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Merged master in yaw_acceptance_fix

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This commit is contained in:
Lorenz Meier 2014-07-01 09:28:49 +02:00
commit 4f7e66bba2
604 changed files with 32407 additions and 16518 deletions
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3
.gitignore vendored
View File

@ -34,5 +34,8 @@ mavlink/include/mavlink/v0.9/
/Documentation/html/
/Documentation/doxygen*objdb*tmp
.tags
tags
.tags_sorted_by_file
.pydevproject
.ropeproject
*.orig

10
Debug/NuttX
View File

@ -34,10 +34,10 @@ define _showheap
else
set $MM_ALLOC_BIT = 0x80000000
end
printf "HEAP %d %p - %p\n", $index, g_heapstart[$index], g_heapend[$index]
printf "HEAP %d %p - %p\n", $index, g_mmheap.mm_heapstart[$index], g_mmheap.mm_heapend[$index]
printf "ptr size\n"
set $node = (char *)g_heapstart[$index] + sizeof(struct mm_allocnode_s)
while $node < g_heapend[$index]
set $node = (char *)g_mmheap.mm_heapstart[$index] + sizeof(struct mm_allocnode_s)
while $node < g_mmheap.mm_heapend[$index]
printf " %p", $node
set $nodestruct = (struct mm_allocnode_s *)$node
printf " %u", $nodestruct->size
@ -47,7 +47,7 @@ define _showheap
else
set $used = $used + $nodestruct->size
end
if ($nodestruct->size > g_heapsize) || (($node + $nodestruct->size) > g_heapend[$index])
if ($nodestruct->size > g_mmheap.mm_heapsize) || (($node + $nodestruct->size) > g_mmheap.mm_heapend[$index])
printf " (BAD SIZE)"
end
printf "\n"
@ -59,7 +59,7 @@ define _showheap
end
define showheap
set $nheaps = sizeof(g_heapstart) / sizeof(g_heapstart[0])
set $nheaps = sizeof(g_mmheap.mm_heapstart) / sizeof(g_mmheap.mm_heapstart[0])
printf "Printing %d heaps\n", $nheaps
set $heapindex = (int)0
while $heapindex < $nheaps

16
Debug/Nuttx.py
View File

@ -306,12 +306,15 @@ class NX_show_heap (gdb.Command):
def __init__(self):
super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
if gdb.lookup_type('struct mm_allocnode_s').sizeof == 8:
self._allocflag = 0x80000000
self._allocnodesize = 8
else:
struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
if preceding_size == 2:
self._allocflag = 0x8000
self._allocnodesize = 4
elif preceding_size == 4:
self._allocflag = 0x80000000
else:
raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
self._allocnodesize = struct_mm_allocnode_s.sizeof
def _node_allocated(self, allocnode):
if allocnode['preceding'] & self._allocflag:
@ -333,7 +336,8 @@ class NX_show_heap (gdb.Command):
state = ''
else:
state = '(free)'
print ' {} {} {}'.format(allocnode.address + 8, self._node_size(allocnode), state)
print ' {} {} {}'.format(allocnode.address + self._allocnodesize,
self._node_size(allocnode), state)
cursor += self._node_size(allocnode) / self._allocnodesize
def invoke(self, args, from_tty):

BIN
Documentation/rc_mode_switch.odg
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Documentation/rc_mode_switch.pdf
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12
Images/aerocore.prototype Normal file
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@ -0,0 +1,12 @@
{
"board_id": 19,
"magic": "AeroCore",
"description": "Firmware for the Gumstix AeroCore board",
"image": "",
"build_time": 0,
"summary": "AEROCORE",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

6
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@ -18,9 +18,9 @@ then
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 0.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.25
param set MC_YAWRATE_I 0.25
param set MC_YAWRATE_D 0.0
param set BAT_V_SCALING 0.00989

35
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d Normal file
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@ -0,0 +1,35 @@
#!nsh
#
# Steadidrone QU4D
#
# Thomas Gubler <thomasgubler@gmail.com>
# Lorenz Meier <lm@inf.ethz.ch>
#
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 0.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set BAT_N_CELLS 4
fi
set MIXER FMU_quad_w
set PWM_MIN 1210
set PWM_MAX 2100
set PWM_OUTPUTS 1234

4
ROMFS/px4fmu_common/init.d/11001_hexa_cox
View File

@ -1,7 +1,5 @@
#!nsh
#
# UNTESTED UNTESTED!
#
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
@ -9,7 +7,7 @@
sh /etc/init.d/rc.mc_defaults
set MIXER hexa_cox
set MIXER FMU_hexa_cox
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678

2
ROMFS/px4fmu_common/init.d/12001_octo_cox
View File

@ -7,6 +7,6 @@
sh /etc/init.d/rc.mc_defaults
set MIXER octo_cox
set MIXER FMU_octo_cox
set PWM_OUTPUTS 12345678

2
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
View File

@ -5,4 +5,4 @@
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_RET
set MIXER easystar

12
ROMFS/px4fmu_common/init.d/3031_phantom
View File

@ -10,8 +10,8 @@ sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 18
param set FW_AIRSPD_MAX 40
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 25
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
@ -23,12 +23,12 @@ then
param set FW_P_LIM_MIN -50
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 70
param set FW_R_LIM 50
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
@ -37,3 +37,7 @@ then
fi
set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4
set PWM_DISARMED 1000

2
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
View File

@ -23,7 +23,7 @@ then
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_RR_IMAX 0.2

25
ROMFS/px4fmu_common/init.d/4008_ardrone
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@ -14,19 +14,20 @@ sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0
param set MC_PITCH_P 5.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0
param set MC_YAW_P 1.0
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.05
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.002
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.002
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.15
param set MC_YAW_FF 0.8
param set BAT_V_SCALING 0.00838095238
fi

5
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -195,6 +195,11 @@ then
sh /etc/init.d/10016_3dr_iris
fi
if param compare SYS_AUTOSTART 10017
then
sh /etc/init.d/10017_steadidrone_qu4d
fi
#
# Hexa Coaxial
#

2
ROMFS/px4fmu_common/init.d/rc.fw_apps
View File

@ -6,7 +6,7 @@
#
# Start the attitude and position estimator
#
fw_att_pos_estimator start
ekf_att_pos_estimator start
#
# Start attitude controller

2
ROMFS/px4fmu_common/init.d/rc.fw_defaults
View File

@ -11,6 +11,4 @@ then
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set NAV_ACCEPT_RAD 50
param set RC_SCALE_ROLL 1
param set RC_SCALE_PITCH 1
fi

2
ROMFS/px4fmu_common/init.d/rc.io
View File

@ -11,7 +11,7 @@ px4io recovery
# Adjust PX4IO update rate limit
#
set PX4IO_LIMIT 400
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
set PX4IO_LIMIT 200
fi

6
ROMFS/px4fmu_common/init.d/rc.logging
View File

@ -5,12 +5,12 @@
if [ -d /fs/microsd ]
then
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
echo "Start sdlog2 at 50Hz"
sdlog2 start -r 50 -a -b 8 -t
sdlog2 start -r 50 -a -b 4 -t
else
echo "Start sdlog2 at 200Hz"
sdlog2 start -r 200 -a -b 16 -t
sdlog2 start -r 200 -a -b 22 -t
fi
fi

1
ROMFS/px4fmu_common/init.d/rc.mc_apps
View File

@ -5,6 +5,7 @@
#
attitude_estimator_ekf start
#ekf_att_pos_estimator start
position_estimator_inav start
mc_att_control start

11
ROMFS/px4fmu_common/init.d/rc.mc_defaults
View File

@ -32,9 +32,16 @@ then
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_TILTMAX_AIR 45.0
param set MPC_TILTMAX_LND 15.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.7
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set NAV_ACCEPT_RAD 2.0
fi
set PWM_RATE 400

2
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -22,7 +22,7 @@ then
echo "[init] Using L3GD20(H)"
fi
if hw_ver compare PX4FMU_V2
if ver hwcmp PX4FMU_V2
then
if lsm303d start
then

14
ROMFS/px4fmu_common/init.d/rc.usb
View File

@ -3,16 +3,22 @@
# USB MAVLink start
#
echo "Starting MAVLink on this USB console"
mavlink start -r 10000 -d /dev/ttyACM0
mavlink start -r 10000 -d /dev/ttyACM0 -x
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
usleep 100000
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
usleep 100000
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
usleep 100000
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
usleep 100000
# Exit shell to make it available to MAVLink
exit

