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Diffstat (limited to 'mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h')
| -rw-r--r-- | mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h | 300 |
1 files changed, 300 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h new file mode 100644 index 000000000..630cb84b7 --- /dev/null +++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h @@ -0,0 +1,300 @@ +#ifndef MAVLINK_TYPES_H_ +#define MAVLINK_TYPES_H_ + +#include "inttypes.h" + +enum MAV_CLASS +{ + MAV_CLASS_GENERIC = 0, ///< Generic autopilot, full support for everything + MAV_CLASS_PIXHAWK = 1, ///< PIXHAWK autopilot, http://pixhawk.ethz.ch + MAV_CLASS_SLUGS = 2, ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu + MAV_CLASS_ARDUPILOTMEGA = 3, ///< ArduPilotMega / ArduCopter, http://diydrones.com + MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org + MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints + MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands + MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set + MAV_CLASS_NONE = 8, ///< No valid autopilot + MAV_CLASS_NB ///< Number of autopilot classes +}; + +enum MAV_ACTION +{ + MAV_ACTION_HOLD = 0, + MAV_ACTION_MOTORS_START = 1, + MAV_ACTION_LAUNCH = 2, + MAV_ACTION_RETURN = 3, + MAV_ACTION_EMCY_LAND = 4, + MAV_ACTION_EMCY_KILL = 5, + MAV_ACTION_CONFIRM_KILL = 6, + MAV_ACTION_CONTINUE = 7, + MAV_ACTION_MOTORS_STOP = 8, + MAV_ACTION_HALT = 9, + MAV_ACTION_SHUTDOWN = 10, + MAV_ACTION_REBOOT = 11, + MAV_ACTION_SET_MANUAL = 12, + MAV_ACTION_SET_AUTO = 13, + MAV_ACTION_STORAGE_READ = 14, + MAV_ACTION_STORAGE_WRITE = 15, + MAV_ACTION_CALIBRATE_RC = 16, + MAV_ACTION_CALIBRATE_GYRO = 17, + MAV_ACTION_CALIBRATE_MAG = 18, + MAV_ACTION_CALIBRATE_ACC = 19, + MAV_ACTION_CALIBRATE_PRESSURE = 20, + MAV_ACTION_REC_START = 21, + MAV_ACTION_REC_PAUSE = 22, + MAV_ACTION_REC_STOP = 23, + MAV_ACTION_TAKEOFF = 24, + MAV_ACTION_NAVIGATE = 25, + MAV_ACTION_LAND = 26, + MAV_ACTION_LOITER = 27, + MAV_ACTION_SET_ORIGIN = 28, + MAV_ACTION_RELAY_ON = 29, + MAV_ACTION_RELAY_OFF = 30, + MAV_ACTION_GET_IMAGE = 31, + MAV_ACTION_VIDEO_START = 32, + MAV_ACTION_VIDEO_STOP = 33, + MAV_ACTION_RESET_MAP = 34, + MAV_ACTION_RESET_PLAN = 35, + MAV_ACTION_DELAY_BEFORE_COMMAND = 36, + MAV_ACTION_ASCEND_AT_RATE = 37, + MAV_ACTION_CHANGE_MODE = 38, + MAV_ACTION_LOITER_MAX_TURNS = 39, + MAV_ACTION_LOITER_MAX_TIME = 40, + MAV_ACTION_START_HILSIM = 41, + MAV_ACTION_STOP_HILSIM = 42, + MAV_ACTION_NB ///< Number of MAV actions +}; + +enum MAV_MODE +{ + MAV_MODE_UNINIT = 0, ///< System is in undefined state + MAV_MODE_LOCKED = 1, ///< Motors are blocked, system is safe + MAV_MODE_MANUAL = 2, ///< System is allowed to be active, under manual (RC) control + MAV_MODE_GUIDED = 3, ///< System is allowed to be active, under autonomous control, manual setpoint + MAV_MODE_AUTO = 4, ///< System is allowed to be active, under autonomous control and navigation + MAV_MODE_TEST1 = 5, ///< Generic test mode, for custom use + MAV_MODE_TEST2 = 6, ///< Generic test mode, for custom use + MAV_MODE_TEST3 = 7, ///< Generic test mode, for custom use + MAV_MODE_READY = 8, ///< System is ready, motors are unblocked, but controllers are inactive + MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back +}; + +enum MAV_STATE +{ + MAV_STATE_UNINIT = 0, + MAV_STATE_BOOT, + MAV_STATE_CALIBRATING, + MAV_STATE_STANDBY, + MAV_STATE_ACTIVE, + MAV_STATE_CRITICAL, + MAV_STATE_EMERGENCY, + MAV_STATE_HILSIM, + MAV_STATE_POWEROFF +}; + +enum MAV_NAV +{ + MAV_NAV_GROUNDED = 0, + MAV_NAV_LIFTOFF, + MAV_NAV_HOLD, + MAV_NAV_WAYPOINT, + MAV_NAV_VECTOR, + MAV_NAV_RETURNING, + MAV_NAV_LANDING, + MAV_NAV_LOST, + MAV_NAV_LOITER, + MAV_NAV_FREE_DRIFT +}; + +enum MAV_TYPE +{ + MAV_GENERIC = 0, + MAV_FIXED_WING = 1, + MAV_QUADROTOR = 2, + MAV_COAXIAL = 3, + MAV_HELICOPTER = 4, + MAV_GROUND = 5, + OCU = 6, + MAV_AIRSHIP = 7, + MAV_FREE_BALLOON = 8, + MAV_ROCKET = 9, + UGV_GROUND_ROVER = 10, + UGV_SURFACE_SHIP = 11 +}; + +enum MAV_AUTOPILOT_TYPE +{ + MAV_AUTOPILOT_GENERIC = 0, + MAV_AUTOPILOT_PIXHAWK = 1, + MAV_AUTOPILOT_SLUGS = 2, + MAV_AUTOPILOT_ARDUPILOTMEGA = 3, + MAV_AUTOPILOT_NONE = 4 +}; + +enum MAV_COMPONENT +{ + MAV_COMP_ID_GPS, + MAV_COMP_ID_WAYPOINTPLANNER, + MAV_COMP_ID_BLOBTRACKER, + MAV_COMP_ID_PATHPLANNER, + MAV_COMP_ID_AIRSLAM, + MAV_COMP_ID_MAPPER, + MAV_COMP_ID_CAMERA, + MAV_COMP_ID_RADIO = 68, + MAV_COMP_ID_IMU = 200, + MAV_COMP_ID_IMU_2 = 201, + MAV_COMP_ID_IMU_3 = 202, + MAV_COMP_ID_UDP_BRIDGE = 240, + MAV_COMP_ID_UART_BRIDGE = 241, + MAV_COMP_ID_SYSTEM_CONTROL = 250 +}; + +enum MAV_FRAME +{ + MAV_FRAME_GLOBAL = 0, + MAV_FRAME_LOCAL = 1, + MAV_FRAME_MISSION = 2, + MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, + MAV_FRAME_LOCAL_ENU = 4 +}; + +enum MAVLINK_DATA_STREAM_TYPE +{ + MAVLINK_DATA_STREAM_IMG_JPEG, + MAVLINK_DATA_STREAM_IMG_BMP, + MAVLINK_DATA_STREAM_IMG_RAW8U, + MAVLINK_DATA_STREAM_IMG_RAW32U, + MAVLINK_DATA_STREAM_IMG_PGM, + MAVLINK_DATA_STREAM_IMG_PNG +}; + +#ifndef MAVLINK_MAX_PAYLOAD_LEN +// it is possible to override this, but be careful! +#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length +#endif + +#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte) +#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum +#define MAVLINK_NUM_CHECKSUM_BYTES 2 +#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES) + +#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length + +typedef struct param_union { + union { + float param_float; + int32_t param_int32; + uint32_t param_uint32; + }; + uint8_t type; +} mavlink_param_union_t; + +typedef struct __mavlink_system { + uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t type; ///< Unused, can be used by user to store the system's type + uint8_t state; ///< Unused, can be used by user to store the system's state + uint8_t mode; ///< Unused, can be used by user to store the system's mode + uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode +} mavlink_system_t; + +typedef struct __mavlink_message { + uint16_t checksum; /// sent at end of packet + uint8_t magic; ///< protocol magic marker + uint8_t len; ///< Length of payload + uint8_t seq; ///< Sequence of packet + uint8_t sysid; ///< ID of message sender system/aircraft + uint8_t compid; ///< ID of the message