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Merge remote-tracking branch 'upstream/control_groups' into fw_autoland_att_tecs_navigator_termination_controlgroups

Browse Source 
Conflicts:
	src/systemcmds/tests/module.mk
	src/systemcmds/tests/tests.h
This commit is contained in:
Thomas Gubler
2013-12-23 11:13:42 +01:00
parent 23d0c6f8dd f617689094
commit 68d8230e78
59 changed files with 4754 additions and 1189 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rc.sensors
+11 -5
View File
@@ -19,12 +19,18 @@ fi
if mpu6000 start
then
echo "using MPU6000"
set BOARD fmuv1
else
echo "using L3GD20 and LSM303D"
l3gd20 start
lsm303d start
fi
if l3gd20 start
then
echo "using L3GD20(H)"
fi
if lsm303d start
then
set BOARD fmuv2
else
set BOARD fmuv1
fi
# Start airspeed sensors
ROMFS/px4fmu_common/init.d/rcS
Executable → Regular
+39 -14
View File
@@ -8,6 +8,8 @@
#
set MODE autostart
set logfile /fs/microsd/bootlog.txt
#
# Try to mount the microSD card.
#
@@ -152,26 +154,49 @@ then
nshterm /dev/ttyACM0 &
fi
#
# Upgrade PX4IO firmware
#
if px4io detect
then
echo "PX4IO running, not upgrading"
else
echo "Attempting to upgrade PX4IO"
if px4io update
then
if [ -d /fs/microsd ]
then
echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
fi
# Allow IO to safely kick back to app
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set io_file /etc/extras/px4io-v2_default.bin
else
set io_file /etc/extras/px4io-v1_default.bin
fi
if px4io start
then
echo "PX4IO OK"
echo "PX4IO OK" >> $logfile
fi
if px4io checkcrc $io_file
then
echo "PX4IO CRC OK"
echo "PX4IO CRC OK" >> $logfile
else
echo "PX4IO CRC failure"
echo "PX4IO CRC failure" >> $logfile
tone_alarm MBABGP
if px4io forceupdate 14662 $io_file
then
usleep 200000
if px4io start
then
echo "PX4IO restart OK"
echo "PX4IO restart OK" >> $logfile
tone_alarm MSPAA
else
echo "PX4IO restart failed"
echo "PX4IO restart failed" >> $logfile
tone_alarm MNGGG
sh /etc/init.d/rc.error
fi
else
echo "No PX4IO to upgrade here"
echo "PX4IO update failed"
echo "PX4IO update failed" >> $logfile
tone_alarm MNGGG
fi
fi
ROMFS/px4fmu_logging/init.d/rcS
+88
View File
@@ -0,0 +1,88 @@
#!nsh
#
# PX4FMU startup script for logging purposes
#
#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm error
fi
uorb start
#
# Start sensor drivers here.
#
ms5611 start
adc start
# mag might be external
if hmc5883 start
then
echo "using HMC5883"
fi
if mpu6000 start
then
echo "using MPU6000"
fi
if l3gd20 start
then
echo "using L3GD20(H)"
fi
if lsm303d start
then
set BOARD fmuv2
else
set BOARD fmuv1
fi
# Start airspeed sensors
if meas_airspeed start
then
echo "using MEAS airspeed sensor"
else
if ets_airspeed start
then
echo "using ETS airspeed sensor (bus 3)"
else
if ets_airspeed start -b 1
then
echo "Using ETS airspeed sensor (bus 1)"
fi
fi
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
# ALWAYS start this task before the
# preflight_check.
#
if sensors start
then
echo "SENSORS STARTED"
fi
sdlog2 start -r 250 -e -b 16
if sercon
then
echo "[init] USB interface connected"
# Try to get an USB console
nshterm /dev/ttyACM0 &
fi
ROMFS/px4fmu_test/init.d/rcS
Executable → Regular
+8
View File
@@ -2,3 +2,11 @@
#
# PX4FMU startup script for test hackery.
#
if sercon
then
echo "[init] USB interface connected"