187
ROMFS/px4fmu_common/init.d/rcS
View File

@ -20,7 +20,7 @@ echo "[init] Looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
set LOG_FILE /fs/microsd/bootlog.txt
echo "[init] microSD card mounted at /fs/microsd"
echo "[init] microSD mounted: /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
@ -65,12 +65,12 @@ then
# Start CDC/ACM serial driver
#
sercon
#
# Start the ORB (first app to start)
#
uorb start
#
# Load parameters
#
@ -79,29 +79,33 @@ then
then
set PARAM_FILE /fs/mtd_params
fi
param select $PARAM_FILE
if param load
then
echo "[init] Parameters loaded: $PARAM_FILE"
echo "[init] Params loaded: $PARAM_FILE"
else
echo "[init] ERROR: Parameters loading failed: $PARAM_FILE"
echo "[init] ERROR: Params loading failed: $PARAM_FILE"
fi
#
# Start system state indicator
#
if rgbled start
then
echo "[init] Using external RGB Led"
echo "[init] RGB Led"
else
if blinkm start
then
echo "[init] Using blinkm"
echo "[init] BlinkM"
blinkm systemstate
fi
fi
if pca8574 start
then
fi
#
# Set default values
#
@ -120,7 +124,9 @@ then
set EXIT_ON_END no
set MAV_TYPE none
set LOAD_DEFAULT_APPS yes
set GPS yes
set GPS_FAKE no
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
#
@ -130,7 +136,7 @@ then
else
set DO_AUTOCONFIG no
fi
#
# Set USE_IO flag
#
@ -140,13 +146,13 @@ then
else
set USE_IO no
fi
#
# Set parameters and env variables for selected AUTOSTART
#
if param compare SYS_AUTOSTART 0
then
echo "[init] Don't try to find autostart script"
echo "[init] No autostart"
else
sh /etc/init.d/rc.autostart
fi
@ -156,10 +162,10 @@ then
#
if [ -f $CONFIG_FILE ]
then
echo "[init] Reading config: $CONFIG_FILE"
echo "[init] Config: $CONFIG_FILE"
sh $CONFIG_FILE
else
echo "[init] Config file not found: $CONFIG_FILE"
echo "[init] Config not found: $CONFIG_FILE"
fi
#
@ -170,9 +176,9 @@ then
param set SYS_AUTOCONFIG 0
param save
fi
set IO_PRESENT no
if [ $USE_IO == yes ]
then
#
@ -184,19 +190,19 @@ then
else
set IO_FILE /etc/extras/px4io-v1_default.bin
fi
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] Trying to update"
echo "PX4IO Trying to update" >> $LOG_FILE
tone_alarm MLL32CP8MB
if px4io forceupdate 14662 $IO_FILE
then
usleep 500000
@ -205,7 +211,7 @@ then
echo "[init] PX4IO CRC OK, update successful"
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
set IO_PRESENT yes
else
echo "[init] ERROR: PX4IO update failed"
@ -218,14 +224,14 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $IO_PRESENT == no ]
then
echo "[init] ERROR: PX4IO not found"
tone_alarm $TUNE_OUT_ERROR
fi
fi
#
# Set default output if not set
#
@ -244,9 +250,9 @@ then
# Need IO for output but it not present, disable output
set OUTPUT_MODE none
echo "[init] ERROR: PX4IO not found, disabling output"
# Avoid using ttyS0 for MAVLink on FMUv1
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
@ -260,25 +266,25 @@ then
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
else
# Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 &
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
#
# Start primary output
#
set TTYS1_BUSY no
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
if [ $OUTPUT_MODE != none ]
then
@ -294,6 +300,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then
echo "[init] Use FMU as primary output"
@ -304,8 +311,8 @@ then
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
@ -317,6 +324,7 @@ then
fi
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
@ -329,7 +337,7 @@ then
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then
echo "[init] MKBLCTRL started"
@ -337,8 +345,9 @@ then
echo "[init] ERROR: MKBLCTRL start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
@ -350,7 +359,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
#
# Start IO or FMU for RC PPM input if needed
#
@ -377,8 +386,8 @@ then
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
@ -392,64 +401,50 @@ then
fi
fi
fi
#
# MAVLink
#
if [ $MAVLINK_FLAGS == default ]
then
if [ $HIL == yes ]
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
sleep 1
set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
usleep 5000
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
set MAVLINK_FLAGS "-r 1000"
usleep 5000
fi
# Start MAVLink on default port: ttyS1
set MAVLINK_FLAGS "-r 1000"
fi
fi
mavlink start $MAVLINK_FLAGS
usleep 5000
#
# Start the datamanager
#
dataman start
#
# Start the navigator
#
navigator start
#
# Sensors, Logging, GPS
#
echo "[init] Start sensors"
sh /etc/init.d/rc.sensors
if [ $HIL == no ]
#
# Start logging in all modes, including HIL
#
sh /etc/init.d/rc.logging
if [ $GPS == yes ]
then
echo "[init] Start logging"
sh /etc/init.d/rc.logging
echo "[init] Start GPS"
gps start
if [ $GPS_FAKE == yes ]
then
echo "[init] Faking GPS"
gps start -f
else
gps start
fi
fi
#
# Start up ARDrone Motor interface
#
@ -464,24 +459,24 @@ then
if [ $VEHICLE_TYPE == fw ]
then
echo "[init] Vehicle type: FIXED WING"
if [ $MIXER == none ]
then
# Set default mixer for fixed wing if not defined
set MIXER FMU_AERT
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 1 (fixed wing) if not defined
set MAV_TYPE 1
fi
param set MAV_TYPE $MAV_TYPE
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
if [ $LOAD_DEFAULT_APPS == yes ]
then
@ -516,7 +511,7 @@ then
then
set MAV_TYPE 13
fi
if [ $MIXER == hexa_cox ]
if [ $MIXER == FMU_hexa_cox ]
then
set MAV_TYPE 13
fi
@ -529,7 +524,7 @@ then
set MAV_TYPE 14
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
@ -537,10 +532,10 @@ then
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard multicopter apps
if [ $LOAD_DEFAULT_APPS == yes ]
then
@ -548,6 +543,16 @@ then
fi
fi
#
# Start the datamanager
#
dataman start
#
# Start the navigator
#
navigator start
#
# Generic setup (autostart ID not found)
#
@ -563,7 +568,7 @@ then
echo "[init] Starting addons script: $EXTRAS_FILE"
sh $EXTRAS_FILE
else
echo "[init] Addons script not found: $EXTRAS_FILE"
echo "[init] No addons script: $EXTRAS_FILE"
fi
if [ $EXIT_ON_END == yes ]

0
ROMFS/px4fmu_common/mixers/hexa_cox.mix → ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix
View File

154
ROMFS/px4fmu_common/mixers/README Normal file
View File

@ -0,0 +1,154 @@
PX4 mixer definitions
=====================
Files in this directory implement example mixers that can be used as a basis
for customisation, or for general testing purposes.
Mixer basics
------------
Mixers combine control values from various sources (control tasks, user inputs,
etc.) and produce output values suitable for controlling actuators; servos,
motors, switches and so on.
An actuator derives its value from the combination of one or more control
values. Each of the control values is scaled according to the actuator's
configuration and then combined to produce the actuator value, which may then be
further scaled to suit the specific output type.
Internally, all scaling is performed using floating point values. Inputs and
outputs are clamped to the range -1.0 to 1.0.
control control control
| | |
v v v
scale scale scale
| | |
| v |
+-------> mix <------+
|
scale
|
v
out
Scaling
-------
Basic scalers provide linear scaling of the input to the output.
Each scaler allows the input value to be scaled independently for inputs
greater/less than zero. An offset can be applied to the output, and lower and
upper boundary constraints can be applied. Negative scaling factors cause the
output to be inverted (negative input produces positive output).
Scaler pseudocode:
if (input < 0)
output = (input * NEGATIVE_SCALE) + OFFSET
else
output = (input * POSITIVE_SCALE) + OFFSET
if (output < LOWER_LIMIT)
output = LOWER_LIMIT
if (output > UPPER_LIMIT)
output = UPPER_LIMIT
Syntax
------
Mixer definitions are text files; lines beginning with a single capital letter
followed by a colon are significant. All other lines are ignored, meaning that
explanatory text can be freely mixed with the definitions.
Each file may define more than one mixer; the allocation of mixers to actuators
is specific to the device reading the mixer definition, and the number of
actuator outputs generated by a mixer is specific to the mixer.
A mixer begins with a line of the form
<tag>: <mixer arguments>
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
multirotor mixer, etc.
Null Mixer
..........
A null mixer consumes no controls and generates a single actuator output whose
value is always zero. Typically a null mixer is used as a placeholder in a
collection of mixers in order to achieve a specific pattern of actuator outputs.
The null mixer definition has the form:
Z:
Simple Mixer
............
A simple mixer combines zero or more control inputs into a single actuator
output. Inputs are scaled, and the mixing function sums the result before
applying an output scaler.
A simple mixer definition begins with:
M: <control count>
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
If <control count> is zero, the sum is effectively zero and the mixer will
output a fixed value that is <offset> constrained by <lower limit> and <upper
limit>.
The second line defines the output scaler with scaler parameters as discussed
above. Whilst the calculations are performed as floating-point operations, the
values stored in the definition file are scaled by a factor of 10000; i.e. an
offset of -0.5 is encoded as -5000.
The definition continues with <control count> entries describing the control
inputs and their scaling, in the form:
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
The <group> value identifies the control group from which the scaler will read,
and the <index> value an offset within that group. These values are specific to
the device reading the mixer definition.
When used to mix vehicle controls, mixer group zero is the vehicle attitude
control group, and index values zero through three are normally roll, pitch,
yaw and thrust respectively.
The remaining fields on the line configure the control scaler with parameters as
discussed above. Whilst the calculations are performed as floating-point
operations, the values stored in the definition file are scaled by a factor of
10000; i.e. an offset of -0.5 is encoded as -5000.
Multirotor Mixer
................
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
into a set of actuator outputs intended to drive motor speed controllers.
The mixer definition is a single line of the form:
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
The supported geometries include:
4x - quadrotor in X configuration
4+ - quadrotor in + configuration
6x - hexcopter in X configuration
6+ - hexcopter in + configuration
8x - octocopter in X configuration
8+ - octocopter in + configuration
Each of the roll, pitch and yaw scale values determine scaling of the roll,
pitch and yaw controls relative to the thrust control. Whilst the calculations
are performed as floating-point operations, the values stored in the definition
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
range -1.0 to 1.0.
In the case where an actuator saturates, all actuator values are rescaled so that
the saturating actuator is limited to 1.0.

31
ROMFS/px4fmu_common/mixers/easystar.mix Normal file
View File

@ -0,0 +1,31 @@
EASYSTAR / EASYSTAR II MIXER
============================
Aileron mixer
-------------
One output - would be easy to add support for 2 servos
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Elevator mixer
------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Rudder mixer
------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
Motor speed mixer
-----------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

3
Tools/fix_code_style.sh
View File

@ -16,5 +16,6 @@ astyle \
--ignore-exclude-errors-x \
--lineend=linux \
--exclude=EASTL \
--add-brackets \
--add-brackets \
--max-code-length=120 \
$*

29
Tools/px_romfs_pruner.py
View File

@ -43,29 +43,30 @@ from __future__ import print_function
import argparse
import os
def main():
# Parse commandline arguments
parser = argparse.ArgumentParser(description="ROMFS pruner.")
parser.add_argument('--folder', action="store", help="ROMFS scratch folder.")
args = parser.parse_args()
print("Pruning ROMFS files.")
# go through
# go through
for (root, dirs, files) in os.walk(args.folder):
for file in files:
# only prune text files
if ".zip" in file or ".bin" in file:
if ".zip" in file or ".bin" in file or ".swp" in file:
continue
file_path = os.path.join(root, file)
file_path = os.path.join(root, file)
# read file line by line
pruned_content = ""
with open(file_path, "r") as f:
for line in f:
for line in f:
# handle mixer files differently than startup files
if file_path.endswith(".mix"):
if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
@ -73,11 +74,11 @@ def main():
else:
if not line.isspace() and not line.strip().startswith("#"):
pruned_content += line
# overwrite old scratch file
with open(file_path, "w") as f:
f.write(pruned_content)
if __name__ == '__main__':
main()
main()

