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MAVLink 2.0: Take a first stab at integration, enable heartbeat packets

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This commit is contained in:
Lorenz Meier
2016-05-19 20:13:32 +02:00
parent c67907ffb2
commit 6eccfe3d14
5 changed files with 44 additions and 33 deletions
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src/modules/mavlink/mavlink_bridge_header.h
+3 -8
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@@ -44,12 +44,7 @@
__BEGIN_DECLS
/*
* We are NOT using convenience functions,
* but instead send messages with a custom function.
* So we do NOT do this:
* #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
*/
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
/* use efficient approach, see mavlink_helpers.h */
#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
@@ -57,7 +52,7 @@ __BEGIN_DECLS
#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
#include <v1.0/mavlink_types.h>
#include <v2.0/mavlink_types.h>
#include <unistd.h>
@@ -84,7 +79,7 @@ void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int leng
extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
#include <v1.0/common/mavlink.h>
#include <v2.0/common/mavlink.h>
__END_DECLS