# Try to get an USB console
nshterm /dev/ttyACM0 &
fi
makefiles/config_px4fmu-v2_default.mk
+1
View File
@@ -21,6 +21,7 @@ MODULES += drivers/px4fmu
MODULES += drivers/px4io
MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/rgbled
MODULES += drivers/mpu6000
MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
makefiles/config_px4fmu-v2_logging.mk
+157
View File
@@ -0,0 +1,157 @@
#
# Makefile for the px4fmu_default configuration
#
#
# Use the configuration's ROMFS, copy the px4iov2 firmware into
# the ROMFS if it's available
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_logging
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
#
# 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/px4io
MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/rgbled
MODULES += drivers/mpu6000
MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/roboclaw
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += modules/sensors
# Needs to be burned to the ground and re-written; for now,
# just don't build it.
#MODULES += drivers/mkblctrl
#
# System commands
#
MODULES += systemcmds/ramtron
MODULES += systemcmds/bl_update
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/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
#
# General system control
#
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
#
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/att_pos_estimator_ekf
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control
MODULES += modules/multirotor_pos_control
#
# Logging
#
MODULES += modules/sdlog2
#
# Unit tests
#
#MODULES += modules/unit_test
#MODULES += modules/commander/commander_tests
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/controllib
MODULES += modules/uORB
#
# Libraries
#
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/conversion
#
# 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
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main )
mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
+19 -4
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File diff suppressed because one or more lines are too long
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h
+221
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@@ -0,0 +1,221 @@
// MESSAGE RALLY_FETCH_POINT PACKING
#define MAVLINK_MSG_ID_RALLY_FETCH_POINT 176
typedef struct __mavlink_rally_fetch_point_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t idx; ///< point index (first point is 0)
} mavlink_rally_fetch_point_t;
#define MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN 3
#define MAVLINK_MSG_ID_176_LEN 3
#define MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC 234
#define MAVLINK_MSG_ID_176_CRC 234
#define MAVLINK_MESSAGE_INFO_RALLY_FETCH_POINT { \
"RALLY_FETCH_POINT", \
3, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_rally_fetch_point_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_rally_fetch_point_t, target_component) }, \
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_rally_fetch_point_t, idx) }, \
} \
}
/**
* @brief Pack a rally_fetch_point 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 target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rally_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#else
mavlink_rally_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RALLY_FETCH_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
}
/**
* @brief Pack a rally_fetch_point 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 target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rally_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component,uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#else
mavlink_rally_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RALLY_FETCH_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
}
/**
* @brief Encode a rally_fetch_point 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 rally_fetch_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rally_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_fetch_point_t* rally_fetch_point)
{
return mavlink_msg_rally_fetch_point_pack(system_id, component_id, msg, rally_fetch_point->target_system, rally_fetch_point->target_component, rally_fetch_point->idx);
}
/**
* @brief Encode a rally_fetch_point 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 rally_fetch_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rally_fetch_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_fetch_point_t* rally_fetch_point)
{
return mavlink_msg_rally_fetch_point_pack_chan(system_id, component_id, chan, msg, rally_fetch_point->target_system, rally_fetch_point->target_component, rally_fetch_point->idx);
}
/**
* @brief Send a rally_fetch_point message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_rally_fetch_point_send(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[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
_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;
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
// MESSAGE RALLY_FETCH_POINT UNPACKING
/**
* @brief Get field target_system from rally_fetch_point message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_rally_fetch_point_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from rally_fetch_point message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_rally_fetch_point_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field idx from rally_fetch_point message
*
* @return point index (first point is 0)
*/
static inline uint8_t mavlink_msg_rally_fetch_point_get_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Decode a rally_fetch_point message into a struct
*
* @param msg The message to decode
* @param rally_fetch_point C-struct to decode the message contents into
*/
static inline void mavlink_msg_rally_fetch_point_decode(const mavlink_message_t* msg, mavlink_rally_fetch_point_t* rally_fetch_point)
{
#if MAVLINK_NEED_BYTE_SWAP
rally_fetch_point->target_system = mavlink_msg_rally_fetch_point_get_target_system(msg);
rally_fetch_point->target_component = mavlink_msg_rally_fetch_point_get_target_component(msg);
rally_fetch_point->idx = mavlink_msg_rally_fetch_point_get_idx(msg);
#else
memcpy(rally_fetch_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
}
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h
+375
View File
@@ -0,0 +1,375 @@
// MESSAGE RALLY_POINT PACKING
#define MAVLINK_MSG_ID_RALLY_POINT 175
typedef struct __mavlink_rally_point_t
{
int32_t lat; ///< Latitude of point in degrees * 1E7
int32_t lng; ///< Longitude of point in degrees * 1E7
int16_t alt; ///< Transit / loiter altitude in meters relative to home
int16_t break_alt; ///< Break altitude in meters relative to home
uint16_t land_dir; ///< Heading to aim for when landing. In centi-degrees.
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t idx; ///< point index (first point is 0)
uint8_t count; ///< total number of points (for sanity checking)
uint8_t flags; ///< See RALLY_FLAGS enum for definition of the bitmask.
} mavlink_rally_point_t;
#define MAVLINK_MSG_ID_RALLY_POINT_LEN 19
#define MAVLINK_MSG_ID_175_LEN 19
#define MAVLINK_MSG_ID_RALLY_POINT_CRC 138
#define MAVLINK_MSG_ID_175_CRC 138
#define MAVLINK_MESSAGE_INFO_RALLY_POINT { \
"RALLY_POINT", \
10, \
{ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_rally_point_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_rally_point_t, lng) }, \
{ "alt", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rally_point_t, alt) }, \
{ "break_alt", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rally_point_t, break_alt) }, \
{ "land_dir", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rally_point_t, land_dir) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_rally_point_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_rally_point_t, target_component) }, \
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rally_point_t, idx) }, \
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rally_point_t, count) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_rally_point_t, flags) }, \
} \
}
/**
* @brief Pack a rally_point 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 target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point in degrees * 1E7
* @param lng Longitude of point in degrees * 1E7
* @param alt Transit / loiter altitude in meters relative to home
* @param break_alt Break altitude in meters relative to home
* @param land_dir Heading to aim for when landing. In centi-degrees.
* @param flags See RALLY_FLAGS enum for definition of the bitmask.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rally_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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[MAVLINK_MSG_ID_RALLY_POINT_LEN];
_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);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#else
mavlink_rally_point_t packet;
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;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RALLY_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
}
/**
* @brief Pack a rally_point 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 target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point in degrees * 1E7
* @param lng Longitude of point in degrees * 1E7
* @param alt Transit / loiter altitude in meters relative to home
* @param break_alt Break altitude in meters relative to home
* @param land_dir Heading to aim for when landing. In centi-degrees.
* @param flags See RALLY_FLAGS enum for definition of the bitmask.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rally_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
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[MAVLINK_MSG_ID_RALLY_POINT_LEN];
_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);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#else
mavlink_rally_point_t packet;
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;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RALLY_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
}
/**
* @brief Encode a rally_point 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 rally_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rally_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point)
{
return mavlink_msg_rally_point_pack(system_id, component_id, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
}
/**
* @brief Encode a rally_point 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 rally_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rally_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point)
{
return mavlink_msg_rally_point_pack_chan(system_id, component_id, chan, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
}
/**
* @brief Send a rally_point message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point in degrees * 1E7
* @param lng Longitude of point in degrees * 1E7
* @param alt Transit / loiter altitude in meters relative to home
* @param break_alt Break altitude in meters relative to home
* @param land_dir Heading to aim for when landing. In centi-degrees.