28
Tools/px_uploader.py
View File

@ -389,18 +389,22 @@ class uploader(object):
self.otp_pid = self.otp[12:8:-1]
self.otp_coa = self.otp[32:160]
# show user:
print("type: " + self.otp_id.decode('Latin-1'))
print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
print("sn: ", end='')
for byte in range(0,12,4):
x = self.__getSN(byte)
x = x[::-1] # reverse the bytes
self.sn = self.sn + x
print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
print('')
try:
print("type: " + self.otp_id.decode('Latin-1'))
print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
print("sn: ", end='')
for byte in range(0,12,4):
x = self.__getSN(byte)
x = x[::-1] # reverse the bytes
self.sn = self.sn + x
print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
print('')
except Exception:
# ignore bad character encodings
pass
print("erase...")
self.__erase()

2
Tools/tests-host/.gitignore vendored
View File

@ -1,2 +1,4 @@
./obj/*
mixer_test
sbus2_test
autodeclination_test

60
Tools/tests-host/Makefile
View File

@ -1,47 +1,39 @@
CC=g++
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
ODIR=obj
LDIR =../lib
all: mixer_test sbus2_test autodeclination_test
LIBS=-lm
MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
../../src/systemcmds/tests/test_conv.cpp \
../../src/modules/systemlib/mixer/mixer_simple.cpp \
../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
../../src/modules/systemlib/mixer/mixer.cpp \
../../src/modules/systemlib/mixer/mixer_group.cpp \
../../src/modules/systemlib/mixer/mixer_load.c \
../../src/modules/systemlib/pwm_limit/pwm_limit.c \
hrt.cpp \
mixer_test.cpp
#_DEPS = test.h
#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
hrt.cpp \
sbus2_test.cpp
_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \
mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o
OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
hrt.cpp \
autodeclination_test.cpp
#$(DEPS)
$(ODIR)/%.o: %.cpp
mkdir -p obj
$(CC) -c -o $@ $< $(CFLAGS)
mixer_test: $(MIXER_FILES)
$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
sbus2_test: $(SBUS2_FILES)
$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
$(CC) -c -o $@ $< $(CFLAGS)
#
mixer_test: $(OBJ)
g++ -o $@ $^ $(CFLAGS) $(LIBS)
autodeclination_test: $(SBUS2_FILES)
$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
.PHONY: clean
clean:
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test

28
Tools/tests-host/autodeclination_test.cpp Normal file
View File

@ -0,0 +1,28 @@
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <px4iofirmware/px4io.h>
#include "../../src/systemcmds/tests/tests.h"
#include <geo/geo.h>
int main(int argc, char *argv[]) {
warnx("autodeclination test started");
if (argc < 3)
errx(1, "Need lat/lon!");
char* p_end;
float lat = strtod(argv[1], &p_end);
float lon = strtod(argv[2], &p_end);
float declination = get_mag_declination(lat, lon);
printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
}

0
Tools/tests-host/board_config.h Normal file
View File

5
Tools/tests-host/debug.h Normal file
View File

@ -0,0 +1,5 @@
#pragma once
#include <systemlib/err.h>
#define lowsyslog warnx

2
Tools/tests-host/mixer_test.cpp
View File

@ -11,4 +11,4 @@ int main(int argc, char *argv[]) {
test_mixer(3, args);
test_conv(1, args);
}
}

6
Tools/tests-host/run_tests.sh Executable file
View File

@ -0,0 +1,6 @@
#!/bin/sh
make clean
make all
./mixer_test
./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt

75
Tools/tests-host/sbus2_test.cpp Normal file
View File

@ -0,0 +1,75 @@
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <px4iofirmware/px4io.h>
#include "../../src/systemcmds/tests/tests.h"
int main(int argc, char *argv[]) {
warnx("SBUS2 test started");
if (argc < 2)
errx(1, "Need a filename for the input file");
warnx("loading data from: %s", argv[1]);
FILE *fp;
fp = fopen(argv[1],"rt");
if (!fp)
errx(1, "failed opening file");
float f;
unsigned x;
int ret;
// Trash the first 20 lines
for (unsigned i = 0; i < 20; i++) {
(void)fscanf(fp, "%f,%x,,", &f, &x);
}
// Init the parser
uint8_t frame[30];
unsigned partial_frame_count = 0;
uint16_t rc_values[18];
uint16_t num_values;
bool sbus_failsafe;
bool sbus_frame_drop;
uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
float last_time = 0;
while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
if (((f - last_time) * 1000 * 1000) > 3000) {
partial_frame_count = 0;
warnx("FRAME RESET\n\n");
}
frame[partial_frame_count] = x;
partial_frame_count++;
//warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count);
if (partial_frame_count == sizeof(frame))
partial_frame_count = 0;
last_time = f;
// Pipe the data into the parser
hrt_abstime now = hrt_absolute_time();
//if (partial_frame_count % 25 == 0)
//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
}
if (ret == EOF) {
warnx("Test finished, reached end of file");
} else {
warnx("Test aborted, errno: %d", ret);
}
}

11
makefiles/board_aerocore.mk Normal file
View File

@ -0,0 +1,11 @@
#
# Board-specific definitions for the Gumstix AeroCore
#
#
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM4F
CONFIG_BOARD = AEROCORE
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk

125
makefiles/config_aerocore_default.mk Normal file
View File

@ -0,0 +1,125 @@
#
# Makefile for the AeroCore *default* configuration
#
#
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/stm32/adc
MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/px4fmu
MODULES += drivers/boards/aerocore
MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/ms5611
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += modules/sensors
#
# System commands
#
MODULES += systemcmds/boardinfo
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/dumpfile
#
# General system control
#
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
#
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
#
# Vehicle Control
#
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/mc_att_control
MODULES += modules/mc_pos_control
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/controllib
MODULES += modules/uORB
MODULES += modules/dataman
#
# Libraries
#
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
#
# Demo apps
#
#MODULES += examples/math_demo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/hello_sky
MODULES += examples/px4_simple_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/daemon
#MODULES += examples/px4_daemon_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/debug_values
#MODULES += examples/px4_mavlink_debug
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test
#MODULES += examples/hwtest
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
BUILTIN_COMMANDS := \
$(call _B, hello, , 2048, hello_main) \
$(call _B, i2c, , 2048, i2c_main)

12
makefiles/config_px4fmu-v1_default.mk
View File

@ -52,11 +52,10 @@ MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/hw_ver
MODULES += systemcmds/dumpfile
MODULES += systemcmds/ver
#
# General system control
@ -67,12 +66,11 @@ MODULES += modules/mavlink
MODULES += modules/gpio_led
#
# Estimation modules (EKF/ SO3 / other filters)
# Estimation modules (EKF / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/fw_att_pos_estimator
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
#MODULES += examples/flow_position_estimator
#
# Vehicle Control
@ -81,8 +79,6 @@ MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/mc_att_control
MODULES += modules/mc_pos_control
#MODULES += examples/flow_position_control
#MODULES += examples/flow_speed_control
#
# Logging
@ -111,8 +107,8 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection

7
makefiles/config_px4fmu-v2_default.mk
View File

@ -40,6 +40,7 @@ MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/mkblctrl
MODULES += drivers/pca8574
# Needs to be burned to the ground and re-written; for now,
@ -63,8 +64,8 @@ MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/hw_ver
MODULES += systemcmds/dumpfile
MODULES += systemcmds/ver
#
# General system control
@ -79,7 +80,7 @@ MODULES += modules/gpio_led
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/fw_att_pos_estimator
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
@ -119,8 +120,8 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection

3
makefiles/config_px4fmu-v2_test.mk
View File

@ -24,12 +24,13 @@ MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/pca8574
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/hw_ver
MODULES += systemcmds/ver
#
# Library modules

6
makefiles/firmware.mk
View File

@ -113,7 +113,7 @@ endif
$(info % GIT_DESC = $(GIT_DESC))
#
# Set a default target so that included makefiles or errors here don't
# Set a default target so that included makefiles or errors here don't
# cause confusion.
#
# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
@ -177,7 +177,7 @@ GLOBAL_DEPS += $(MAKEFILE_LIST)
#
# Extra things we should clean
#
EXTRA_CLEANS =
EXTRA_CLEANS =
#
@ -371,6 +371,8 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras

25
makefiles/toolchain_gnu-arm-eabi.mk
View File

@ -1,5 +1,5 @@
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -48,6 +48,16 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED = 4.7
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
endif
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
MAXOPTIMIZATION ?= -O3
@ -76,7 +86,7 @@ ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
-ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
# Pick the right set of flags for the architecture.
#
@ -125,7 +135,11 @@ ARCHWARNINGS = -Wall \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter
-Wno-unused-parameter \
-Werror=format-security \
-Werror=array-bounds \
-Wfatal-errors \
-Wformat=1
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
@ -142,7 +156,8 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
# C++-specific warnings
#
ARCHWARNINGSXX = $(ARCHWARNINGS)
ARCHWARNINGSXX = $(ARCHWARNINGS) \
-Wno-missing-field-initializers
# pull in *just* libm from the toolchain ... this is grody
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
@ -260,7 +275,7 @@ define SYM_TO_BIN
$(Q) $(OBJCOPY) -O binary $1 $2
endef
# Take the raw binary $1 and make it into an object file $2.
# Take the raw binary $1 and make it into an object file $2.
# The symbol $3 points to the beginning of the file, and $3_len
# gives its length.
#

108
mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
View File

File diff suppressed because one or more lines are too long

44
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
View File

@ -212,6 +212,50 @@ static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx,
#endif
}
#if MAVLINK_MSG_ID_AHRS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_ahrs_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN);
#endif
#else
mavlink_ahrs_t *packet = (mavlink_ahrs_t *)msgbuf;
packet->omegaIx = omegaIx;
packet->omegaIy = omegaIy;
packet->omegaIz = omegaIz;
packet->accel_weight = accel_weight;
packet->renorm_val = renorm_val;
packet->error_rp = error_rp;
packet->error_yaw = error_yaw;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)packet, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)packet, MAVLINK_MSG_ID_AHRS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE AHRS UNPACKING

