From 595ec0113bc278996e7831053eaae1c8e2e08c8e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 14 Sep 2012 17:51:19 +0200 Subject: Updated / bugfixed MAVLink --- .../mavlink/v1.0/ardupilotmega/ardupilotmega.h | 13 +- .../v1.0/ardupilotmega/mavlink_msg_data16.h | 182 +++++++++++++ .../v1.0/ardupilotmega/mavlink_msg_data32.h | 182 +++++++++++++ .../v1.0/ardupilotmega/mavlink_msg_data64.h | 182 +++++++++++++ .../v1.0/ardupilotmega/mavlink_msg_data96.h | 182 +++++++++++++ .../include/mavlink/v1.0/ardupilotmega/testsuite.h | 192 ++++++++++++++ .../include/mavlink/v1.0/ardupilotmega/version.h | 2 +- mavlink/include/mavlink/v1.0/common/common.h | 4 +- .../v1.0/common/mavlink_msg_manual_control.h | 290 ++++++++------------- .../v1.0/common/mavlink_msg_rc_channels_raw.h | 100 +++---- .../v1.0/common/mavlink_msg_rc_channels_scaled.h | 100 +++---- .../v1.0/common/mavlink_msg_servo_output_raw.h | 44 ++-- mavlink/include/mavlink/v1.0/common/testsuite.h | 42 ++- mavlink/include/mavlink/v1.0/common/version.h | 2 +- .../include/mavlink/v1.0/matrixpilot/matrixpilot.h | 4 +- mavlink/include/mavlink/v1.0/matrixpilot/version.h | 2 +- mavlink/include/mavlink/v1.0/mavlink_helpers.h | 13 +- mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h | 4 +- mavlink/include/mavlink/v1.0/pixhawk/version.h | 2 +- mavlink/include/mavlink/v1.0/protocol.h | 1 + mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h | 4 +- mavlink/include/mavlink/v1.0/sensesoar/version.h | 2 +- 22 files changed, 1206 insertions(+), 343 deletions(-) create mode 100644 mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h create mode 100644 mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h create mode 100644 mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h create mode 100644 mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h (limited to 'mavlink/include') diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h index 7d2da37ad..65868ef89 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 234, 73, 181, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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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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, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_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, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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" @@ -97,7 +97,8 @@ enum FENCE_ACTION { FENCE_ACTION_NONE=0, /* Disable fenced mode | */ FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */ - FENCE_ACTION_ENUM_END=2, /* | */ + FENCE_ACTION_REPORT=2, /* Report fence breach, but don't take action | */ + FENCE_ACTION_ENUM_END=3, /* | */ }; #endif @@ -173,6 +174,10 @@ enum LIMIT_MODULE #include "./mavlink_msg_radio.h" #include "./mavlink_msg_limits_status.h" #include "./mavlink_msg_wind.h" +#include "./mavlink_msg_data16.h" +#include "./mavlink_msg_data32.h" +#include "./mavlink_msg_data64.h" +#include "./mavlink_msg_data96.h" #ifdef __cplusplus } diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h new file mode 100644 index 000000000..359201c8c --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h @@ -0,0 +1,182 @@ +// MESSAGE DATA16 PACKING + +#define MAVLINK_MSG_ID_DATA16 169 + +typedef struct __mavlink_data16_t +{ + uint8_t type; ///< data type + uint8_t len; ///< data length + uint8_t data[16]; ///< raw data +} mavlink_data16_t; + +#define MAVLINK_MSG_ID_DATA16_LEN 18 +#define MAVLINK_MSG_ID_169_LEN 18 + +#define MAVLINK_MSG_DATA16_FIELD_DATA_LEN 16 + +#define MAVLINK_MESSAGE_INFO_DATA16 { \ + "DATA16", \ + 3, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data16_t, type) }, \ + { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data16_t, len) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 16, 2, offsetof(mavlink_data16_t, data) }, \ + } \ +} + + +/** + * @brief Pack a data16 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 type data type + * @param len data length + * @param data raw data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data16_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); +#else + mavlink_data16_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA16; + return mavlink_finalize_message(msg, system_id, component_id, 18, 234); +} + +/** + * @brief Pack a data16 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 was sent over + * @param msg The MAVLink message to compress the data into + * @param type data type + * @param len data length + * @param data raw data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data16_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t len,const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); +#else + mavlink_data16_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA16; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 234); +} + +/** + * @brief Encode a data16 struct into a 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 data16 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data16_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data16_t* data16) +{ + return mavlink_msg_data16_pack(system_id, component_id, msg, data16->type, data16->len, data16->data); +} + +/** + * @brief Send a data16 message + * @param chan MAVLink channel to send the message + * + * @param type data type + * @param len data length + * @param data raw data + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data16_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 16); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, 18, 234); +#else + mavlink_data16_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, 18, 234); +#endif +} + +#endif + +// MESSAGE DATA16 UNPACKING + + +/** + * @brief Get field type from data16 message + * + * @return data type + */ +static inline uint8_t mavlink_msg_data16_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field len from data16 message + * + * @return data length + */ +static inline uint8_t mavlink_msg_data16_get_len(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field data from data16 message + * + * @return raw data + */ +static inline uint16_t mavlink_msg_data16_get_data(const mavlink_message_t* msg, uint8_t *data) +{ + return _MAV_RETURN_uint8_t_array(msg, data, 16, 2); +} + +/** + * @brief