* @param flags See RALLY_FLAGS enum for definition of the bitmask.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_rally_point_send(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[MAVLINK_MSG_ID_RALLY_POINT_LEN];
_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;
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
// MESSAGE RALLY_POINT UNPACKING
/**
* @brief Get field target_system from rally_point message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_rally_point_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field target_component from rally_point message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_rally_point_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 15);
}
/**
* @brief Get field idx from rally_point message
*
* @return point index (first point is 0)
*/
static inline uint8_t mavlink_msg_rally_point_get_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 16);
}
/**
* @brief Get field count from rally_point message
*
* @return total number of points (for sanity checking)
*/
static inline uint8_t mavlink_msg_rally_point_get_count(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 17);
}
/**
* @brief Get field lat from rally_point message
*
* @return Latitude of point in degrees * 1E7
*/
static inline int32_t mavlink_msg_rally_point_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field lng from rally_point message
*
* @return Longitude of point in degrees * 1E7
*/
static inline int32_t mavlink_msg_rally_point_get_lng(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
* @brief Get field alt from rally_point message
*
* @return Transit / loiter altitude in meters relative to home
*/
static inline int16_t mavlink_msg_rally_point_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 8);
}
/**
* @brief Get field break_alt from rally_point message
*
* @return Break altitude in meters relative to home
*/
static inline int16_t mavlink_msg_rally_point_get_break_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 10);
}
/**
* @brief Get field land_dir from rally_point message
*
* @return Heading to aim for when landing. In centi-degrees.
*/
static inline uint16_t mavlink_msg_rally_point_get_land_dir(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
* @brief Get field flags from rally_point message
*
* @return See RALLY_FLAGS enum for definition of the bitmask.
*/
static inline uint8_t mavlink_msg_rally_point_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 18);
}
/**
* @brief Decode a rally_point message into a struct
*
* @param msg The message to decode
* @param rally_point C-struct to decode the message contents into
*/
static inline void mavlink_msg_rally_point_decode(const mavlink_message_t* msg, mavlink_rally_point_t* rally_point)
{
#if MAVLINK_NEED_BYTE_SWAP
rally_point->lat = mavlink_msg_rally_point_get_lat(msg);
rally_point->lng = mavlink_msg_rally_point_get_lng(msg);
rally_point->alt = mavlink_msg_rally_point_get_alt(msg);
rally_point->break_alt = mavlink_msg_rally_point_get_break_alt(msg);
rally_point->land_dir = mavlink_msg_rally_point_get_land_dir(msg);
rally_point->target_system = mavlink_msg_rally_point_get_target_system(msg);
rally_point->target_component = mavlink_msg_rally_point_get_target_component(msg);
rally_point->idx = mavlink_msg_rally_point_get_idx(msg);
rally_point->count = mavlink_msg_rally_point_get_count(msg);
rally_point->flags = mavlink_msg_rally_point_get_flags(msg);
#else
memcpy(rally_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
}
mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h
+227 -117
View File
File diff suppressed because it is too large Load Diff
mavlink/include/mavlink/v1.0/ardupilotmega/version.h
+1 -1
View File
@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:25 2013"
#define MAVLINK_BUILD_DATE "Mon Dec 16 08:56:32 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
mavlink/include/mavlink/v1.0/autoquad/autoquad.h
+3 -3
View File
File diff suppressed because one or more lines are too long
mavlink/include/mavlink/v1.0/autoquad/testsuite.h
+20 -20
View File
@@ -31,26 +31,26 @@ static void mavlink_test_aq_telemetry_f(uint8_t system_id, uint8_t component_id,
uint16_t i;
mavlink_aq_telemetry_f_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
185.0,
213.0,
241.0,
269.0,
297.0,
325.0,
353.0,
381.0,
409.0,
437.0,
465.0,
493.0,
521.0,
549.0,
21395,
}45.0,
}73.0,
}101.0,
}129.0,
}157.0,
}185.0,
}213.0,
}241.0,
}269.0,
}297.0,
}325.0,
}353.0,
}381.0,
}409.0,
}437.0,
}465.0,
}493.0,
}521.0,
}549.0,
}21395,
};
mavlink_aq_telemetry_f_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
mavlink/include/mavlink/v1.0/autoquad/version.h
+1 -1
View File
@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:36 2013"
#define MAVLINK_BUILD_DATE "Mon Dec 16 09:03:20 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
mavlink/include/mavlink/v1.0/common/common.h
+42 -4
View File
File diff suppressed because one or more lines are too long
mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h
+99 -55
View File
@@ -4,6 +4,8 @@
typedef struct __mavlink_battery_status_t
{
int32_t current_consumed; ///< Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
int32_t energy_consumed; ///< Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
uint16_t voltage_cell_1; ///< Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
uint16_t voltage_cell_2; ///< Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_3; ///< Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
@@ -15,26 +17,28 @@ typedef struct __mavlink_battery_status_t
int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
} mavlink_battery_status_t;
#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 16
#define MAVLINK_MSG_ID_147_LEN 16
#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 24
#define MAVLINK_MSG_ID_147_LEN 24
#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 42
#define MAVLINK_MSG_ID_147_CRC 42
#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 177
#define MAVLINK_MSG_ID_147_CRC 177
#define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \
"BATTERY_STATUS", \
9, \
{ { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \
{ "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \
{ "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \
{ "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \
{ "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \
{ "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_battery_status_t, current_battery) }, \
{ "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_battery_status_t, accu_id) }, \
{ "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 15, offsetof(mavlink_battery_status_t, battery_remaining) }, \
11, \
{ { "current_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_battery_status_t, current_consumed) }, \
{ "energy_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_battery_status_t, energy_consumed) }, \
{ "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \
{ "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \
{ "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \
{ "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \
{ "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \
{ "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_battery_status_t, current_battery) }, \
{ "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_battery_status_t, accu_id) }, \
{ "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 23, offsetof(mavlink_battery_status_t, battery_remaining) }, \
} \
}
@@ -53,27 +57,33 @@ typedef struct __mavlink_battery_status_t
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
* @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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, int8_t battery_remaining)
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[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
_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);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#else
mavlink_battery_status_t packet;
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;
@@ -109,28 +119,34 @@ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
* @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
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,int8_t battery_remaining)