42
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h
View File

@ -201,6 +201,48 @@ static inline void mavlink_msg_ahrs2_send(mavlink_channel_t chan, float roll, fl
#endif
}
#if MAVLINK_MSG_ID_AHRS2_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_ahrs2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, altitude);
_mav_put_int32_t(buf, 16, lat);
_mav_put_int32_t(buf, 20, lng);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN);
#endif
#else
mavlink_ahrs2_t *packet = (mavlink_ahrs2_t *)msgbuf;
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
packet->altitude = altitude;
packet->lat = lat;
packet->lng = lng;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)packet, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)packet, MAVLINK_MSG_ID_AHRS2_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE AHRS2 UNPACKING

54
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h
View File

@ -267,6 +267,60 @@ static inline void mavlink_msg_airspeed_autocal_send(mavlink_channel_t chan, flo
#endif
}
#if MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_airspeed_autocal_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float vx, float vy, float vz, float diff_pressure, float EAS2TAS, float ratio, float state_x, float state_y, float state_z, float Pax, float Pby, float Pcz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, vx);
_mav_put_float(buf, 4, vy);
_mav_put_float(buf, 8, vz);
_mav_put_float(buf, 12, diff_pressure);
_mav_put_float(buf, 16, EAS2TAS);
_mav_put_float(buf, 20, ratio);
_mav_put_float(buf, 24, state_x);
_mav_put_float(buf, 28, state_y);
_mav_put_float(buf, 32, state_z);
_mav_put_float(buf, 36, Pax);
_mav_put_float(buf, 40, Pby);
_mav_put_float(buf, 44, Pcz);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
#else
mavlink_airspeed_autocal_t *packet = (mavlink_airspeed_autocal_t *)msgbuf;
packet->vx = vx;
packet->vy = vy;
packet->vz = vz;
packet->diff_pressure = diff_pressure;
packet->EAS2TAS = EAS2TAS;
packet->ratio = ratio;
packet->state_x = state_x;
packet->state_y = state_y;
packet->state_z = state_z;
packet->Pax = Pax;
packet->Pby = Pby;
packet->Pcz = Pcz;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE AIRSPEED_AUTOCAL UNPACKING

42
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h
View File

@ -201,6 +201,48 @@ static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1
#endif
}
#if MAVLINK_MSG_ID_AP_ADC_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_ap_adc_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, adc1);
_mav_put_uint16_t(buf, 2, adc2);
_mav_put_uint16_t(buf, 4, adc3);
_mav_put_uint16_t(buf, 6, adc4);
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
#else
mavlink_ap_adc_t *packet = (mavlink_ap_adc_t *)msgbuf;
packet->adc1 = adc1;
packet->adc2 = adc2;
packet->adc3 = adc3;
packet->adc4 = adc4;
packet->adc5 = adc5;
packet->adc6 = adc6;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)packet, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)packet, MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE AP_ADC UNPACKING

329
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_compassmot_status.h Normal file
View File

@ -0,0 +1,329 @@
// MESSAGE COMPASSMOT_STATUS PACKING
#define MAVLINK_MSG_ID_COMPASSMOT_STATUS 177
typedef struct __mavlink_compassmot_status_t
{
float current; ///< current (amps)
float CompensationX; ///< Motor Compensation X
float CompensationY; ///< Motor Compensation Y
float CompensationZ; ///< Motor Compensation Z
uint16_t throttle; ///< throttle (percent*10)
uint16_t interference; ///< interference (percent)
} mavlink_compassmot_status_t;
#define MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN 20
#define MAVLINK_MSG_ID_177_LEN 20
#define MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC 240
#define MAVLINK_MSG_ID_177_CRC 240
#define MAVLINK_MESSAGE_INFO_COMPASSMOT_STATUS { \
"COMPASSMOT_STATUS", \
6, \
{ { "current", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_compassmot_status_t, current) }, \
{ "CompensationX", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_compassmot_status_t, CompensationX) }, \
{ "CompensationY", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_compassmot_status_t, CompensationY) }, \
{ "CompensationZ", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_compassmot_status_t, CompensationZ) }, \
{ "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_compassmot_status_t, throttle) }, \
{ "interference", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_compassmot_status_t, interference) }, \
} \
}
/**
* @brief Pack a compassmot_status 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 throttle throttle (percent*10)
* @param current current (amps)
* @param interference interference (percent)
* @param CompensationX Motor Compensation X
* @param CompensationY Motor Compensation Y
* @param CompensationZ Motor Compensation Z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_compassmot_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN];
_mav_put_float(buf, 0, current);
_mav_put_float(buf, 4, CompensationX);
_mav_put_float(buf, 8, CompensationY);
_mav_put_float(buf, 12, CompensationZ);
_mav_put_uint16_t(buf, 16, throttle);
_mav_put_uint16_t(buf, 18, interference);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#else
mavlink_compassmot_status_t packet;
packet.current = current;
packet.CompensationX = CompensationX;
packet.CompensationY = CompensationY;
packet.CompensationZ = CompensationZ;
packet.throttle = throttle;
packet.interference = interference;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_COMPASSMOT_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
}
/**
* @brief Pack a compassmot_status message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param throttle throttle (percent*10)
* @param current current (amps)
* @param interference interference (percent)
* @param CompensationX Motor Compensation X
* @param CompensationY Motor Compensation Y
* @param CompensationZ Motor Compensation Z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_compassmot_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t throttle,float current,uint16_t interference,float CompensationX,float CompensationY,float CompensationZ)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN];
_mav_put_float(buf, 0, current);
_mav_put_float(buf, 4, CompensationX);
_mav_put_float(buf, 8, CompensationY);
_mav_put_float(buf, 12, CompensationZ);
_mav_put_uint16_t(buf, 16, throttle);
_mav_put_uint16_t(buf, 18, interference);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#else
mavlink_compassmot_status_t packet;
packet.current = current;
packet.CompensationX = CompensationX;
packet.CompensationY = CompensationY;
packet.CompensationZ = CompensationZ;
packet.throttle = throttle;
packet.interference = interference;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_COMPASSMOT_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
}
/**
* @brief Encode a compassmot_status struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param compassmot_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_compassmot_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_compassmot_status_t* compassmot_status)
{
return mavlink_msg_compassmot_status_pack(system_id, component_id, msg, compassmot_status->throttle, compassmot_status->current, compassmot_status->interference, compassmot_status->CompensationX, compassmot_status->CompensationY, compassmot_status->CompensationZ);
}
/**
* @brief Encode a compassmot_status struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param compassmot_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_compassmot_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_compassmot_status_t* compassmot_status)
{
return mavlink_msg_compassmot_status_pack_chan(system_id, component_id, chan, msg, compassmot_status->throttle, compassmot_status->current, compassmot_status->interference, compassmot_status->CompensationX, compassmot_status->CompensationY, compassmot_status->CompensationZ);
}
/**
* @brief Send a compassmot_status message
* @param chan MAVLink channel to send the message
*
* @param throttle throttle (percent*10)
* @param current current (amps)
* @param interference interference (percent)
* @param CompensationX Motor Compensation X
* @param CompensationY Motor Compensation Y
* @param CompensationZ Motor Compensation Z
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_compassmot_status_send(mavlink_channel_t chan, uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN];
_mav_put_float(buf, 0, current);
_mav_put_float(buf, 4, CompensationX);
_mav_put_float(buf, 8, CompensationY);
_mav_put_float(buf, 12, CompensationZ);
_mav_put_uint16_t(buf, 16, throttle);
_mav_put_uint16_t(buf, 18, interference);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
#else
mavlink_compassmot_status_t packet;
packet.current = current;
packet.CompensationX = CompensationX;
packet.CompensationY = CompensationY;
packet.CompensationZ = CompensationZ;
packet.throttle = throttle;
packet.interference = interference;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_compassmot_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, current);
_mav_put_float(buf, 4, CompensationX);
_mav_put_float(buf, 8, CompensationY);
_mav_put_float(buf, 12, CompensationZ);
_mav_put_uint16_t(buf, 16, throttle);
_mav_put_uint16_t(buf, 18, interference);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
#else
mavlink_compassmot_status_t *packet = (mavlink_compassmot_status_t *)msgbuf;
packet->current = current;
packet->CompensationX = CompensationX;
packet->CompensationY = CompensationY;
packet->CompensationZ = CompensationZ;
packet->throttle = throttle;
packet->interference = interference;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE COMPASSMOT_STATUS UNPACKING
/**
* @brief Get field throttle from compassmot_status message
*
* @return throttle (percent*10)
*/
static inline uint16_t mavlink_msg_compassmot_status_get_throttle(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 16);
}
/**
* @brief Get field current from compassmot_status message
*
* @return current (amps)
*/
static inline float mavlink_msg_compassmot_status_get_current(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field interference from compassmot_status message
*
* @return interference (percent)
*/
static inline uint16_t mavlink_msg_compassmot_status_get_interference(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 18);
}
/**
* @brief Get field CompensationX from compassmot_status message
*
* @return Motor Compensation X
*/
static inline float mavlink_msg_compassmot_status_get_CompensationX(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field CompensationY from compassmot_status message
*
* @return Motor Compensation Y
*/
static inline float mavlink_msg_compassmot_status_get_CompensationY(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field CompensationZ from compassmot_status message
*
* @return Motor Compensation Z
*/
static inline float mavlink_msg_compassmot_status_get_CompensationZ(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Decode a compassmot_status message into a struct
*
* @param msg The message to decode
* @param compassmot_status C-struct to decode the message contents into
*/
static inline void mavlink_msg_compassmot_status_decode(const mavlink_message_t* msg, mavlink_compassmot_status_t* compassmot_status)
{
#if MAVLINK_NEED_BYTE_SWAP
compassmot_status->current = mavlink_msg_compassmot_status_get_current(msg);
compassmot_status->CompensationX = mavlink_msg_compassmot_status_get_CompensationX(msg);
compassmot_status->CompensationY = mavlink_msg_compassmot_status_get_CompensationY(msg);
compassmot_status->CompensationZ = mavlink_msg_compassmot_status_get_CompensationZ(msg);
compassmot_status->throttle = mavlink_msg_compassmot_status_get_throttle(msg);
compassmot_status->interference = mavlink_msg_compassmot_status_get_interference(msg);
#else
memcpy(compassmot_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN);
#endif
}

34
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h
View File

@ -162,6 +162,40 @@ static inline void mavlink_msg_data16_send(mavlink_channel_t chan, uint8_t type,
#endif
}
#if MAVLINK_MSG_ID_DATA16_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data16_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 16);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN);
#endif
#else
mavlink_data16_t *packet = (mavlink_data16_t *)msgbuf;
packet->type = type;
packet->len = len;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*16);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)packet, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)packet, MAVLINK_MSG_ID_DATA16_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA16 UNPACKING