Decode a data16 message into a struct + * + * @param msg The message to decode + * @param data16 C-struct to decode the message contents into + */ +static inline void mavlink_msg_data16_decode(const mavlink_message_t* msg, mavlink_data16_t* data16) +{ +#if MAVLINK_NEED_BYTE_SWAP + data16->type = mavlink_msg_data16_get_type(msg); + data16->len = mavlink_msg_data16_get_len(msg); + mavlink_msg_data16_get_data(msg, data16->data); +#else + memcpy(data16, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h new file mode 100644 index 000000000..a9b3fe28d --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h @@ -0,0 +1,182 @@ +// MESSAGE DATA32 PACKING + +#define MAVLINK_MSG_ID_DATA32 170 + +typedef struct __mavlink_data32_t +{ + uint8_t type; ///< data type + uint8_t len; ///< data length + uint8_t data[32]; ///< raw data +} mavlink_data32_t; + +#define MAVLINK_MSG_ID_DATA32_LEN 34 +#define MAVLINK_MSG_ID_170_LEN 34 + +#define MAVLINK_MSG_DATA32_FIELD_DATA_LEN 32 + +#define MAVLINK_MESSAGE_INFO_DATA32 { \ + "DATA32", \ + 3, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data32_t, type) }, \ + { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data32_t, len) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 32, 2, offsetof(mavlink_data32_t, data) }, \ + } \ +} + + +/** + * @brief Pack a data32 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 type data type + * @param len data length + * @param data raw data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data32_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[34]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 32); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34); +#else + mavlink_data32_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA32; + return mavlink_finalize_message(msg, system_id, component_id, 34, 73); +} + +/** + * @brief Pack a data32 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 was sent over + * @param msg The MAVLink message to compress the data into + * @param type data type + * @param len data length + * @param data raw data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data32_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t len,const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[34]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 32); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34); +#else + mavlink_data32_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA32; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 34, 73); +} + +/** + * @brief Encode a data32 struct into a 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 data32 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data32_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data32_t* data32) +{ + return mavlink_msg_data32_pack(system_id, component_id, msg, data32->type, data32->len, data32->data); +} + +/** + * @brief Send a data32 message + * @param chan MAVLink channel to send the message + * + * @param type data type + * @param len data length + * @param data raw data + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data32_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[34]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, 34, 73); +#else + mavlink_data32_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, 34, 73); +#endif +} + +#endif + +// MESSAGE DATA32 UNPACKING + + +/** + * @brief Get field type from data32 message + * + * @return data type + */ +static inline uint8_t mavlink_msg_data32_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field len from data32 message + * + * @return data length + */ +static inline uint8_t mavlink_msg_data32_get_len(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field data from data32 message + * + * @return raw data + */ +static inline uint16_t mavlink_msg_data32_get_data(const mavlink_message_t* msg, uint8_t *data) +{ + return _MAV_RETURN_uint8_t_array(msg, data, 32, 2); +} + +/** + * @brief Decode a data32 message into a struct + * + * @param msg The message to decode + * @param data32 C-struct to decode the message contents into + */ +static inline void mavlink_msg_data32_decode(const mavlink_message_t* msg, mavlink_data32_t* data32) +{ +#if MAVLINK_NEED_BYTE_SWAP + data32->type = mavlink_msg_data32_get_type(msg); + data32->len = mavlink_msg_data32_get_len(msg); + mavlink_msg_data32_get_data(msg, data32->data); +#else + memcpy(data32, _MAV_PAYLOAD(msg), 34); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h new file mode 100644 index 000000000..29dcaa6d8 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h @@ -0,0 +1,182 @@ +// MESSAGE DATA64 PACKING + +#define MAVLINK_MSG_ID_DATA64 171 + +typedef struct __mavlink_data64_t +{ + uint8_t type; ///< data type + uint8_t len; ///< data length + uint8_t data[64]; ///< raw data +} mavlink_data64_t; + +#define MAVLINK_MSG_ID_DATA64_LEN 66 +#define MAVLINK_MSG_ID_171_LEN 66 + +#define MAVLINK_MSG_DATA64_FIELD_DATA_LEN 64 + +#define MAVLINK_MESSAGE_INFO_DATA64 { \ + "DATA64", \ + 3, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data64_t, type) }, \ + { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data64_t, len) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 64, 2, offsetof(mavlink_data64_t, data) }, \ + } \ +} + + +/** + * @brief Pack a data64 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 type data type + * @param len data length + * @param data raw data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data64_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[66]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 64); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 66); +#else + mavlink_data64_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 66); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA64; + return mavlink_finalize_message(msg, system_id, component_id, 66, 181); +} + +/** + * @brief Pack a data64 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 was sent over + * @param msg The MAVLink message to compress the data into + * @param type data type + * @param len data length + * @param data raw data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data64_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t len,const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[66]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 64); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 66); +#else + mavlink_data64_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 66); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA64; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 66, 181); +} + +/** + * @brief Encode a data64 struct into a 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 data64 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data64_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data64_t* data64) +{ + return mavlink_msg_data64_pack(system_id, component_id, msg, data64->type, data64->len, data64->data); +} + +/** + * @brief Send a data64 message + * @param chan MAVLink channel to send the message + * + * @param type data type + * @param len data length + * @param data raw data + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data64_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[66]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 64); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, 66, 181); +#else + mavlink_data64_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)&packet, 66, 181); +#endif +} + +#endif + +// MESSAGE DATA64 UNPACKING + + +/** + * @brief Get field type from data64 message + * + * @return data type + */ +static inline uint8_t mavlink_msg_data64_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field len from data64 message + * + * @return data length + */ +static inline uint8_t mavlink_msg_data64_get_len(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field data from data64 message + * + * @return raw data + */ +static inline uint16_t mavlink_msg_data64_get_data(const mavlink_message_t* msg, uint8_t *data) +{ + return _MAV_RETURN_uint8_t_array(msg, data, 64, 2); +} + +/** + * @brief Decode a data64 message into a struct + * + * @param msg The message to decode + * @param data64 C-struct to decode the message contents into + */ +static inline void mavlink_msg_data64_decode(const mavlink_message_t* msg, mavlink_data64_t* data64) +{ +#if MAVLINK_NEED_BYTE_SWAP + data64->type = mavlink_msg_data64_get_type(msg); + data64->len = mavlink_msg_data64_get_len(msg); + mavlink_msg_data64_get_data(msg, data64->data); +#else + memcpy(data64, _MAV_PAYLOAD(msg), 66); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h new file mode 100644 index 000000000..df0821c87 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h @@ -0,0 +1,182 @@ +// MESSAGE DATA96 PACKING + +#define MAVLINK_MSG_ID_DATA96 172 + +typedef struct __mavlink_data96_t +{ + uint8_t type; ///< data type + uint8_t len; ///< data length + uint8_t data[96]; ///< raw data +} mavlink_data96_t; + +#define MAVLINK_MSG_ID_DATA96_LEN 98 +#define MAVLINK_MSG_ID_172_LEN 98 + +#define MAVLINK_MSG_DATA96_FIELD_DATA_LEN 96 + +#define MAVLINK_MESSAGE_INFO_DATA96 { \ + "DATA96", \ + 3, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data96_t, type) }, \ + { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data96_t, len) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 96, 2, offsetof(mavlink_data96_t, data) }, \ + } \ +} + + +/** + * @brief Pack a data96 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 type data type + * @param len data length + * @param data raw data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data96_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[98]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 96); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 98); +#else + mavlink_data96_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 98); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA96; + return mavlink_finalize_message(msg, system_id, component_id, 98, 22); +} + +/** + * @brief Pack a data96 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 was sent over + * @param msg The MAVLink message to compress the data into + * @param type data type + * @param len data length + * @param data raw data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data96_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t len,const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[98]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 96); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 98); +#else + mavlink_data96_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 98); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA96; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 98, 22); +} + +/** + * @brief Encode a data96 struct into a 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 data96 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data96_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data96_t* data96) +{ + return mavlink_msg_data96_pack(system_id, component_id, msg, data96->type, data96->len, data96->data); +} + +/** + * @brief Send a data96 message + * @param chan MAVLink channel to send the message + * + * @param type data type + * @param len data length + * @param data raw data + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data96_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[98]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 96); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, 98, 22); +#else + mavlink_data96_t packet; + packet.type = type; + packet.len = len; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, 98, 22); +#endif +} + +#endif + +// MESSAGE DATA96 UNPACKING + + +/** + * @brief Get field type from data96 message + * + * @return data type + */ +static inline uint8_t mavlink_msg_data96_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field len from data96 message + * + * @return data length + */ +static inline uint8_t mavlink_msg_data96_get_len(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field data from data96 message + * + * @return raw data + */ +static inline uint16_t mavlink_msg_data96_get_data(const mavlink_message_t* msg, uint8_t *data) +{ + return _MAV_RETURN_uint8_t_array(msg, data, 96, 2); +} + +/** + * @brief Decode a data96 message into a struct + * + * @param msg The message to decode + * @param data96 C-struct to decode the message contents into + */ +static inline void mavlink_msg_data96_decode(const mavlink_message_t* msg, mavlink_data96_t* data96) +{ +#if MAVLINK_NEED_BYTE_SWAP + data96->type = mavlink_msg_data96_get_type(msg); + data96->len = mavlink_msg_data96_get_len(msg); + mavlink_msg_data96_get_data(msg, data96->data); +#else + memcpy(data96, _MAV_PAYLOAD(msg), 98); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h index 7b7cf43db..0442ab787 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h @@ -992,6 +992,194 @@ static void mavlink_test_wind(uint8_t system_id, uint8_t component_id, mavlink_m MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_data16(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_data16_t packet_in = { + 5, + 72, + { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154 }, + }; + mavlink_data16_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.type = packet_in.type; + packet1.len = packet_in.len; + + mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*16); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data16_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_data16_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data16_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data16_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_data16_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data ); + mavlink_msg_data16_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; imsgid = MAVLINK_MSG_ID_MANUAL_CONTROL; - return mavlink_finalize_message(msg, system_id, component_id, 21, 52); + return mavlink_finalize_message(msg, system_id, component_id, 11, 243); } /** @@ -94,51 +79,42 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_ * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into - * @param target The system to be controlled - * @param roll roll - * @param pitch pitch - * @param yaw yaw - * @param thrust thrust - * @param roll_manual roll control enabled auto:0, manual:1 - * @param pitch_manual pitch auto:0, manual:1 - * @param yaw_manual yaw auto:0, manual:1 - * @param thrust_manual thrust auto:0, manual:1 + * @param target The system to be controlled. + * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. + * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. + * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. + * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. + * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual) + uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[21]; - _mav_put_float(buf, 0, roll); - _mav_put_float(buf, 4, pitch); - _mav_put_float(buf, 8, yaw); - _mav_put_float(buf, 12, thrust); - _mav_put_uint8_t(buf, 16, target); - _mav_put_uint8_t(buf, 17, roll_manual); - _mav_put_uint8_t(buf, 18, pitch_manual); - _mav_put_uint8_t(buf, 19, yaw_manual); - _mav_put_uint8_t(buf, 20, thrust_manual); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + char buf[11]; + _mav_put_int16_t(buf, 0, x); + _mav_put_int16_t(buf, 2, y); + _mav_put_int16_t(buf, 4, z); + _mav_put_int16_t(buf, 6, r); + _mav_put_uint16_t(buf, 8, buttons); + _mav_put_uint8_t(buf, 10, target); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11); #else mavlink_manual_control_t packet; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.thrust = thrust; + packet.x = x; + packet.y = y; + packet.z = z; + packet.r = r; + packet.buttons = buttons; packet.target = target; - packet.roll_manual = roll_manual; - packet.pitch_manual = pitch_manual; - packet.yaw_manual = yaw_manual; - packet.thrust_manual = thrust_manual; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 52); + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11, 243); } /** @@ -151,53 +127,44 @@ static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, u */ static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) { - return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual); + return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons); } /** * @brief Send a manual_control message * @param chan MAVLink channel to send the message * - * @param target The system to be controlled - * @param roll roll - * @param pitch pitch - * @param yaw yaw - * @param thrust thrust - * @param roll_manual roll control enabled auto:0, manual:1 - * @param pitch_manual pitch auto:0, manual:1 - * @param yaw_manual yaw auto:0, manual:1 - * @param thrust_manual thrust auto:0, manual:1 + * @param target The system to be controlled. + * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. + * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. + * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. + * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. + * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[21]; - _mav_put_float(buf, 0, roll); - _mav_put_float(buf, 4, pitch); - _mav_put_float(buf, 8, yaw); - _mav_put_float(buf, 12, thrust); - _mav_put_uint8_t(buf, 16, target); - _mav_put_uint8_t(buf, 17, roll_manual); - _mav_put_uint8_t(buf, 18, pitch_manual); - _mav_put_uint8_t(buf, 19, yaw_manual); - _mav_put_uint8_t(buf, 20, thrust_manual); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21, 52); + char buf[11]; + _mav_put_int16_t(buf, 0, x); + _mav_put_int16_t(buf, 2, y); + _mav_put_int16_t(buf, 4, z); + _mav_put_int16_t(buf, 6, r); + _mav_put_uint16_t(buf, 8, buttons); + _mav_put_uint8_t(buf, 10, target); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 11, 243); #else mavlink_manual_control_t packet; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.thrust = thrust; + packet.x = x; + packet.y = y; + packet.z = z; + packet.r = r; + packet.buttons = buttons; packet.target = target; - packet.roll_manual = roll_manual; - packet.pitch_manual = pitch_manual; - packet.yaw_manual = yaw_manual; - packet.thrust_manual = thrust_manual; - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21, 52); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 11, 243); #endif } @@ -209,91 +176,61 @@ static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8 /** * @brief Get field target from manual_control message * - * @return The system to be controlled + * @return The system to be controlled. */ static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 16); -} - -/** - * @brief Get field roll from manual_control message - * - * @return roll - */ -static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Get field pitch from manual_control message - * - * @return pitch - */ -static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 