/navigator/module.mk @@ -46,6 +46,7 @@ SRCS = navigator_main.cpp \ loiter.cpp \ rtl.cpp \ rtl_params.c \ + offboard.cpp \ mission_feasibility_checker.cpp \ geofence.cpp \ geofence_params.c diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 184ecd365..b2c4929cf 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -56,13 +56,14 @@ #include "mission.h" #include "loiter.h" #include "rtl.h" +#include "offboard.h" #include "geofence.h" /** * Number of navigation modes that need on_active/on_inactive calls * Currently: mission, loiter, and rtl */ -#define NAVIGATOR_MODE_ARRAY_SIZE 3 +#define NAVIGATOR_MODE_ARRAY_SIZE 4 class Navigator : public control::SuperBlock { @@ -108,10 +109,13 @@ public: * Getters */ struct vehicle_status_s* get_vstatus() { return &_vstatus; } + struct vehicle_control_mode_s* get_control_mode() { return &_control_mode; } struct vehicle_global_position_s* get_global_position() { return &_global_pos; } struct home_position_s* get_home_position() { return &_home_pos; } + int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_offboard_mission_sub() { return _offboard_mission_sub; } + int get_offboard_control_sp_sub() { return _offboard_control_sp_sub; } Geofence& get_geofence() { return _geofence; } bool get_can_loiter_at_sp() { return _can_loiter_at_sp; } float get_loiter_radius() { return _param_loiter_radius.get(); } @@ -129,6 +133,7 @@ private: int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ + int _offboard_control_sp_sub; /*** offboard control subscription */ int _control_mode_sub; /**< vehicle control mode subscription */ int _onboard_mission_sub; /**< onboard mission subscription */ int _offboard_mission_sub; /**< offboard mission subscription */ @@ -158,6 +163,7 @@ private: Mission _mission; /**< class that handles the missions */ Loiter _loiter; /**< class that handles loiter */ RTL _rtl; /**< class that handles RTL */ + Offboard _offboard; /**< class that handles offboard */ NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 546602741..c8420c0e4 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -67,6 +67,7 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> +#include <uORB/topics/offboard_control_setpoint.h> #include <systemlib/err.h> #include <systemlib/systemlib.h> @@ -100,6 +101,7 @@ Navigator::Navigator() : _home_pos_sub(-1), _vstatus_sub(-1), _capabilities_sub(-1), + _offboard_control_sp_sub(-1), _control_mode_sub(-1), _onboard_mission_sub(-1), _offboard_mission_sub(-1), @@ -121,6 +123,7 @@ Navigator::Navigator() : _mission(this, "MIS"), _loiter(this, "LOI"), _rtl(this, "RTL"), + _offboard(this, "OFF"), _update_triplet(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD") @@ -129,6 +132,7 @@ Navigator::Navigator() : _navigation_mode_array[0] = &_mission; _navigation_mode_array[1] = &_loiter; _navigation_mode_array[2] = &_rtl; + _navigation_mode_array[3] = &_offboard; updateParams(); } @@ -241,6 +245,7 @@ Navigator::task_main() _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _param_update_sub = orb_subscribe(ORB_ID(parameter_update)); + _offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); /* copy all topics first time */ vehicle_status_update(); @@ -363,6 +368,9 @@ Navigator::task_main() break; case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: + case NAVIGATION_STATE_OFFBOARD: + _navigation_mode = &_offboard; + break; default: _navigation_mode = nullptr; _can_loiter_at_sp = false; diff --git a/src/modules/navigator/offboard.cpp b/src/modules/navigator/offboard.cpp new file mode 100644 index 000000000..ef7d11a03 --- /dev/null +++ b/src/modules/navigator/offboard.cpp @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file offboard.cpp + * + * Helper class for offboard commands + * + * @author Julian Oes <julian@oes.ch> + */ + +#include <string.h> +#include <stdlib.h> +#include <stdbool.h> +#include <math.h> +#include <fcntl.h> + +#include <mavlink/mavlink_log.h> +#include <systemlib/err.h> + +#include <uORB/uORB.h> +#include <uORB/topics/position_setpoint_triplet.h> + +#include "navigator.h" +#include "offboard.h" + +Offboard::Offboard(Navigator *navigator, const char *name) : + NavigatorMode(navigator, name), + _offboard_control_sp({0}) +{ + /* load initial params */ + updateParams(); + /* initial reset */ + on_inactive(); +} + +Offboard::~Offboard() +{ +} + +bool +Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + bool updated; + orb_check(_navigator->get_offboard_control_sp_sub(), &updated); + if (updated) { + update_offboard_control_setpoint(); + } + + bool changed = false; + + /* copy offboard setpoints to the corresponding topics */ + if (_navigator->get_control_mode()->flag_control_position_enabled + && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) { + /* position control */ + pos_sp_triplet->current.x = _offboard_control_sp.p1; + pos_sp_triplet->current.y = _offboard_control_sp.p2; + pos_sp_triplet->current.yaw = _offboard_control_sp.p3; + pos_sp_triplet->current.z = -_offboard_control_sp.p4; + + pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD; + pos_sp_triplet->current.valid = true; + pos_sp_triplet->current.position_valid = true; + + changed = true; + + } else if (_navigator->get_control_mode()->flag_control_velocity_enabled + && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) { + /* velocity control */ + pos_sp_triplet->current.vx = _offboard_control_sp.p2; + pos_sp_triplet->current.vy = _offboard_control_sp.p1; + pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3; + pos_sp_triplet->current.vz = _offboard_control_sp.p4; + + pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD; + pos_sp_triplet->current.valid = true; + pos_sp_triplet->current.velocity_valid = true; + + changed = true; + } + + return changed; +} + +void +Offboard::on_inactive() +{ +} + +void +Offboard::update_offboard_control_setpoint() +{ + orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp); + +} diff --git a/src/modules/navigator/offboard.h b/src/modules/navigator/offboard.h new file mode 100644 index 000000000..4d415dddb --- /dev/null +++ b/src/modules/navigator/offboard.h @@ -0,0 +1,82 @@ +/*************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file offboard.h + * + * Helper class for offboard commands + * + * @author Julian Oes <julian@oes.ch> + */ + +#ifndef NAVIGATOR_OFFBOARD_H +#define NAVIGATOR_OFFBOARD_H + +#include <controllib/blocks.hpp> +#include <controllib/block/BlockParam.hpp> + +#include <uORB/uORB.h> +#include <uORB/topics/offboard_control_setpoint.h> + +#include "navigator_mode.h" + +class Navigator; + +class Offboard : public NavigatorMode +{ +public: + /** + * Constructor + */ + Offboard(Navigator *navigator, const char *name); + + /** + * Destructor + */ + ~Offboard(); + + /** + * This function is called while the mode is inactive + */ + virtual void on_inactive(); + + /** + * This function is called while the mode is active + */ + virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); +private: + void update_offboard_control_setpoint(); + + struct offboard_control_setpoint_s _offboard_control_sp; +}; + +#endif diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index c8a3ec8f0..5deb471d6 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -665,6 +665,15 @@ PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0); PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0); /** + * Offboard switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); + +/** * Flaps channel mapping. * * @min 0 @@ -811,3 +820,20 @@ PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f); * */ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f); + + +/** + * Threshold for selecting offboard mode + * + * min:-1 + * max:+1 + * + * 0-1 indicate where in the full channel range the threshold sits + * 0 : min + * 1 : max + * sign indicates polarity of comparison + * positive : true when channel>th + * negative : true when channel<th + * + */ +PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 16fcb4c26..cc96f8a53 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -266,6 +266,7 @@ private: int rc_map_posctl_sw; int rc_map_loiter_sw; int rc_map_acro_sw; + int rc_map_offboard_sw; int rc_map_flaps; @@ -282,12 +283,14 @@ private: float rc_return_th; float rc_loiter_th; float rc_acro_th; + float rc_offboard_th; bool rc_assist_inv; bool rc_auto_inv; bool rc_posctl_inv; bool rc_return_inv; bool rc_loiter_inv; bool rc_acro_inv; + bool rc_offboard_inv; float battery_voltage_scaling; float battery_current_scaling; @@ -321,6 +324,7 @@ private: param_t rc_map_posctl_sw; param_t rc_map_loiter_sw; param_t rc_map_acro_sw; + param_t rc_map_offboard_sw; param_t rc_map_flaps; @@ -337,6 +341,7 @@ private: param_t rc_return_th; param_t rc_loiter_th; param_t rc_acro_th; + param_t rc_offboard_th; param_t battery_voltage_scaling; param_t battery_current_scaling; @@ -540,6 +545,7 @@ Sensors::Sensors() : _parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW"); _parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW"); _parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW"); + _parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW"); _parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1"); _parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2"); @@ -555,6 +561,7 @@ Sensors::Sensors() : _parameter_handles.rc_return_th = param_find("RC_RETURN_TH"); _parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH"); _parameter_handles.rc_acro_th = param_find("RC_ACRO_TH"); + _parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH"); /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); @@ -707,6 +714,10 @@ Sensors::parameters_update() warnx("%s", paramerr); } + if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) { + warnx("%s", paramerr); + } + if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { warnx("%s", paramerr); } @@ -735,6 +746,9 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th)); _parameters.rc_acro_inv = (_parameters.rc_acro_th < 0); _parameters.rc_acro_th = fabs(_parameters.rc_acro_th); + param_get(_parameter_handles.rc_offboard_th, &(_parameters.rc_offboard_th)); + _parameters.rc_offboard_inv = (_parameters.rc_offboard_th < 0); + _parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th); /* update RC function mappings */ _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; @@ -747,6 +761,7 @@ Sensors::parameters_update() _rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1; _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[ACRO] = _parameters.rc_map_acro_sw - 1; + _rc.function[OFFBOARD] = _parameters.rc_map_offboard_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; @@ -1545,6 +1560,7 @@ Sensors::rc_poll() manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv); + manual.offboard_switch = get_rc_sw2pos_position(OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv); /* publish manual_control_setpoint topic */ if (_manual_control_pub > 0) { diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 910b8a623..dde237adc 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -98,6 +98,7 @@ struct manual_control_setpoint_s { switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ + switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 68d3e494b..d7b131e3c 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -69,7 +69,7 @@ struct offboard_control_setpoint_s { uint64_t timestamp; enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ - bool armed; /**< Armed flag set, yes / no */ + float p1; /**< ailerons roll / roll rate input */ float p2; /**< elevator / pitch / pitch rate */ float p3; /**< rudder / yaw rate / yaw */ diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index ce42035ba..673c0e491 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -60,16 +60,26 @@ enum SETPOINT_TYPE SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, descend until landing */ SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ + SETPOINT_TYPE_OFFBOARD, /**< setpoint set by offboard */ }; struct position_setpoint_s { bool valid; /**< true if setpoint is valid */ enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ + float x; /**< local position setpoint in m in NED */ + float y; /**< local position setpoint in m in NED */ + float z; /**< local position setpoint in m in NED */ + bool position_valid; /**< true if local position setpoint valid */ + float vx; /**< local velocity setpoint in m in NED */ + float vy; /**< local velocity setpoint in m in NED */ + float vz; /**< local velocity setpoint in m in NED */ + bool velocity_valid; /**< true if local velocity setpoint valid */ double lat; /**< latitude, in deg */ double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 370c54442..f8048a159 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -66,7 +66,7 @@ enum RC_CHANNELS_FUNCTION { RETURN = 5, POSCTL = 6, LOITER = 7, - OFFBOARD_MODE = 8, + OFFBOARD = 8, ACRO = 9, FLAPS = 10, AUX_1 = 11, diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index ea554006f..49e2ba4b5 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -74,6 +74,7 @@ struct vehicle_control_mode_s { bool flag_control_manual_enabled; /**< true if manual input is mixed in */ bool flag_control_auto_enabled; /**< true if onboard autopilot should act */ + bool flag_control_offboard_enabled; /**< true if offboard control should be used */ bool flag_control_rates_enabled; /**< true if rates are stabilized */ bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 5dc46dacb..e9e0fa841 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -70,7 +70,8 @@ typedef enum { MAIN_STATE_AUTO_LOITER, MAIN_STATE_AUTO_RTL, MAIN_STATE_ACRO, - MAIN_STATE_MAX, + MAIN_STATE_OFFBOARD, + MAIN_STATE_MAX } main_state_t; // If you change the order, add or remove arming_state_t states make sure to update the arrays @@ -106,6 +107,7 @@ typedef enum { NAVIGATION_STATE_LAND, /**< Land mode */ NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ NAVIGATION_STATE_TERMINATION, /**< Termination mode */ + NAVIGATION_STATE_OFFBOARD, NAVIGATION_STATE_MAX, } navigation_state_t; |