34
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h
View File

@ -162,6 +162,40 @@ static inline void mavlink_msg_data32_send(mavlink_channel_t chan, uint8_t type,
#endif
}
#if MAVLINK_MSG_ID_DATA32_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data32_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN);
#endif
#else
mavlink_data32_t *packet = (mavlink_data32_t *)msgbuf;
packet->type = type;
packet->len = len;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)packet, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)packet, MAVLINK_MSG_ID_DATA32_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA32 UNPACKING

34
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h
View File

@ -162,6 +162,40 @@ static inline void mavlink_msg_data64_send(mavlink_channel_t chan, uint8_t type,
#endif
}
#if MAVLINK_MSG_ID_DATA64_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data64_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 64);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN);
#endif
#else
mavlink_data64_t *packet = (mavlink_data64_t *)msgbuf;
packet->type = type;
packet->len = len;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*64);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)packet, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)packet, MAVLINK_MSG_ID_DATA64_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA64 UNPACKING

34
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h
View File

@ -162,6 +162,40 @@ static inline void mavlink_msg_data96_send(mavlink_channel_t chan, uint8_t type,
#endif
}
#if MAVLINK_MSG_ID_DATA96_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data96_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 96);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN);
#endif
#else
mavlink_data96_t *packet = (mavlink_data96_t *)msgbuf;
packet->type = type;
packet->len = len;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*96);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA96 UNPACKING

52
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
View File

@ -256,6 +256,58 @@ static inline void mavlink_msg_digicam_configure_send(mavlink_channel_t chan, ui
#endif
}
#if MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_digicam_configure_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, extra_value);
_mav_put_uint16_t(buf, 4, shutter_speed);
_mav_put_uint8_t(buf, 6, target_system);
_mav_put_uint8_t(buf, 7, target_component);
_mav_put_uint8_t(buf, 8, mode);
_mav_put_uint8_t(buf, 9, aperture);
_mav_put_uint8_t(buf, 10, iso);
_mav_put_uint8_t(buf, 11, exposure_type);
_mav_put_uint8_t(buf, 12, command_id);
_mav_put_uint8_t(buf, 13, engine_cut_off);
_mav_put_uint8_t(buf, 14, extra_param);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
#else
mavlink_digicam_configure_t *packet = (mavlink_digicam_configure_t *)msgbuf;
packet->extra_value = extra_value;
packet->shutter_speed = shutter_speed;
packet->target_system = target_system;
packet->target_component = target_component;
packet->mode = mode;
packet->aperture = aperture;
packet->iso = iso;
packet->exposure_type = exposure_type;
packet->command_id = command_id;
packet->engine_cut_off = engine_cut_off;
packet->extra_param = extra_param;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DIGICAM_CONFIGURE UNPACKING

50
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h
View File

@ -245,6 +245,56 @@ static inline void mavlink_msg_digicam_control_send(mavlink_channel_t chan, uint
#endif
}
#if MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_digicam_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, extra_value);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
_mav_put_uint8_t(buf, 6, session);
_mav_put_uint8_t(buf, 7, zoom_pos);
_mav_put_int8_t(buf, 8, zoom_step);
_mav_put_uint8_t(buf, 9, focus_lock);
_mav_put_uint8_t(buf, 10, shot);
_mav_put_uint8_t(buf, 11, command_id);
_mav_put_uint8_t(buf, 12, extra_param);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
#else
mavlink_digicam_control_t *packet = (mavlink_digicam_control_t *)msgbuf;
packet->extra_value = extra_value;
packet->target_system = target_system;
packet->target_component = target_component;
packet->session = session;
packet->zoom_pos = zoom_pos;
packet->zoom_step = zoom_step;
packet->focus_lock = focus_lock;
packet->shot = shot;
packet->command_id = command_id;
packet->extra_param = extra_param;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DIGICAM_CONTROL UNPACKING

36
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h
View File

@ -168,6 +168,42 @@ static inline void mavlink_msg_fence_fetch_point_send(mavlink_channel_t chan, ui
#endif
}
#if MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_fence_fetch_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
#else
mavlink_fence_fetch_point_t *packet = (mavlink_fence_fetch_point_t *)msgbuf;
packet->target_system = target_system;
packet->target_component = target_component;
packet->idx = idx;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE FENCE_FETCH_POINT UNPACKING

42
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
View File

@ -201,6 +201,48 @@ static inline void mavlink_msg_fence_point_send(mavlink_channel_t chan, uint8_t
#endif
}
#if MAVLINK_MSG_ID_FENCE_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_fence_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, lat);
_mav_put_float(buf, 4, lng);
_mav_put_uint8_t(buf, 8, target_system);
_mav_put_uint8_t(buf, 9, target_component);
_mav_put_uint8_t(buf, 10, idx);
_mav_put_uint8_t(buf, 11, count);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
#else
mavlink_fence_point_t *packet = (mavlink_fence_point_t *)msgbuf;
packet->lat = lat;
packet->lng = lng;
packet->target_system = target_system;
packet->target_component = target_component;
packet->idx = idx;
packet->count = count;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE FENCE_POINT UNPACKING

38
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h
View File

@ -179,6 +179,44 @@ static inline void mavlink_msg_fence_status_send(mavlink_channel_t chan, uint8_t
#endif
}
#if MAVLINK_MSG_ID_FENCE_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_fence_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, breach_time);
_mav_put_uint16_t(buf, 4, breach_count);
_mav_put_uint8_t(buf, 6, breach_status);
_mav_put_uint8_t(buf, 7, breach_type);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
#else
mavlink_fence_status_t *packet = (mavlink_fence_status_t *)msgbuf;
packet->breach_time = breach_time;
packet->breach_count = breach_count;
packet->breach_status = breach_status;
packet->breach_type = breach_type;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE FENCE_STATUS UNPACKING

34
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h
View File

@ -157,6 +157,40 @@ static inline void mavlink_msg_hwstatus_send(mavlink_channel_t chan, uint16_t Vc
#endif
}
#if MAVLINK_MSG_ID_HWSTATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_hwstatus_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
#else
mavlink_hwstatus_t *packet = (mavlink_hwstatus_t *)msgbuf;
packet->Vcc = Vcc;
packet->I2Cerr = I2Cerr;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)packet, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE HWSTATUS UNPACKING

48
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h
View File

@ -234,6 +234,54 @@ static inline void mavlink_msg_limits_status_send(mavlink_channel_t chan, uint8_
#endif
}
#if MAVLINK_MSG_ID_LIMITS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_limits_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, last_trigger);
_mav_put_uint32_t(buf, 4, last_action);
_mav_put_uint32_t(buf, 8, last_recovery);
_mav_put_uint32_t(buf, 12, last_clear);
_mav_put_uint16_t(buf, 16, breach_count);
_mav_put_uint8_t(buf, 18, limits_state);
_mav_put_uint8_t(buf, 19, mods_enabled);
_mav_put_uint8_t(buf, 20, mods_required);
_mav_put_uint8_t(buf, 21, mods_triggered);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
#else
mavlink_limits_status_t *packet = (mavlink_limits_status_t *)msgbuf;
packet->last_trigger = last_trigger;
packet->last_action = last_action;
packet->last_recovery = last_recovery;
packet->last_clear = last_clear;
packet->breach_count = breach_count;
packet->limits_state = limits_state;
packet->mods_enabled = mods_enabled;
packet->mods_required = mods_required;
packet->mods_triggered = mods_triggered;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE LIMITS_STATUS UNPACKING

34
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h
View File

@ -157,6 +157,40 @@ static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brk
#endif
}
#if MAVLINK_MSG_ID_MEMINFO_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_meminfo_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t brkval, uint16_t freemem)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, brkval);
_mav_put_uint16_t(buf, 2, freemem);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
#else
mavlink_meminfo_t *packet = (mavlink_meminfo_t *)msgbuf;
packet->brkval = brkval;
packet->freemem = freemem;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)packet, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)packet, MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE MEMINFO UNPACKING

42
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h
View File

@ -201,6 +201,48 @@ static inline void mavlink_msg_mount_configure_send(mavlink_channel_t chan, uint
#endif
}
#if MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_mount_configure_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, mount_mode);
_mav_put_uint8_t(buf, 3, stab_roll);
_mav_put_uint8_t(buf, 4, stab_pitch);
_mav_put_uint8_t(buf, 5, stab_yaw);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
#else
mavlink_mount_configure_t *packet = (mavlink_mount_configure_t *)msgbuf;
packet->target_system = target_system;
packet->target_component = target_component;
packet->mount_mode = mount_mode;
packet->stab_roll = stab_roll;
packet->stab_pitch = stab_pitch;
packet->stab_yaw = stab_yaw;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE MOUNT_CONFIGURE UNPACKING

42
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h
View File

@ -201,6 +201,48 @@ static inline void mavlink_msg_mount_control_send(mavlink_channel_t chan, uint8_
#endif
}
#if MAVLINK_MSG_ID_MOUNT_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_mount_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_int32_t(buf, 0, input_a);
_mav_put_int32_t(buf, 4, input_b);
_mav_put_int32_t(buf, 8, input_c);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
_mav_put_uint8_t(buf, 14, save_position);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
#else
mavlink_mount_control_t *packet = (mavlink_mount_control_t *)msgbuf;
packet->input_a = input_a;
packet->input_b = input_b;
packet->input_c = input_c;
packet->target_system = target_system;
packet->target_component = target_component;
packet->save_position = save_position;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE MOUNT_CONTROL UNPACKING

40
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h
View File

@ -190,6 +190,46 @@ static inline void mavlink_msg_mount_status_send(mavlink_channel_t chan, uint8_t
#endif
}
#if MAVLINK_MSG_ID_MOUNT_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_mount_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_int32_t(buf, 0, pointing_a);
_mav_put_int32_t(buf, 4, pointing_b);
_mav_put_int32_t(buf, 8, pointing_c);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
#else
mavlink_mount_status_t *packet = (mavlink_mount_status_t *)msgbuf;
packet->pointing_a = pointing_a;
packet->pointing_b = pointing_b;
packet->pointing_c = pointing_c;
packet->target_system = target_system;
packet->target_component = target_component;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE MOUNT_STATUS UNPACKING