4); -} - -/** - * @brief Get field yaw from manual_control message - * - * @return yaw - */ -static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 8); + return _MAV_RETURN_uint8_t(msg, 10); } /** - * @brief Get field thrust from manual_control message + * @brief Get field x from manual_control message * - * @return thrust + * @return X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. */ -static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 12); + return _MAV_RETURN_int16_t(msg, 0); } /** - * @brief Get field roll_manual from manual_control message + * @brief Get field y from manual_control message * - * @return roll control enabled auto:0, manual:1 + * @return Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. */ -static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 17); + return _MAV_RETURN_int16_t(msg, 2); } /** - * @brief Get field pitch_manual from manual_control message + * @brief Get field z from manual_control message * - * @return pitch auto:0, manual:1 + * @return Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. */ -static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 18); + return _MAV_RETURN_int16_t(msg, 4); } /** - * @brief Get field yaw_manual from manual_control message + * @brief Get field r from manual_control message * - * @return yaw auto:0, manual:1 + * @return R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. */ -static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 19); + return _MAV_RETURN_int16_t(msg, 6); } /** - * @brief Get field thrust_manual from manual_control message + * @brief Get field buttons from manual_control message * - * @return thrust auto:0, manual:1 + * @return A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. */ -static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 20); + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -305,16 +242,13 @@ static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control) { #if MAVLINK_NEED_BYTE_SWAP - manual_control->roll = mavlink_msg_manual_control_get_roll(msg); - manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg); - manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg); - manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg); + manual_control->x = mavlink_msg_manual_control_get_x(msg); + manual_control->y = mavlink_msg_manual_control_get_y(msg); + manual_control->z = mavlink_msg_manual_control_get_z(msg); + manual_control->r = mavlink_msg_manual_control_get_r(msg); + manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg); manual_control->target = mavlink_msg_manual_control_get_target(msg); - manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg); - manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg); - manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg); - manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg); #else - memcpy(manual_control, _MAV_PAYLOAD(msg), 21); + memcpy(manual_control, _MAV_PAYLOAD(msg), 11); #endif } diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h index a5b28021d..a4d40da38 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h @@ -5,16 +5,16 @@ typedef struct __mavlink_rc_channels_raw_t { uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) - uint16_t chan1_raw; ///< RC channel 1 value, in microseconds - uint16_t chan2_raw; ///< RC channel 2 value, in microseconds - uint16_t chan3_raw; ///< RC channel 3 value, in microseconds - uint16_t chan4_raw; ///< RC channel 4 value, in microseconds - uint16_t chan5_raw; ///< RC channel 5 value, in microseconds - uint16_t chan6_raw; ///< RC channel 6 value, in microseconds - uint16_t chan7_raw; ///< RC channel 7 value, in microseconds - uint16_t chan8_raw; ///< RC channel 8 value, in microseconds - uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% + uint16_t chan1_raw; ///< RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. + uint16_t chan2_raw; ///< RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. + uint16_t chan3_raw; ///< RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. + uint16_t chan4_raw; ///< RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. + uint16_t chan5_raw; ///< RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. + uint16_t chan6_raw; ///< RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. + uint16_t chan7_raw; ///< RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. + uint16_t chan8_raw; ///< RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. + uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. } mavlink_rc_channels_raw_t; #define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 22 @@ -47,16 +47,16 @@ typedef struct __mavlink_rc_channels_raw_t * @param msg The MAVLink message to compress the data into * * @param time_boot_ms Timestamp (milliseconds since system boot) - * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - * @param chan1_raw RC channel 1 value, in microseconds - * @param chan2_raw RC channel 2 value, in microseconds - * @param chan3_raw RC channel 3 value, in microseconds - * @param chan4_raw RC channel 4 value, in microseconds - * @param chan5_raw RC channel 5 value, in microseconds - * @param chan6_raw RC channel 6 value, in microseconds - * @param chan7_raw RC channel 7 value, in microseconds - * @param chan8_raw RC channel 8 value, in microseconds - * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. + * @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, @@ -105,16 +105,16 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8 * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into * @param time_boot_ms Timestamp (milliseconds since system boot) - * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - * @param chan1_raw RC channel 1 value, in microseconds - * @param chan2_raw RC channel 2 value, in microseconds - * @param chan3_raw RC channel 3 value, in microseconds - * @param chan4_raw RC channel 4 value, in microseconds - * @param chan5_raw RC channel 5 value, in microseconds - * @param chan6_raw RC channel 6 value, in microseconds - * @param chan7_raw RC channel 7 value, in microseconds - * @param chan8_raw RC channel 8 value, in microseconds - * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. + * @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, @@ -175,16 +175,16 @@ static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uin * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp (milliseconds since system boot) - * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - * @param chan1_raw RC channel 1 value, in microseconds - * @param chan2_raw RC channel 2 value, in microseconds - * @param chan3_raw RC channel 3 value, in microseconds - * @param chan4_raw RC channel 4 value, in microseconds - * @param chan5_raw RC channel 5 value, in microseconds - * @param chan6_raw RC channel 6 value, in microseconds - * @param chan7_raw RC channel 7 value, in microseconds - * @param chan8_raw RC channel 8 value, in microseconds - * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. + * @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. + * @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS @@ -241,7 +241,7 @@ static inline uint32_t mavlink_msg_rc_channels_raw_get_time_boot_ms(const mavlin /** * @brief Get field port from rc_channels_raw message * - * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. + * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. */ static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message_t* msg) { @@ -251,7 +251,7 @@ static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message /** * @brief Get field chan1_raw from rc_channels_raw message * - * @return RC channel 1 value, in microseconds + * @return RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg) { @@ -261,7 +261,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_m /** * @brief Get field chan2_raw from rc_channels_raw message * - * @return RC channel 2 value, in microseconds + * @return RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg) { @@ -271,7 +271,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_m /** * @brief Get field chan3_raw from rc_channels_raw message * - * @return RC channel 3 value, in microseconds + * @return RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg) { @@ -281,7 +281,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_m /** * @brief Get field chan4_raw from rc_channels_raw message * - * @return RC channel 4 value, in microseconds + * @return RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg) { @@ -291,7 +291,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_m /** * @brief Get field chan5_raw from rc_channels_raw message * - * @return RC channel 5 value, in microseconds + * @return RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg) { @@ -301,7 +301,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_m /** * @brief Get field chan6_raw from rc_channels_raw message * - * @return RC channel 6 value, in microseconds + * @return RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg) { @@ -311,7 +311,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_m /** * @brief Get field chan7_raw from rc_channels_raw message * - * @return RC channel 7 value, in microseconds + * @return RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg) { @@ -321,7 +321,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_m /** * @brief Get field chan8_raw from rc_channels_raw message * - * @return RC channel 8 value, in microseconds + * @return RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg) { @@ -331,7 +331,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_m /** * @brief Get field rssi from rc_channels_raw message * - * @return Receive signal strength indicator, 0: 0%, 255: 100% + * @return Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. */ static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg) { diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h index 23c14c03d..dd21d4162 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h @@ -5,16 +5,16 @@ typedef struct __mavlink_rc_channels_scaled_t { uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) - int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% + int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. } mavlink_rc_channels_scaled_t; #define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN 22 @@ -47,16 +47,16 @@ typedef struct __mavlink_rc_channels_scaled_t * @param msg The MAVLink message to compress the data into * * @param time_boot_ms Timestamp (milliseconds since system boot) - * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. + * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, @@ -105,16 +105,16 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, ui * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into * @param time_boot_ms Timestamp (milliseconds since system boot) - * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. + * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, @@ -175,16 +175,16 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id, * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp (milliseconds since system boot) - * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. + * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS @@ -241,7 +241,7 @@ static inline uint32_t mavlink_msg_rc_channels_scaled_get_time_boot_ms(const mav /** * @brief Get field port from rc_channels_scaled message * - * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. + * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. */ static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_message_t* msg) { @@ -251,7 +251,7 @@ static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_mess /** * @brief Get field chan1_scaled from rc_channels_scaled message * - * @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg) { @@ -261,7 +261,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavl /** * @brief Get field chan2_scaled from rc_channels_scaled message * - * @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg) { @@ -271,7 +271,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavl /** * @brief Get field chan3_scaled from rc_channels_scaled message * - * @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg) { @@ -281,7 +281,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavl /** * @brief Get field chan4_scaled from rc_channels_scaled message * - * @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg) { @@ -291,7 +291,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavl /** * @brief Get field chan5_scaled from rc_channels_scaled message * - * @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg) { @@ -301,7 +301,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavl /** * @brief Get field chan6_scaled from rc_channels_scaled message * - * @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg) { @@ -311,7 +311,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavl /** * @brief Get field chan7_scaled from rc_channels_scaled message * - * @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg) { @@ -321,7 +321,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavl /** * @brief Get field chan8_scaled from rc_channels_scaled message * - * @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. */ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg) { @@ -331,7 +331,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavl /** * @brief Get field rssi from rc_channels_scaled message * - * @return Receive signal strength indicator, 0: 0%, 255: 100% + * @return Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. */ static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_message_t* msg) { diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h index 45c94d8b9..dbf0b2035 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h @@ -4,7 +4,7 @@ typedef struct __mavlink_servo_output_raw_t { - uint32_t time_usec; ///< Timestamp (microseconds since system boot) + uint32_t time_boot_ms; ///< Timestamp (microseconds since system boot) uint16_t servo1_raw; ///< Servo output 1 value, in microseconds uint16_t servo2_raw; ///< Servo output 2 value, in microseconds uint16_t servo3_raw; ///< Servo output 3 value, in microseconds @@ -24,7 +24,7 @@ typedef struct __mavlink_servo_output_raw_t #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \ "SERVO_OUTPUT_RAW", \ 10, \ - { { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_boot_ms) }, \ { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \ { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \ { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \ @@ -44,7 +44,7 @@ typedef struct __mavlink_servo_output_raw_t * @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 Timestamp (microseconds since system boot) + * @param time_boot_ms Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds @@ -57,11 +57,11 @@ typedef struct __mavlink_servo_output_raw_t * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) + uint32_t time_boot_ms, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[21]; - _mav_put_uint32_t(buf, 0, time_usec); + _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); @@ -75,7 +75,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); #else mavlink_servo_output_raw_t packet; - packet.time_usec = time_usec; + packet.time_boot_ms = time_boot_ms; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; @@ -90,7 +90,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint #endif msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; - return mavlink_finalize_message(msg, system_id, component_id, 21, 222); + return mavlink_finalize_message(msg, system_id, component_id, 21, 242); } /** @@ -99,7 +99,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into - * @param time_usec Timestamp (microseconds since system boot) + * @param time_boot_ms Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds @@ -113,11 +113,11 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint */ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint32_t time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw) + uint32_t time_boot_ms,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[21]; - _mav_put_uint32_t(buf, 0, time_usec); + _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); @@ -131,7 +131,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); #else mavlink_servo_output_raw_t packet; - packet.time_usec = time_usec; + packet.time_boot_ms = time_boot_ms; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; @@ -146,7 +146,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, #endif msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 222); + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 242); } /** @@ -159,14 +159,14 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, */ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw) { - return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw); + return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_boot_ms, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw); } /** * @brief Send a servo_output_raw message * @param chan MAVLink channel to send the message * - * @param time_usec Timestamp (microseconds since system boot) + * @param time_boot_ms Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds @@ -179,11 +179,11 @@ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, ui */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) +static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[21]; - _mav_put_uint32_t(buf, 0, time_usec); + _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); @@ -194,10 +194,10 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 222); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 242); #else mavlink_servo_output_raw_t packet; - packet.time_usec = time_usec; + packet.time_boot_ms = time_boot_ms; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; @@ -208,7 +208,7 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin packet.servo8_raw = servo8_raw; packet.port = port; - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 222); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 242); #endif } @@ -218,11 +218,11 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin /** - * @brief Get field time_usec from servo_output_raw message + * @brief Get field time_boot_ms from servo_output_raw message * * @return Timestamp (microseconds since system boot) */ -static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg) +static inline uint32_t mavlink_msg_servo_output_raw_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } @@ -326,7 +326,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw) { #if MAVLINK_NEED_BYTE_SWAP - servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg); + servo_output_raw->time_boot_ms = mavlink_msg_servo_output_raw_get_time_boot_ms(msg); servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg); servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg); servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg); diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h