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[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
_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);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#else
mavlink_battery_status_t packet;
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;
@@ -162,7 +178,7 @@ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, u
*/
static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
{
return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining);
return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining);
}
/**
@@ -176,7 +192,7 @@ static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint
*/
static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
{
return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining);
return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining);
}
/**
@@ -191,23 +207,27 @@ static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id,
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
* @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_battery_status_send(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, int8_t battery_remaining)
static inline void mavlink_msg_battery_status_send(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[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
_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);
@@ -216,6 +236,8 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8
#endif
#else
mavlink_battery_status_t packet;
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;
@@ -246,7 +268,7 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8
*/
static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
return _MAV_RETURN_uint8_t(msg, 22);
}
/**
@@ -256,7 +278,7 @@ static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_messa
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
@@ -266,7 +288,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavli
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
@@ -276,7 +298,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavli
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
@@ -286,7 +308,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavli
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 6);
return _MAV_RETURN_uint16_t(msg, 14);
}
/**
@@ -296,7 +318,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavli
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
return _MAV_RETURN_uint16_t(msg, 16);
}
/**
@@ -306,7 +328,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavli
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 10);
return _MAV_RETURN_uint16_t(msg, 18);
}
/**
@@ -316,7 +338,27 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavli
*/
static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
return _MAV_RETURN_int16_t(msg, 20);
}
/**
* @brief Get field current_consumed from battery_status message
*
* @return Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
*/
static inline int32_t mavlink_msg_battery_status_get_current_consumed(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field energy_consumed from battery_status message
*
* @return Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
*/
static inline int32_t mavlink_msg_battery_status_get_energy_consumed(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
@@ -326,7 +368,7 @@ static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavli
*/
static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg)
{
return _MAV_RETURN_int8_t(msg, 15);
return _MAV_RETURN_int8_t(msg, 23);
}
/**
@@ -338,6 +380,8 @@ static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavl
static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status)
{
#if MAVLINK_NEED_BYTE_SWAP
battery_status->current_consumed = mavlink_msg_battery_status_get_current_consumed(msg);
battery_status->energy_consumed = mavlink_msg_battery_status_get_energy_consumed(msg);
battery_status->voltage_cell_1 = mavlink_msg_battery_status_get_voltage_cell_1(msg);
battery_status->voltage_cell_2 = mavlink_msg_battery_status_get_voltage_cell_2(msg);
battery_status->voltage_cell_3 = mavlink_msg_battery_status_get_voltage_cell_3(msg);
mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h
+5 -5
View File
@@ -9,7 +9,7 @@ typedef struct __mavlink_gps_raw_int_t
int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
@@ -53,7 +53,7 @@ typedef struct __mavlink_gps_raw_int_t
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
* @param satellites_visible Number of satellites visible. If unknown, set to 255
@@ -112,7 +112,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t c
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
* @param satellites_visible Number of satellites visible. If unknown, set to 255
@@ -197,7 +197,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_encode_chan(uint8_t system_id, ui
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
* @param satellites_visible Number of satellites visible. If unknown, set to 255
@@ -313,7 +313,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t*
/**
* @brief Get field epv from gps_raw_int message
*
* @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
*/
static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
{
mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h
+5 -5
View File
@@ -9,7 +9,7 @@ typedef struct __mavlink_hil_gps_t
int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535
int16_t vn; ///< GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
int16_t ve; ///< GPS velocity in cm/s in EAST direction in earth-fixed NED frame
@@ -59,7 +59,7 @@ typedef struct __mavlink_hil_gps_t
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
* @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
* @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
* @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
@@ -127,7 +127,7 @@ static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t compo
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
* @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
* @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
* @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
@@ -221,7 +221,7 @@ static inline uint16_t mavlink_msg_hil_gps_encode_chan(uint8_t system_id, uint8_
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
* @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
* @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
* @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
@@ -346,7 +346,7 @@ static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg)
/**
* @brief Get field epv from hil_gps message
*
* @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
*/
static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg)
{
mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h
+237
View File
@@ -0,0 +1,237 @@
// MESSAGE LOG_DATA PACKING
#define MAVLINK_MSG_ID_LOG_DATA 120
typedef struct __mavlink_log_data_t
{
uint32_t ofs; ///< Offset into the log
uint16_t id; ///< Log id (from LOG_ENTRY reply)
uint8_t count; ///< Number of bytes (zero for end of log)
uint8_t data[90]; ///< log data
} mavlink_log_data_t;
#define MAVLINK_MSG_ID_LOG_DATA_LEN 97
#define MAVLINK_MSG_ID_120_LEN 97
#define MAVLINK_MSG_ID_LOG_DATA_CRC 134
#define MAVLINK_MSG_ID_120_CRC 134
#define MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN 90
#define MAVLINK_MESSAGE_INFO_LOG_DATA { \
"LOG_DATA", \
4, \
{ { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_data_t, ofs) }, \
{ "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_log_data_t, id) }, \
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_log_data_t, count) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 90, 7, offsetof(mavlink_log_data_t, data) }, \
} \
}
/**
* @brief Pack a log_data 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 id Log id (from LOG_ENTRY reply)
* @param ofs Offset into the log
* @param count Number of bytes (zero for end of log)
* @param data log data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
_mav_put_uint32_t(buf, 0, ofs);
_mav_put_uint16_t(buf, 4, id);
_mav_put_uint8_t(buf, 6, count);
_mav_put_uint8_t_array(buf, 7, data, 90);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