44
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h
View File

@ -212,6 +212,50 @@ static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi,
#endif
}
#if MAVLINK_MSG_ID_RADIO_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_radio_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, rxerrors);
_mav_put_uint16_t(buf, 2, fixed);
_mav_put_uint8_t(buf, 4, rssi);
_mav_put_uint8_t(buf, 5, remrssi);
_mav_put_uint8_t(buf, 6, txbuf);
_mav_put_uint8_t(buf, 7, noise);
_mav_put_uint8_t(buf, 8, remnoise);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN);
#endif
#else
mavlink_radio_t *packet = (mavlink_radio_t *)msgbuf;
packet->rxerrors = rxerrors;
packet->fixed = fixed;
packet->rssi = rssi;
packet->remrssi = remrssi;
packet->txbuf = txbuf;
packet->noise = noise;
packet->remnoise = remnoise;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)packet, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)packet, MAVLINK_MSG_ID_RADIO_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE RADIO UNPACKING

36
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h
View File

@ -168,6 +168,42 @@ static inline void mavlink_msg_rally_fetch_point_send(mavlink_channel_t chan, ui
#endif
}
#if MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_rally_fetch_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
#else
mavlink_rally_fetch_point_t *packet = (mavlink_rally_fetch_point_t *)msgbuf;
packet->target_system = target_system;
packet->target_component = target_component;
packet->idx = idx;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE RALLY_FETCH_POINT UNPACKING

50
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h
View File

@ -245,6 +245,56 @@ static inline void mavlink_msg_rally_point_send(mavlink_channel_t chan, uint8_t
#endif
}
#if MAVLINK_MSG_ID_RALLY_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_rally_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_int32_t(buf, 0, lat);
_mav_put_int32_t(buf, 4, lng);
_mav_put_int16_t(buf, 8, alt);
_mav_put_int16_t(buf, 10, break_alt);
_mav_put_uint16_t(buf, 12, land_dir);
_mav_put_uint8_t(buf, 14, target_system);
_mav_put_uint8_t(buf, 15, target_component);
_mav_put_uint8_t(buf, 16, idx);
_mav_put_uint8_t(buf, 17, count);
_mav_put_uint8_t(buf, 18, flags);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
#else
mavlink_rally_point_t *packet = (mavlink_rally_point_t *)msgbuf;
packet->lat = lat;
packet->lng = lng;
packet->alt = alt;
packet->break_alt = break_alt;
packet->land_dir = land_dir;
packet->target_system = target_system;
packet->target_component = target_component;
packet->idx = idx;
packet->count = count;
packet->flags = flags;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE RALLY_POINT UNPACKING

34
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h
View File

@ -157,6 +157,40 @@ static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float di
#endif
}
#if MAVLINK_MSG_ID_RANGEFINDER_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_rangefinder_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float distance, float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
#else
mavlink_rangefinder_t *packet = (mavlink_rangefinder_t *)msgbuf;
packet->distance = distance;
packet->voltage = voltage;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)packet, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE RANGEFINDER UNPACKING

54
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
View File

@ -267,6 +267,60 @@ static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16
#endif
}
#if MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_sensor_offsets_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, mag_declination);
_mav_put_int32_t(buf, 4, raw_press);
_mav_put_int32_t(buf, 8, raw_temp);
_mav_put_float(buf, 12, gyro_cal_x);
_mav_put_float(buf, 16, gyro_cal_y);
_mav_put_float(buf, 20, gyro_cal_z);
_mav_put_float(buf, 24, accel_cal_x);
_mav_put_float(buf, 28, accel_cal_y);
_mav_put_float(buf, 32, accel_cal_z);
_mav_put_int16_t(buf, 36, mag_ofs_x);
_mav_put_int16_t(buf, 38, mag_ofs_y);
_mav_put_int16_t(buf, 40, mag_ofs_z);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
#else
mavlink_sensor_offsets_t *packet = (mavlink_sensor_offsets_t *)msgbuf;
packet->mag_declination = mag_declination;
packet->raw_press = raw_press;
packet->raw_temp = raw_temp;
packet->gyro_cal_x = gyro_cal_x;
packet->gyro_cal_y = gyro_cal_y;
packet->gyro_cal_z = gyro_cal_z;
packet->accel_cal_x = accel_cal_x;
packet->accel_cal_y = accel_cal_y;
packet->accel_cal_z = accel_cal_z;
packet->mag_ofs_x = mag_ofs_x;
packet->mag_ofs_y = mag_ofs_y;
packet->mag_ofs_z = mag_ofs_z;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE SENSOR_OFFSETS UNPACKING

40
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
View File

@ -190,6 +190,46 @@ static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint
#endif
}
#if MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_set_mag_offsets_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_int16_t(buf, 0, mag_ofs_x);
_mav_put_int16_t(buf, 2, mag_ofs_y);
_mav_put_int16_t(buf, 4, mag_ofs_z);
_mav_put_uint8_t(buf, 6, target_system);
_mav_put_uint8_t(buf, 7, target_component);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
#else
mavlink_set_mag_offsets_t *packet = (mavlink_set_mag_offsets_t *)msgbuf;
packet->mag_ofs_x = mag_ofs_x;
packet->mag_ofs_y = mag_ofs_y;
packet->mag_ofs_z = mag_ofs_z;
packet->target_system = target_system;
packet->target_component = target_component;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE SET_MAG_OFFSETS UNPACKING

52
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h
View File

@ -256,6 +256,58 @@ static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll,
#endif
}
#if MAVLINK_MSG_ID_SIMSTATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_simstate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, xacc);
_mav_put_float(buf, 16, yacc);
_mav_put_float(buf, 20, zacc);
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lng);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
#else
mavlink_simstate_t *packet = (mavlink_simstate_t *)msgbuf;
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
packet->xacc = xacc;
packet->yacc = yacc;
packet->zacc = zacc;
packet->xgyro = xgyro;
packet->ygyro = ygyro;
packet->zgyro = zgyro;
packet->lat = lat;
packet->lng = lng;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)packet, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE SIMSTATE UNPACKING

36
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
View File

@ -168,6 +168,42 @@ static inline void mavlink_msg_wind_send(mavlink_channel_t chan, float direction
#endif
}
#if MAVLINK_MSG_ID_WIND_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_wind_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float direction, float speed, float speed_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, direction);
_mav_put_float(buf, 4, speed);
_mav_put_float(buf, 8, speed_z);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, MAVLINK_MSG_ID_WIND_LEN);
#endif
#else
mavlink_wind_t *packet = (mavlink_wind_t *)msgbuf;
packet->direction = direction;
packet->speed = speed;
packet->speed_z = speed_z;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)packet, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)packet, MAVLINK_MSG_ID_WIND_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE WIND UNPACKING

54
mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h
View File

@ -1398,6 +1398,59 @@ static void mavlink_test_rally_fetch_point(uint8_t system_id, uint8_t component_
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_compassmot_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_compassmot_status_t packet_in = {
17.0,
}45.0,
}73.0,
}101.0,
}18067,
}18171,
};
mavlink_compassmot_status_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.current = packet_in.current;
packet1.CompensationX = packet_in.CompensationX;
packet1.CompensationY = packet_in.CompensationY;
packet1.CompensationZ = packet_in.CompensationZ;
packet1.throttle = packet_in.throttle;
packet1.interference = packet_in.interference;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_compassmot_status_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_compassmot_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_compassmot_status_pack(system_id, component_id, &msg , packet1.throttle , packet1.current , packet1.interference , packet1.CompensationX , packet1.CompensationY , packet1.CompensationZ );
mavlink_msg_compassmot_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_compassmot_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.throttle , packet1.current , packet1.interference , packet1.CompensationX , packet1.CompensationY , packet1.CompensationZ );
mavlink_msg_compassmot_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_compassmot_status_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_compassmot_status_send(MAVLINK_COMM_1 , packet1.throttle , packet1.current , packet1.interference , packet1.CompensationX , packet1.CompensationY , packet1.CompensationZ );
mavlink_msg_compassmot_status_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ahrs2(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
@ -1479,6 +1532,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_airspeed_autocal(system_id, component_id, last_msg);
mavlink_test_rally_point(system_id, component_id, last_msg);
mavlink_test_rally_fetch_point(system_id, component_id, last_msg);
mavlink_test_compassmot_status(system_id, component_id, last_msg);
mavlink_test_ahrs2(system_id, component_id, last_msg);
}

2
mavlink/include/mavlink/v1.0/ardupilotmega/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Feb 4 15:27:33 2014"
#define MAVLINK_BUILD_DATE "Sun Apr 13 09:37:48 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

17
mavlink/include/mavlink/v1.0/autoquad/autoquad.h
View File

File diff suppressed because one or more lines are too long

72
mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h
View File

@ -366,6 +366,78 @@ static inline void mavlink_msg_aq_telemetry_f_send(mavlink_channel_t chan, uint1
#endif
}
#if MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_aq_telemetry_f_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t Index, float value1, float value2, float value3, float value4, float value5, float value6, float value7, float value8, float value9, float value10, float value11, float value12, float value13, float value14, float value15, float value16, float value17, float value18, float value19, float value20)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, value1);
_mav_put_float(buf, 4, value2);
_mav_put_float(buf, 8, value3);
_mav_put_float(buf, 12, value4);
_mav_put_float(buf, 16, value5);
_mav_put_float(buf, 20, value6);
_mav_put_float(buf, 24, value7);
_mav_put_float(buf, 28, value8);
_mav_put_float(buf, 32, value9);
_mav_put_float(buf, 36, value10);
_mav_put_float(buf, 40, value11);
_mav_put_float(buf, 44, value12);
_mav_put_float(buf, 48, value13);
_mav_put_float(buf, 52, value14);
_mav_put_float(buf, 56, value15);
_mav_put_float(buf, 60, value16);
_mav_put_float(buf, 64, value17);
_mav_put_float(buf, 68, value18);
_mav_put_float(buf, 72, value19);
_mav_put_float(buf, 76, value20);
_mav_put_uint16_t(buf, 80, Index);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
#endif
#else
mavlink_aq_telemetry_f_t *packet = (mavlink_aq_telemetry_f_t *)msgbuf;
packet->value1 = value1;
packet->value2 = value2;
packet->value3 = value3;
packet->value4 = value4;
packet->value5 = value5;
packet->value6 = value6;
packet->value7 = value7;
packet->value8 = value8;
packet->value9 = value9;
packet->value10 = value10;
packet->value11 = value11;
packet->value12 = value12;
packet->value13 = value13;
packet->value14 = value14;
packet->value15 = value15;
packet->value16 = value16;
packet->value17 = value17;
packet->value18 = value18;
packet->value19 = value19;
packet->value20 = value20;
packet->Index = Index;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, (const char *)packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, (const char *)packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE AQ_TELEMETRY_F UNPACKING