sender component + uint8_t msgid; ///< ID of message in payload + uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; +} mavlink_message_t; + +typedef enum { + MAVLINK_TYPE_CHAR = 0, + MAVLINK_TYPE_UINT8_T = 1, + MAVLINK_TYPE_INT8_T = 2, + MAVLINK_TYPE_UINT16_T = 3, + MAVLINK_TYPE_INT16_T = 4, + MAVLINK_TYPE_UINT32_T = 5, + MAVLINK_TYPE_INT32_T = 6, + MAVLINK_TYPE_UINT64_T = 7, + MAVLINK_TYPE_INT64_T = 8, + MAVLINK_TYPE_FLOAT = 9, + MAVLINK_TYPE_DOUBLE = 10 +} mavlink_message_type_t; + +#define MAVLINK_MAX_FIELDS 64 + +typedef struct __mavlink_field_info { + const char *name; // name of this field + const char *print_format; // printing format hint, or NULL + mavlink_message_type_t type; // type of this field + unsigned array_length; // if non-zero, field is an array + unsigned wire_offset; // offset of each field in the payload + unsigned structure_offset; // offset in a C structure +} mavlink_field_info_t; + +// note that in this structure the order of fields is the order +// in the XML file, not necessary the wire order +typedef struct __mavlink_message_info { + const char *name; // name of the message + unsigned num_fields; // how many fields in this message + mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information +} mavlink_message_info_t; + +#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0])) +#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0]))) + +// checksum is immediately after the payload bytes +#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg)) +#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg)) + +typedef enum { + MAVLINK_COMM_0, + MAVLINK_COMM_1, + MAVLINK_COMM_2, + MAVLINK_COMM_3 +} mavlink_channel_t; + +/* + * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number + * of buffers they will use. If more are used, then the result will be + * a stack overrun + */ +#ifndef MAVLINK_COMM_NUM_BUFFERS +#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) +# define MAVLINK_COMM_NUM_BUFFERS 16 +#else +# define MAVLINK_COMM_NUM_BUFFERS 4 +#endif +#endif + +typedef enum { + MAVLINK_PARSE_STATE_UNINIT=0, + MAVLINK_PARSE_STATE_IDLE, + MAVLINK_PARSE_STATE_GOT_STX, + MAVLINK_PARSE_STATE_GOT_SEQ, + MAVLINK_PARSE_STATE_GOT_LENGTH, + MAVLINK_PARSE_STATE_GOT_SYSID, + MAVLINK_PARSE_STATE_GOT_COMPID, + MAVLINK_PARSE_STATE_GOT_MSGID, + MAVLINK_PARSE_STATE_GOT_PAYLOAD, + MAVLINK_PARSE_STATE_GOT_CRC1 +} mavlink_parse_state_t; ///< The state machine for the comm parser + +typedef struct __mavlink_status { + uint8_t msg_received; ///< Number of received messages + uint8_t buffer_overrun; ///< Number of buffer overruns + uint8_t parse_error; ///< Number of parse errors + mavlink_parse_state_t parse_state; ///< Parsing state machine + uint8_t packet_idx; ///< Index in current packet + uint8_t current_rx_seq; ///< Sequence number of last packet received + uint8_t current_tx_seq; ///< Sequence number of last packet sent + uint16_t packet_rx_success_count; ///< Received packets + uint16_t packet_rx_drop_count; ///< Number of packet drops +} mavlink_status_t; + +#define MAVLINK_BIG_ENDIAN 0 +#define MAVLINK_LITTLE_ENDIAN 1 + +#endif /* MAVLINK_TYPES_H_ */ |