#else
mavlink_log_data_t packet;
packet.ofs = ofs;
packet.id = id;
packet.count = count;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_LEN);
#endif
}
/**
* @brief Pack a log_data 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 id Log id (from LOG_ENTRY reply)
* @param ofs Offset into the log
* @param count Number of bytes (zero for end of log)
* @param data log data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t id,uint32_t ofs,uint8_t count,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
_mav_put_uint32_t(buf, 0, ofs);
_mav_put_uint16_t(buf, 4, id);
_mav_put_uint8_t(buf, 6, count);
_mav_put_uint8_t_array(buf, 7, data, 90);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
#else
mavlink_log_data_t packet;
packet.ofs = ofs;
packet.id = id;
packet.count = count;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_LEN);
#endif
}
/**
* @brief Encode a log_data 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 log_data C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_data_t* log_data)
{
return mavlink_msg_log_data_pack(system_id, component_id, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
}
/**
* @brief Encode a log_data 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 log_data C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_data_t* log_data)
{
return mavlink_msg_log_data_pack_chan(system_id, component_id, chan, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
}
/**
* @brief Send a log_data message
* @param chan MAVLink channel to send the message
*
* @param id Log id (from LOG_ENTRY reply)
* @param ofs Offset into the log
* @param count Number of bytes (zero for end of log)
* @param data log data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_log_data_send(mavlink_channel_t chan, uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
_mav_put_uint32_t(buf, 0, ofs);
_mav_put_uint16_t(buf, 4, id);
_mav_put_uint8_t(buf, 6, count);
_mav_put_uint8_t_array(buf, 7, data, 90);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
#endif
#else
mavlink_log_data_t packet;
packet.ofs = ofs;
packet.id = id;
packet.count = count;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
#endif
#endif
}
#endif
// MESSAGE LOG_DATA UNPACKING
/**
* @brief Get field id from log_data message
*
* @return Log id (from LOG_ENTRY reply)
*/
static inline uint16_t mavlink_msg_log_data_get_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field ofs from log_data message
*
* @return Offset into the log
*/
static inline uint32_t mavlink_msg_log_data_get_ofs(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field count from log_data message
*
* @return Number of bytes (zero for end of log)
*/
static inline uint8_t mavlink_msg_log_data_get_count(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field data from log_data message
*
* @return log data
*/
static inline uint16_t mavlink_msg_log_data_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 90, 7);
}
/**
* @brief Decode a log_data message into a struct
*
* @param msg The message to decode
* @param log_data C-struct to decode the message contents into
*/
static inline void mavlink_msg_log_data_decode(const mavlink_message_t* msg, mavlink_log_data_t* log_data)
{
#if MAVLINK_NEED_BYTE_SWAP
log_data->ofs = mavlink_msg_log_data_get_ofs(msg);
log_data->id = mavlink_msg_log_data_get_id(msg);
log_data->count = mavlink_msg_log_data_get_count(msg);
mavlink_msg_log_data_get_data(msg, log_data->data);
#else
memcpy(log_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_DATA_LEN);
#endif
}
mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h
+265
View File
@@ -0,0 +1,265 @@
// MESSAGE LOG_ENTRY PACKING
#define MAVLINK_MSG_ID_LOG_ENTRY 118
typedef struct __mavlink_log_entry_t
{
uint32_t time_utc; ///< UTC timestamp of log in seconds since 1970, or 0 if not available
uint32_t size; ///< Size of the log (may be approximate) in bytes
uint16_t id; ///< Log id
uint16_t num_logs; ///< Total number of logs
uint16_t last_log_num; ///< High log number
} mavlink_log_entry_t;
#define MAVLINK_MSG_ID_LOG_ENTRY_LEN 14
#define MAVLINK_MSG_ID_118_LEN 14
#define MAVLINK_MSG_ID_LOG_ENTRY_CRC 56
#define MAVLINK_MSG_ID_118_CRC 56
#define MAVLINK_MESSAGE_INFO_LOG_ENTRY { \
"LOG_ENTRY", \
5, \
{ { "time_utc", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_entry_t, time_utc) }, \
{ "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_log_entry_t, size) }, \
{ "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_log_entry_t, id) }, \
{ "num_logs", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_log_entry_t, num_logs) }, \
{ "last_log_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_log_entry_t, last_log_num) }, \
} \
}
/**
* @brief Pack a log_entry 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 id Log id
* @param num_logs Total number of logs
* @param last_log_num High log number
* @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available
* @param size Size of the log (may be approximate) in bytes
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_entry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t id, uint16_t num_logs, uint16_t last_log_num, uint32_t time_utc, uint32_t size)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN];
_mav_put_uint32_t(buf, 0, time_utc);
_mav_put_uint32_t(buf, 4, size);
_mav_put_uint16_t(buf, 8, id);
_mav_put_uint16_t(buf, 10, num_logs);
_mav_put_uint16_t(buf, 12, last_log_num);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#else
mavlink_log_entry_t packet;
packet.time_utc = time_utc;
packet.size = size;
packet.id = id;
packet.num_logs = num_logs;
packet.last_log_num = last_log_num;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_ENTRY;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#endif
}
/**
* @brief Pack a log_entry 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 id Log id
* @param num_logs Total number of logs
* @param last_log_num High log number
* @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available
* @param size Size of the log (may be approximate) in bytes
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_entry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t id,uint16_t num_logs,uint16_t last_log_num,uint32_t time_utc,uint32_t size)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN];
_mav_put_uint32_t(buf, 0, time_utc);
_mav_put_uint32_t(buf, 4, size);
_mav_put_uint16_t(buf, 8, id);
_mav_put_uint16_t(buf, 10, num_logs);
_mav_put_uint16_t(buf, 12, last_log_num);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#else
mavlink_log_entry_t packet;
packet.time_utc = time_utc;
packet.size = size;
packet.id = id;
packet.num_logs = num_logs;
packet.last_log_num = last_log_num;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_ENTRY;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#endif
}
/**
* @brief Encode a log_entry 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 log_entry C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_entry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_entry_t* log_entry)
{
return mavlink_msg_log_entry_pack(system_id, component_id, msg, log_entry->id, log_entry->num_logs, log_entry->last_log_num, log_entry->time_utc, log_entry->size);
}
/**
* @brief Encode a log_entry 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 log_entry C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_entry_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_entry_t* log_entry)
{
return mavlink_msg_log_entry_pack_chan(system_id, component_id, chan, msg, log_entry->id, log_entry->num_logs, log_entry->last_log_num, log_entry->time_utc, log_entry->size);
}
/**
* @brief Send a log_entry message
* @param chan MAVLink channel to send the message
*
* @param id Log id
* @param num_logs Total number of logs
* @param last_log_num High log number
* @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available
* @param size Size of the log (may be approximate) in bytes
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_log_entry_send(mavlink_channel_t chan, uint16_t id, uint16_t num_logs, uint16_t last_log_num, uint32_t time_utc, uint32_t size)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN];
_mav_put_uint32_t(buf, 0, time_utc);