2
mavlink/include/mavlink/v1.0/autoquad/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Feb 4 15:27:43 2014"
#define MAVLINK_BUILD_DATE "Sun Apr 13 09:38:19 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

2
mavlink/include/mavlink/v1.0/checksum.h
View File

@ -73,7 +73,7 @@ static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint16_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {

128
mavlink/include/mavlink/v1.0/common/common.h
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File diff suppressed because one or more lines are too long

44
mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
View File

@ -212,6 +212,50 @@ static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t ti
#endif
}
#if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll);
_mav_put_float(buf, 8, pitch);
_mav_put_float(buf, 12, yaw);
_mav_put_float(buf, 16, rollspeed);
_mav_put_float(buf, 20, pitchspeed);
_mav_put_float(buf, 24, yawspeed);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
#else
mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
packet->time_boot_ms = time_boot_ms;
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
packet->rollspeed = rollspeed;
packet->pitchspeed = pitchspeed;
packet->yawspeed = yawspeed;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE ATTITUDE UNPACKING

46
mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h
View File

@ -223,6 +223,52 @@ static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan,
#endif
}
#if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, q1);
_mav_put_float(buf, 8, q2);
_mav_put_float(buf, 12, q3);
_mav_put_float(buf, 16, q4);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
#else
mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf;
packet->time_boot_ms = time_boot_ms;
packet->q1 = q1;
packet->q2 = q2;
packet->q3 = q3;
packet->q4 = q4;
packet->rollspeed = rollspeed;
packet->pitchspeed = pitchspeed;
packet->yawspeed = yawspeed;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE ATTITUDE_QUATERNION UNPACKING

32
mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h
View File

@ -146,6 +146,38 @@ static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char
#endif
}
#if MAVLINK_MSG_ID_AUTH_KEY_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_auth_key_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *key)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_char_array(buf, 0, key, 32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
#else
mavlink_auth_key_t *packet = (mavlink_auth_key_t *)msgbuf;
mav_array_memcpy(packet->key, key, sizeof(char)*32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)packet, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)packet, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE AUTH_KEY UNPACKING

52
mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h
View File

@ -256,6 +256,58 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8
#endif
}
#if MAVLINK_MSG_ID_BATTERY_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_battery_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_int32_t(buf, 0, current_consumed);
_mav_put_int32_t(buf, 4, energy_consumed);
_mav_put_uint16_t(buf, 8, voltage_cell_1);
_mav_put_uint16_t(buf, 10, voltage_cell_2);
_mav_put_uint16_t(buf, 12, voltage_cell_3);
_mav_put_uint16_t(buf, 14, voltage_cell_4);
_mav_put_uint16_t(buf, 16, voltage_cell_5);
_mav_put_uint16_t(buf, 18, voltage_cell_6);
_mav_put_int16_t(buf, 20, current_battery);
_mav_put_uint8_t(buf, 22, accu_id);
_mav_put_int8_t(buf, 23, battery_remaining);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
#else
mavlink_battery_status_t *packet = (mavlink_battery_status_t *)msgbuf;
packet->current_consumed = current_consumed;
packet->energy_consumed = energy_consumed;
packet->voltage_cell_1 = voltage_cell_1;
packet->voltage_cell_2 = voltage_cell_2;
packet->voltage_cell_3 = voltage_cell_3;
packet->voltage_cell_4 = voltage_cell_4;
packet->voltage_cell_5 = voltage_cell_5;
packet->voltage_cell_6 = voltage_cell_6;
packet->current_battery = current_battery;
packet->accu_id = accu_id;
packet->battery_remaining = battery_remaining;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE BATTERY_STATUS UNPACKING

36
mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h
View File

@ -173,6 +173,42 @@ static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t ch
#endif
}
#if MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_change_operator_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, version);
_mav_put_char_array(buf, 3, passkey, 25);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
#else
mavlink_change_operator_control_t *packet = (mavlink_change_operator_control_t *)msgbuf;
packet->target_system = target_system;
packet->control_request = control_request;
packet->version = version;
mav_array_memcpy(packet->passkey, passkey, sizeof(char)*25);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING

36
mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h
View File

@ -168,6 +168,42 @@ static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_
#endif
}
#if MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_change_operator_control_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, gcs_system_id);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, ack);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
#else
mavlink_change_operator_control_ack_t *packet = (mavlink_change_operator_control_ack_t *)msgbuf;
packet->gcs_system_id = gcs_system_id;
packet->control_request = control_request;
packet->ack = ack;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING

34
mavlink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h
View File

@ -157,6 +157,40 @@ static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t
#endif
}
#if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t command, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, command);
_mav_put_uint8_t(buf, 2, result);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
#else
mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf;
packet->command = command;
packet->result = result;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE COMMAND_ACK UNPACKING

52
mavlink/include/mavlink/v1.0/common/mavlink_msg_command_long.h
View File

@ -256,6 +256,58 @@ static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t
#endif
}
#if MAVLINK_MSG_ID_COMMAND_LONG_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_command_long_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_float(buf, 16, param5);
_mav_put_float(buf, 20, param6);
_mav_put_float(buf, 24, param7);
_mav_put_uint16_t(buf, 28, command);
_mav_put_uint8_t(buf, 30, target_system);
_mav_put_uint8_t(buf, 31, target_component);
_mav_put_uint8_t(buf, 32, confirmation);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
#else
mavlink_command_long_t *packet = (mavlink_command_long_t *)msgbuf;
packet->param1 = param1;
packet->param2 = param2;
packet->param3 = param3;
packet->param4 = param4;
packet->param5 = param5;
packet->param6 = param6;
packet->param7 = param7;
packet->command = command;
packet->target_system = target_system;
packet->target_component = target_component;
packet->confirmation = confirmation;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE COMMAND_LONG UNPACKING

36
mavlink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h
View File

@ -168,6 +168,42 @@ static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t
#endif
}
#if MAVLINK_MSG_ID_DATA_STREAM_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data_stream_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, message_rate);
_mav_put_uint8_t(buf, 2, stream_id);
_mav_put_uint8_t(buf, 3, on_off);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
#else
mavlink_data_stream_t *packet = (mavlink_data_stream_t *)msgbuf;
packet->message_rate = message_rate;
packet->stream_id = stream_id;
packet->on_off = on_off;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA_STREAM UNPACKING

44
mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h
View File

@ -212,6 +212,50 @@ static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_
#endif
}
#if MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data_transmission_handshake_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint16_t packets, uint8_t payload, uint8_t jpg_quality)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, size);
_mav_put_uint16_t(buf, 4, width);
_mav_put_uint16_t(buf, 6, height);
_mav_put_uint16_t(buf, 8, packets);
_mav_put_uint8_t(buf, 10, type);
_mav_put_uint8_t(buf, 11, payload);
_mav_put_uint8_t(buf, 12, jpg_quality);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
#endif
#else
mavlink_data_transmission_handshake_t *packet = (mavlink_data_transmission_handshake_t *)msgbuf;
packet->size = size;
packet->width = width;
packet->height = height;
packet->packets = packets;
packet->type = type;
packet->payload = payload;
packet->jpg_quality = jpg_quality;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA_TRANSMISSION_HANDSHAKE UNPACKING

36
mavlink/include/mavlink/v1.0/common/mavlink_msg_debug.h
View File

@ -168,6 +168,42 @@ static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_
#endif
}
#if MAVLINK_MSG_ID_DEBUG_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_debug_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, value);
_mav_put_uint8_t(buf, 8, ind);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN);
#endif
#else
mavlink_debug_t *packet = (mavlink_debug_t *)msgbuf;
packet->time_boot_ms = time_boot_ms;
packet->value = value;
packet->ind = ind;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DEBUG UNPACKING

38
mavlink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h
View File

@ -184,6 +184,44 @@ static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const cha
#endif
}
#if MAVLINK_MSG_ID_DEBUG_VECT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_debug_vect_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_char_array(buf, 20, name, 10);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
#else
mavlink_debug_vect_t *packet = (mavlink_debug_vect_t *)msgbuf;
packet->time_usec = time_usec;
packet->x = x;
packet->y = y;
packet->z = z;
mav_array_memcpy(packet->name, name, sizeof(char)*10);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DEBUG_VECT UNPACKING

377
mavlink/include/mavlink/v1.0/common/mavlink_msg_distance_sensor.h Normal file
View File

