/****************************************************************************
 *
 *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
 *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
 *
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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file mavlink_bridge_header
 * MAVLink bridge header for UART access.
 */

/* MAVLink adapter header */
#ifndef MAVLINK_BRIDGE_HEADER_H
#define MAVLINK_BRIDGE_HEADER_H

#define MAVLINK_USE_CONVENIENCE_FUNCTIONS

//use efficient approach, see mavlink_helpers.h
#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes

#include "v1.0/mavlink_types.h"
#include <unistd.h>


/* Struct that stores the communication settings of this system.
   you can also define / alter these settings elsewhere, as long
   as they're included BEFORE mavlink.h.
   So you can set the

   mavlink_system.sysid = 100; // System ID, 1-255
   mavlink_system.compid = 50; // Component/Subsystem ID, 1-255

   Lines also in your main.c, e.g. by reading these parameter from EEPROM.
 */
extern mavlink_system_t mavlink_system;


mqd_t gps_queue;
int uart;


/**
 * @brief Send multiple chars (uint8_t) over a comm channel
 *
 * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
 * @param ch Character to send
 */
static inline void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, uint16_t length)
{
	ssize_t ret;

	if (chan == MAVLINK_COMM_0) {
		ret = write(uart, ch, (size_t)(sizeof(uint8_t) * length));

		if (ret != length) {
			printf("[mavlink] Error: Written %u instead of %u\n", ret, length);
		}
	}
}

#endif /* MAVLINK_BRIDGE_HEADER_H */