_mav_put_uint32_t(buf, 4, size);
_mav_put_uint16_t(buf, 8, id);
_mav_put_uint16_t(buf, 10, num_logs);
_mav_put_uint16_t(buf, 12, last_log_num);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#endif
#else
mavlink_log_entry_t packet;
packet.time_utc = time_utc;
packet.size = size;
packet.id = id;
packet.num_logs = num_logs;
packet.last_log_num = last_log_num;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, (const char *)&packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, (const char *)&packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#endif
#endif
}
#endif
// MESSAGE LOG_ENTRY UNPACKING
/**
* @brief Get field id from log_entry message
*
* @return Log id
*/
static inline uint16_t mavlink_msg_log_entry_get_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
* @brief Get field num_logs from log_entry message
*
* @return Total number of logs
*/
static inline uint16_t mavlink_msg_log_entry_get_num_logs(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
* @brief Get field last_log_num from log_entry message
*
* @return High log number
*/
static inline uint16_t mavlink_msg_log_entry_get_last_log_num(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
* @brief Get field time_utc from log_entry message
*
* @return UTC timestamp of log in seconds since 1970, or 0 if not available
*/
static inline uint32_t mavlink_msg_log_entry_get_time_utc(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field size from log_entry message
*
* @return Size of the log (may be approximate) in bytes
*/
static inline uint32_t mavlink_msg_log_entry_get_size(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 4);
}
/**
* @brief Decode a log_entry message into a struct
*
* @param msg The message to decode
* @param log_entry C-struct to decode the message contents into
*/
static inline void mavlink_msg_log_entry_decode(const mavlink_message_t* msg, mavlink_log_entry_t* log_entry)
{
#if MAVLINK_NEED_BYTE_SWAP
log_entry->time_utc = mavlink_msg_log_entry_get_time_utc(msg);
log_entry->size = mavlink_msg_log_entry_get_size(msg);
log_entry->id = mavlink_msg_log_entry_get_id(msg);
log_entry->num_logs = mavlink_msg_log_entry_get_num_logs(msg);
log_entry->last_log_num = mavlink_msg_log_entry_get_last_log_num(msg);
#else
memcpy(log_entry, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_ENTRY_LEN);
#endif
}
mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h
+199
View File
@@ -0,0 +1,199 @@
// MESSAGE LOG_ERASE PACKING
#define MAVLINK_MSG_ID_LOG_ERASE 121
typedef struct __mavlink_log_erase_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_log_erase_t;
#define MAVLINK_MSG_ID_LOG_ERASE_LEN 2
#define MAVLINK_MSG_ID_121_LEN 2
#define MAVLINK_MSG_ID_LOG_ERASE_CRC 237
#define MAVLINK_MSG_ID_121_CRC 237
#define MAVLINK_MESSAGE_INFO_LOG_ERASE { \
"LOG_ERASE", \
2, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_log_erase_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_log_erase_t, target_component) }, \
} \
}
/**
* @brief Pack a log_erase 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 target_system System ID
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_erase_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ERASE_LEN);
#else
mavlink_log_erase_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ERASE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_ERASE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ERASE_LEN);
#endif
}
/**
* @brief Pack a log_erase 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 target_system System ID
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_erase_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ERASE_LEN);
#else
mavlink_log_erase_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ERASE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_ERASE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ERASE_LEN);
#endif
}
/**
* @brief Encode a log_erase 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 log_erase C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_erase_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_erase_t* log_erase)
{
return mavlink_msg_log_erase_pack(system_id, component_id, msg, log_erase->target_system, log_erase->target_component);
}
/**
* @brief Encode a log_erase 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 log_erase C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_erase_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_erase_t* log_erase)
{
return mavlink_msg_log_erase_pack_chan(system_id, component_id, chan, msg, log_erase->target_system, log_erase->target_component);
}
/**
* @brief Send a log_erase message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_log_erase_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, buf, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, buf, MAVLINK_MSG_ID_LOG_ERASE_LEN);
#endif
#else
mavlink_log_erase_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, (const char *)&packet, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, (const char *)&packet, MAVLINK_MSG_ID_LOG_ERASE_LEN);
#endif
#endif
}
#endif
// MESSAGE LOG_ERASE UNPACKING
/**
* @brief Get field target_system from log_erase message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_log_erase_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from log_erase message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_log_erase_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Decode a log_erase message into a struct
*
* @param msg The message to decode
* @param log_erase C-struct to decode the message contents into
*/
static inline void mavlink_msg_log_erase_decode(const mavlink_message_t* msg, mavlink_log_erase_t* log_erase)
{
#if MAVLINK_NEED_BYTE_SWAP
log_erase->target_system = mavlink_msg_log_erase_get_target_system(msg);
log_erase->target_component = mavlink_msg_log_erase_get_target_component(msg);
#else
memcpy(log_erase, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_ERASE_LEN);
#endif
}
mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h
+265
View File
@@ -0,0 +1,265 @@
// MESSAGE LOG_REQUEST_DATA PACKING
#define MAVLINK_MSG_ID_LOG_REQUEST_DATA 119
typedef struct __mavlink_log_request_data_t
{
uint32_t ofs; ///< Offset into the log
uint32_t count; ///< Number of bytes
uint16_t id; ///< Log id (from LOG_ENTRY reply)
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_log_request_data_t;
#define MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN 12
#define MAVLINK_MSG_ID_119_LEN 12
#define MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC 116
#define MAVLINK_MSG_ID_119_CRC 116
#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA { \
"LOG_REQUEST_DATA", \
5, \
{ { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_request_data_t, ofs) }, \
{ "count", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_log_request_data_t, count) }, \
{ "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_log_request_data_t, id) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_log_request_data_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_log_request_data_t, target_component) }, \
} \
}
/**
* @brief Pack a log_request_data 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 target_system System ID
* @param target_component Component ID
* @param id Log id (from LOG_ENTRY reply)
* @param ofs Offset into the log
* @param count Number of bytes
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_request_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t id, uint32_t ofs, uint32_t count)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN];
_mav_put_uint32_t(buf, 0, ofs);
_mav_put_uint32_t(buf, 4, count);
_mav_put_uint16_t(buf, 8, id);
_mav_put_uint8_t(buf, 10, target_system);
_mav_put_uint8_t(buf, 11, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#else
mavlink_log_request_data_t packet;
packet.ofs = ofs;
packet.count = count;
packet.id = id;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_DATA;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#endif
}
/**
* @brief Pack a log_request_data 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 target_system System ID
* @param target_component Component ID
* @param id Log id (from LOG_ENTRY reply)
* @param ofs Offset into the log