@ -0,0 +1,377 @@
// MESSAGE DISTANCE_SENSOR PACKING
#define MAVLINK_MSG_ID_DISTANCE_SENSOR 132
typedef struct __mavlink_distance_sensor_t
{
uint32_t time_boot_ms; ///< Time since system boot
uint16_t min_distance; ///< Minimum distance the sensor can measure in centimeters
uint16_t max_distance; ///< Maximum distance the sensor can measure in centimeters
uint16_t current_distance; ///< Current distance reading
uint8_t type; ///< Type from MAV_DISTANCE_SENSOR enum.
uint8_t id; ///< Onboard ID of the sensor
uint8_t orientation; ///< Direction the sensor faces from FIXME enum.
uint8_t covariance; ///< Measurement covariance in centimeters, 0 for unknown / invalid readings
} mavlink_distance_sensor_t;
#define MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN 14
#define MAVLINK_MSG_ID_132_LEN 14
#define MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC 85
#define MAVLINK_MSG_ID_132_CRC 85
#define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \
"DISTANCE_SENSOR", \
8, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \
{ "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \
{ "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \
{ "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \
{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \
{ "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \
{ "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \
{ "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \
} \
}
/**
* @brief Pack a distance_sensor message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_boot_ms Time since system boot
* @param type Type from MAV_DISTANCE_SENSOR enum.
* @param id Onboard ID of the sensor
* @param orientation Direction the sensor faces from FIXME enum.
* @param min_distance Minimum distance the sensor can measure in centimeters
* @param max_distance Maximum distance the sensor can measure in centimeters
* @param current_distance Current distance reading
* @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_uint16_t(buf, 4, min_distance);
_mav_put_uint16_t(buf, 6, max_distance);
_mav_put_uint16_t(buf, 8, current_distance);
_mav_put_uint8_t(buf, 10, type);
_mav_put_uint8_t(buf, 11, id);
_mav_put_uint8_t(buf, 12, orientation);
_mav_put_uint8_t(buf, 13, covariance);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#else
mavlink_distance_sensor_t packet;
packet.time_boot_ms = time_boot_ms;
packet.min_distance = min_distance;
packet.max_distance = max_distance;
packet.current_distance = current_distance;
packet.type = type;
packet.id = id;
packet.orientation = orientation;
packet.covariance = covariance;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
}
/**
* @brief Pack a distance_sensor message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Time since system boot
* @param type Type from MAV_DISTANCE_SENSOR enum.
* @param id Onboard ID of the sensor
* @param orientation Direction the sensor faces from FIXME enum.
* @param min_distance Minimum distance the sensor can measure in centimeters
* @param max_distance Maximum distance the sensor can measure in centimeters
* @param current_distance Current distance reading
* @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_distance_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,uint8_t type,uint8_t id,uint8_t orientation,uint16_t min_distance,uint16_t max_distance,uint16_t current_distance,uint8_t covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_uint16_t(buf, 4, min_distance);
_mav_put_uint16_t(buf, 6, max_distance);
_mav_put_uint16_t(buf, 8, current_distance);
_mav_put_uint8_t(buf, 10, type);
_mav_put_uint8_t(buf, 11, id);
_mav_put_uint8_t(buf, 12, orientation);
_mav_put_uint8_t(buf, 13, covariance);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#else
mavlink_distance_sensor_t packet;
packet.time_boot_ms = time_boot_ms;
packet.min_distance = min_distance;
packet.max_distance = max_distance;
packet.current_distance = current_distance;
packet.type = type;
packet.id = id;
packet.orientation = orientation;
packet.covariance = covariance;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
}
/**
* @brief Encode a distance_sensor struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param distance_sensor C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_distance_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor)
{
return mavlink_msg_distance_sensor_pack(system_id, component_id, msg, distance_sensor->time_boot_ms, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->covariance);
}
/**
* @brief Encode a distance_sensor struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param distance_sensor C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor)
{
return mavlink_msg_distance_sensor_pack_chan(system_id, component_id, chan, msg, distance_sensor->time_boot_ms, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->covariance);
}
/**
* @brief Send a distance_sensor message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Time since system boot
* @param type Type from MAV_DISTANCE_SENSOR enum.
* @param id Onboard ID of the sensor
* @param orientation Direction the sensor faces from FIXME enum.
* @param min_distance Minimum distance the sensor can measure in centimeters
* @param max_distance Maximum distance the sensor can measure in centimeters
* @param current_distance Current distance reading
* @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_uint16_t(buf, 4, min_distance);
_mav_put_uint16_t(buf, 6, max_distance);
_mav_put_uint16_t(buf, 8, current_distance);
_mav_put_uint8_t(buf, 10, type);
_mav_put_uint8_t(buf, 11, id);
_mav_put_uint8_t(buf, 12, orientation);
_mav_put_uint8_t(buf, 13, covariance);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
#else
mavlink_distance_sensor_t packet;
packet.time_boot_ms = time_boot_ms;
packet.min_distance = min_distance;
packet.max_distance = max_distance;
packet.current_distance = current_distance;
packet.type = type;
packet.id = id;
packet.orientation = orientation;
packet.covariance = covariance;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_distance_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_uint16_t(buf, 4, min_distance);
_mav_put_uint16_t(buf, 6, max_distance);
_mav_put_uint16_t(buf, 8, current_distance);
_mav_put_uint8_t(buf, 10, type);
_mav_put_uint8_t(buf, 11, id);
_mav_put_uint8_t(buf, 12, orientation);
_mav_put_uint8_t(buf, 13, covariance);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
#else
mavlink_distance_sensor_t *packet = (mavlink_distance_sensor_t *)msgbuf;
packet->time_boot_ms = time_boot_ms;
packet->min_distance = min_distance;
packet->max_distance = max_distance;
packet->current_distance = current_distance;
packet->type = type;
packet->id = id;
packet->orientation = orientation;
packet->covariance = covariance;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DISTANCE_SENSOR UNPACKING
/**
* @brief Get field time_boot_ms from distance_sensor message
*
* @return Time since system boot
*/
static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field type from distance_sensor message
*
* @return Type from MAV_DISTANCE_SENSOR enum.
*/
static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 10);
}
/**
* @brief Get field id from distance_sensor message
*
* @return Onboard ID of the sensor
*/
static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 11);
}
/**
* @brief Get field orientation from distance_sensor message
*
* @return Direction the sensor faces from FIXME enum.
*/
static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 12);
}
/**
* @brief Get field min_distance from distance_sensor message
*
* @return Minimum distance the sensor can measure in centimeters
*/
static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field max_distance from distance_sensor message
*
* @return Maximum distance the sensor can measure in centimeters
*/
static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
* @brief Get field current_distance from distance_sensor message
*
* @return Current distance reading
*/
static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
* @brief Get field covariance from distance_sensor message
*
* @return Measurement covariance in centimeters, 0 for unknown / invalid readings
*/
static inline uint8_t mavlink_msg_distance_sensor_get_covariance(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 13);
}
/**
* @brief Decode a distance_sensor message into a struct
*
* @param msg The message to decode
* @param distance_sensor C-struct to decode the message contents into
*/
static inline void mavlink_msg_distance_sensor_decode(const mavlink_message_t* msg, mavlink_distance_sensor_t* distance_sensor)
{
#if MAVLINK_NEED_BYTE_SWAP
distance_sensor->time_boot_ms = mavlink_msg_distance_sensor_get_time_boot_ms(msg);
distance_sensor->min_distance = mavlink_msg_distance_sensor_get_min_distance(msg);
distance_sensor->max_distance = mavlink_msg_distance_sensor_get_max_distance(msg);
distance_sensor->current_distance = mavlink_msg_distance_sensor_get_current_distance(msg);
distance_sensor->type = mavlink_msg_distance_sensor_get_type(msg);
distance_sensor->id = mavlink_msg_distance_sensor_get_id(msg);
distance_sensor->orientation = mavlink_msg_distance_sensor_get_orientation(msg);
distance_sensor->covariance = mavlink_msg_distance_sensor_get_covariance(msg);
#else
memcpy(distance_sensor, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN);
#endif
}

32
mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h
View File

@ -151,6 +151,38 @@ static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, ui
#endif
}
#if MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_encapsulated_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, seqnr);
_mav_put_uint8_t_array(buf, 2, data, 253);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
#endif
#else
mavlink_encapsulated_data_t *packet = (mavlink_encapsulated_data_t *)msgbuf;
packet->seqnr = seqnr;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*253);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE ENCAPSULATED_DATA UNPACKING

34
mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h
View File

@ -162,6 +162,40 @@ static inline void mavlink_msg_file_transfer_dir_list_send(mavlink_channel_t cha
#endif
}
#if MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_file_transfer_dir_list_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t transfer_uid, const char *dir_path, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 248, flags);
_mav_put_char_array(buf, 8, dir_path, 240);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
#else
mavlink_file_transfer_dir_list_t *packet = (mavlink_file_transfer_dir_list_t *)msgbuf;
packet->transfer_uid = transfer_uid;
packet->flags = flags;
mav_array_memcpy(packet->dir_path, dir_path, sizeof(char)*240);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE FILE_TRANSFER_DIR_LIST UNPACKING

34
mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h
View File

@ -157,6 +157,40 @@ static inline void mavlink_msg_file_transfer_res_send(mavlink_channel_t chan, ui
#endif
}
#if MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_file_transfer_res_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t transfer_uid, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 8, result);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
#else
mavlink_file_transfer_res_t *packet = (mavlink_file_transfer_res_t *)msgbuf;
packet->transfer_uid = transfer_uid;
packet->result = result;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE FILE_TRANSFER_RES UNPACKING

38
mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h
View File

@ -184,6 +184,44 @@ static inline void mavlink_msg_file_transfer_start_send(mavlink_channel_t chan,
#endif
}
#if MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_file_transfer_start_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t transfer_uid, const char *dest_path, uint8_t direction, uint32_t file_size, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint32_t(buf, 8, file_size);
_mav_put_uint8_t(buf, 252, direction);
_mav_put_uint8_t(buf, 253, flags);
_mav_put_char_array(buf, 12, dest_path, 240);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
#else
mavlink_file_transfer_start_t *packet = (mavlink_file_transfer_start_t *)msgbuf;
packet->transfer_uid = transfer_uid;
packet->file_size = file_size;
packet->direction = direction;
packet->flags = flags;
mav_array_memcpy(packet->dest_path, dest_path, sizeof(char)*240);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE FILE_TRANSFER_START UNPACKING

48
mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h
View File

@ -234,6 +234,54 @@ static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan,
#endif
}
#if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int32_t(buf, 4, lat);
_mav_put_int32_t(buf, 8, lon);
_mav_put_int32_t(buf, 12, alt);
_mav_put_int32_t(buf, 16, relative_alt);
_mav_put_int16_t(buf, 20, vx);
_mav_put_int16_t(buf, 22, vy);
_mav_put_int16_t(buf, 24, vz);
_mav_put_uint16_t(buf, 26, hdg);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
#else
mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf;
packet->time_boot_ms = time_boot_ms;
packet->lat = lat;
packet->lon = lon;
packet->alt = alt;
packet->relative_alt = relative_alt;
packet->vx = vx;
packet->vy = vy;
packet->vz = vz;
packet->hdg = hdg;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE GLOBAL_POSITION_INT UNPACKING

40
mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h
View File

@ -190,6 +190,46 @@ static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel
#endif
}
#if MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_global_position_setpoint_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_int16_t(buf, 12, yaw);
_mav_put_uint8_t(buf, 14, coordinate_frame);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
#else
mavlink_global_position_setpoint_int_t *packet = (mavlink_global_position_setpoint_int_t *)msgbuf;
packet->latitude = latitude;
packet->longitude = longitude;
packet->altitude = altitude;
packet->yaw = yaw;
packet->coordinate_frame = coordinate_frame;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE GLOBAL_POSITION_SETPOINT_INT UNPACKING

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