index 9b0cbd583..2bcaac77a 100644 --- a/mavlink/include/mavlink/v1.0/common/testsuite.h +++ b/mavlink/include/mavlink/v1.0/common/testsuite.h @@ -1327,7 +1327,7 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i }; mavlink_servo_output_raw_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); - packet1.time_usec = packet_in.time_usec; + packet1.time_boot_ms = packet_in.time_boot_ms; packet1.servo1_raw = packet_in.servo1_raw; packet1.servo2_raw = packet_in.servo2_raw; packet1.servo3_raw = packet_in.servo3_raw; @@ -1346,12 +1346,12 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); + mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); mavlink_msg_servo_output_raw_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); + mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); mavlink_msg_servo_output_raw_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); @@ -1364,7 +1364,7 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); + mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); mavlink_msg_servo_output_raw_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } @@ -2909,27 +2909,21 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id, uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_manual_control_t packet_in = { - 17.0, - 45.0, - 73.0, - 101.0, - 53, - 120, - 187, - 254, - 65, + 17235, + 17339, + 17443, + 17547, + 17651, + 163, }; mavlink_manual_control_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); - packet1.roll = packet_in.roll; - packet1.pitch = packet_in.pitch; - packet1.yaw = packet_in.yaw; - packet1.thrust = packet_in.thrust; + packet1.x = packet_in.x; + packet1.y = packet_in.y; + packet1.z = packet_in.z; + packet1.r = packet_in.r; + packet1.buttons = packet_in.buttons; packet1.target = packet_in.target; - packet1.roll_manual = packet_in.roll_manual; - packet1.pitch_manual = packet_in.pitch_manual; - packet1.yaw_manual = packet_in.yaw_manual; - packet1.thrust_manual = packet_in.thrust_manual; @@ -2939,12 +2933,12 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id, MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual ); + mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons ); mavlink_msg_manual_control_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual ); + mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons ); mavlink_msg_manual_control_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); @@ -2957,7 +2951,7 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id, MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual ); + mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons ); mavlink_msg_manual_control_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } diff --git a/mavlink/include/mavlink/v1.0/common/version.h b/mavlink/include/mavlink/v1.0/common/version.h index 6ae47a8b6..f309be330 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 "Thu Sep 6 15:30:32 2012" +#define MAVLINK_BUILD_DATE "Fri Sep 14 11:05:17 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h index 9a3567fbe..0f9c0ba49 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h @@ -12,11 +12,11 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/version.h b/mavlink/include/mavlink/v1.0/matrixpilot/version.h index 3773e4a2e..5d7e54e82 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 "Thu Sep 6 15:30:21 2012" +#define MAVLINK_BUILD_DATE "Fri Sep 14 10:42:05 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 diff --git a/mavlink/include/mavlink/v1.0/mavlink_helpers.h b/mavlink/include/mavlink/v1.0/mavlink_helpers.h index 28ef24cbf..f0f3404a2 100644 --- a/mavlink/include/mavlink/v1.0/mavlink_helpers.h +++ b/mavlink/include/mavlink/v1.0/mavlink_helpers.h @@ -10,7 +10,7 @@ #endif /* - internal function to give access to the channel status for each channel + * Internal function to give access to the channel status for each channel */ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan) { @@ -19,7 +19,7 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan) } /* - internal function to give access to the channel buffer for each channel + * Internal function to give access to the channel buffer for each channel */ MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan) { @@ -36,6 +36,15 @@ MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan) return &m_mavlink_buffer[chan]; } +/** + * @brief Reset the status of a channel. + */ +MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan) +{ + mavlink_status_t *status = mavlink_get_channel_status(chan); + status->parse_state = MAVLINK_PARSE_STATE_IDLE; +} + /** * @brief Finalize a MAVLink message with channel assignment * diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h index e4beb98e8..74ba973dd 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h @@ -12,11 +12,11 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO diff --git a/mavlink/include/mavlink/v1.0/pixhawk/version.h b/mavlink/include/mavlink/v1.0/pixhawk/version.h index 175bd243e..c5fa7d964 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 "Thu Sep 6 15:30:14 2012" +#define MAVLINK_BUILD_DATE "Fri Sep 14 10:41:07 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/protocol.h b/mavlink/include/mavlink/v1.0/protocol.h index 5283779d4..019ae5fc4 100644 --- a/mavlink/include/mavlink/v1.0/protocol.h +++ b/mavlink/include/mavlink/v1.0/protocol.h @@ -43,6 +43,7 @@ /* always include the prototypes to ensure we don't get out of sync */ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan); +MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan); #if MAVLINK_CRC_EXTRA MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint8_t length, uint8_t crc_extra); diff --git a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h index bd6702d5f..906cd0187 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h @@ -12,11 +12,11 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 diff --git a/mavlink/include/mavlink/v1.0/sensesoar/version.h b/mavlink/include/mavlink/v1.0/sensesoar/version.h index b95aced5b..81879520c 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 "Thu Sep 6 15:30:32 2012" +#define MAVLINK_BUILD_DATE "Fri Sep 14 10:41:18 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 -- cgit v1.2.3