* @param count Number of bytes
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_request_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component,uint16_t id,uint32_t ofs,uint32_t count)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN];
_mav_put_uint32_t(buf, 0, ofs);
_mav_put_uint32_t(buf, 4, count);
_mav_put_uint16_t(buf, 8, id);
_mav_put_uint8_t(buf, 10, target_system);
_mav_put_uint8_t(buf, 11, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#else
mavlink_log_request_data_t packet;
packet.ofs = ofs;
packet.count = count;
packet.id = id;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_DATA;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#endif
}
/**
* @brief Encode a log_request_data 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 log_request_data C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_request_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_data_t* log_request_data)
{
return mavlink_msg_log_request_data_pack(system_id, component_id, msg, log_request_data->target_system, log_request_data->target_component, log_request_data->id, log_request_data->ofs, log_request_data->count);
}
/**
* @brief Encode a log_request_data 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 log_request_data C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_request_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_data_t* log_request_data)
{
return mavlink_msg_log_request_data_pack_chan(system_id, component_id, chan, msg, log_request_data->target_system, log_request_data->target_component, log_request_data->id, log_request_data->ofs, log_request_data->count);
}
/**
* @brief Send a log_request_data message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param id Log id (from LOG_ENTRY reply)
* @param ofs Offset into the log
* @param count Number of bytes
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_log_request_data_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t id, uint32_t ofs, uint32_t count)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN];
_mav_put_uint32_t(buf, 0, ofs);
_mav_put_uint32_t(buf, 4, count);
_mav_put_uint16_t(buf, 8, id);
_mav_put_uint8_t(buf, 10, target_system);
_mav_put_uint8_t(buf, 11, target_component);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#endif
#else
mavlink_log_request_data_t packet;
packet.ofs = ofs;
packet.count = count;
packet.id = id;
packet.target_system = target_system;
packet.target_component = target_component;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#endif
#endif
}
#endif
// MESSAGE LOG_REQUEST_DATA UNPACKING
/**
* @brief Get field target_system from log_request_data message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_log_request_data_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 10);
}
/**
* @brief Get field target_component from log_request_data message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_log_request_data_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 11);
}
/**
* @brief Get field id from log_request_data message
*
* @return Log id (from LOG_ENTRY reply)
*/
static inline uint16_t mavlink_msg_log_request_data_get_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
* @brief Get field ofs from log_request_data message
*
* @return Offset into the log
*/
static inline uint32_t mavlink_msg_log_request_data_get_ofs(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field count from log_request_data message
*
* @return Number of bytes
*/
static inline uint32_t mavlink_msg_log_request_data_get_count(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 4);
}
/**
* @brief Decode a log_request_data message into a struct
*
* @param msg The message to decode
* @param log_request_data C-struct to decode the message contents into
*/
static inline void mavlink_msg_log_request_data_decode(const mavlink_message_t* msg, mavlink_log_request_data_t* log_request_data)
{
#if MAVLINK_NEED_BYTE_SWAP
log_request_data->ofs = mavlink_msg_log_request_data_get_ofs(msg);
log_request_data->count = mavlink_msg_log_request_data_get_count(msg);
log_request_data->id = mavlink_msg_log_request_data_get_id(msg);
log_request_data->target_system = mavlink_msg_log_request_data_get_target_system(msg);
log_request_data->target_component = mavlink_msg_log_request_data_get_target_component(msg);
#else
memcpy(log_request_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
#endif
}
mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h
+199
View File
@@ -0,0 +1,199 @@
// MESSAGE LOG_REQUEST_END PACKING
#define MAVLINK_MSG_ID_LOG_REQUEST_END 122
typedef struct __mavlink_log_request_end_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_log_request_end_t;
#define MAVLINK_MSG_ID_LOG_REQUEST_END_LEN 2
#define MAVLINK_MSG_ID_122_LEN 2
#define MAVLINK_MSG_ID_LOG_REQUEST_END_CRC 203
#define MAVLINK_MSG_ID_122_CRC 203
#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_END { \
"LOG_REQUEST_END", \
2, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_log_request_end_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_log_request_end_t, target_component) }, \
} \
}
/**
* @brief Pack a log_request_end 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 target_system System ID
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_request_end_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#else
mavlink_log_request_end_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_END;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#endif
}
/**
* @brief Pack a log_request_end 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 target_system System ID
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_request_end_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#else
mavlink_log_request_end_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_END;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#endif
}
/**
* @brief Encode a log_request_end 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 log_request_end C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_request_end_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_end_t* log_request_end)
{
return mavlink_msg_log_request_end_pack(system_id, component_id, msg, log_request_end->target_system, log_request_end->target_component);
}
/**
* @brief Encode a log_request_end 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 log_request_end C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_request_end_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_end_t* log_request_end)
{
return mavlink_msg_log_request_end_pack_chan(system_id, component_id, chan, msg, log_request_end->target_system, log_request_end->target_component);
}
/**
* @brief Send a log_request_end message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_log_request_end_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#endif
#else
mavlink_log_request_end_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#endif
#endif
}
#endif
// MESSAGE LOG_REQUEST_END UNPACKING
/**
* @brief Get field target_system from log_request_end message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_log_request_end_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from log_request_end message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_log_request_end_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Decode a log_request_end message into a struct
*
* @param msg The message to decode
* @param log_request_end C-struct to decode the message contents into
*/
static inline void mavlink_msg_log_request_end_decode(const mavlink_message_t* msg, mavlink_log_request_end_t* log_request_end)
{
#if MAVLINK_NEED_BYTE_SWAP
log_request_end->target_system = mavlink_msg_log_request_end_get_target_system(msg);
log_request_end->target_component = mavlink_msg_log_request_end_get_target_component(msg);
#else
memcpy(log_request_end, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
#endif
}
mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h
+243
View File
@@ -0,0 +1,243 @@
// MESSAGE LOG_REQUEST_LIST PACKING
#define MAVLINK_MSG_ID_LOG_REQUEST_LIST 117
typedef struct __mavlink_log_request_list_t
{
uint16_t start; ///< First log id (0 for first available)
uint16_t end; ///< Last log id (0xffff for last available)
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_log_request_list_t;
#define MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN 6
#define MAVLINK_MSG_ID_117_LEN 6
#define MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC 128
#define MAVLINK_MSG_ID_117_CRC 128
#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST { \
"LOG_REQUEST_LIST", \
4, \
{ { "start", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_log_request_list_t, start) }, \
{ "end", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_log_request_list_t, end) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_log_request_list_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_log_request_list_t, target_component) }, \
} \
}
/**
* @brief Pack a log_request_list 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 target_system System ID
* @param target_component Component ID
* @param start First log id (0 for first available)
* @param end Last log id (0xffff for last available)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t start, uint16_t end)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN];
_mav_put_uint16_t(buf, 0, start);
_mav_put_uint16_t(buf, 2, end);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#else
mavlink_log_request_list_t packet;
packet.start = start;
packet.end = end;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_LIST;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#endif
}
/**
* @brief Pack a log_request_list 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 target_system System ID
* @param target_component Component ID
* @param start First log id (0 for first available)
* @param end Last log id (0xffff for last available)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_log_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component,uint16_t start,uint16_t end)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN];
_mav_put_uint16_t(buf, 0, start);
_mav_put_uint16_t(buf, 2, end);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#else
mavlink_log_request_list_t packet;
packet.start = start;
packet.end = end;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_LIST;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#endif
}
/**
* @brief Encode a log_request_list 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 log_request_list C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_list_t* log_request_list)
{
return mavlink_msg_log_request_list_pack(system_id, component_id, msg, log_request_list->target_system, log_request_list->target_component, log_request_list->start, log_request_list->end);
}
/**
* @brief Encode a log_request_list 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 log_request_list C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_log_request_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_list_t* log_request_list)
{
return mavlink_msg_log_request_list_pack_chan(system_id, component_id, chan, msg, log_request_list->target_system, log_request_list->target_component, log_request_list->start, log_request_list->end);
}
/**
* @brief Send a log_request_list message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param start First log id (0 for first available)
* @param end Last log id (0xffff for last available)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_log_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t start, uint16_t end)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN];
_mav_put_uint16_t(buf, 0, start);
_mav_put_uint16_t(buf, 2, end);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#endif
#else
mavlink_log_request_list_t packet;
packet.start = start;
packet.end = end;
packet.target_system = target_system;
packet.target_component = target_component;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#endif
#endif
}
#endif
// MESSAGE LOG_REQUEST_LIST UNPACKING
/**
* @brief Get field target_system from log_request_list message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_log_request_list_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field target_component from log_request_list message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_log_request_list_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
* @brief Get field start from log_request_list message
*
* @return First log id (0 for first available)
*/
static inline uint16_t mavlink_msg_log_request_list_get_start(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field end from log_request_list message
*
* @return Last log id (0xffff for last available)
*/
static inline uint16_t mavlink_msg_log_request_list_get_end(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
* @brief Decode a log_request_list message into a struct
*
* @param msg The message to decode
* @param log_request_list C-struct to decode the message contents into
*/
static inline void mavlink_msg_log_request_list_decode(const mavlink_message_t* msg, mavlink_log_request_list_t* log_request_list)
{
#if MAVLINK_NEED_BYTE_SWAP
log_request_list->start = mavlink_msg_log_request_list_get_start(msg);
log_request_list->end = mavlink_msg_log_request_list_get_end(msg);
log_request_list->target_system = mavlink_msg_log_request_list_get_target_system(msg);
log_request_list->target_component = mavlink_msg_log_request_list_get_target_component(msg);
#else
memcpy(log_request_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
#endif
}
mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h
+25 -25
View File
@@ -4,13 +4,13 @@
typedef struct __mavlink_mission_item_t
{
float param1; ///< PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
float param2; ///< PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
float param3; ///< PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
float param4; ///< PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
float param1; ///< PARAM1, see MAV_CMD enum
float param2; ///< PARAM2, see MAV_CMD enum
float param3; ///< PARAM3, see MAV_CMD enum
float param4; ///< PARAM4, see MAV_CMD enum
float x; ///< PARAM5 / local: x position, global: latitude
float y; ///< PARAM6 / y position: global: longitude
float z; ///< PARAM7 / z position: global: altitude
float z; ///< PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
uint16_t seq; ///< Sequence
uint16_t command; ///< The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
uint8_t target_system; ///< System ID
@@ -62,13 +62,13 @@ typedef struct __mavlink_mission_item_t
* @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
* @param current false:0, true:1
* @param autocontinue autocontinue to next wp
* @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
* @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
* @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
* @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
* @param param1 PARAM1, see MAV_CMD enum
* @param param2 PARAM2, see MAV_CMD enum
* @param param3 PARAM3, see MAV_CMD enum
* @param param4 PARAM4, see MAV_CMD enum
* @param x PARAM5 / local: x position, global: latitude
* @param y PARAM6 / y position: global: longitude
* @param z PARAM7 / z position: global: altitude
* @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -133,13 +133,13 @@ static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t
* @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
* @param current false:0, true:1
* @param autocontinue autocontinue to next wp
* @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
* @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
* @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
* @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
* @param param1 PARAM1, see MAV_CMD enum
* @param param2 PARAM2, see MAV_CMD enum
* @param param3 PARAM3, see MAV_CMD enum
* @param param4 PARAM4, see MAV_CMD enum
* @param x PARAM5 / local: x position, global: latitude
* @param y PARAM6 / y position: global: longitude
* @param z PARAM7 / z position: global: altitude
* @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_mission_item_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -230,13 +230,13 @@ static inline uint16_t mavlink_msg_mission_item_encode_chan(uint8_t system_id, u
* @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
* @param current false:0, true:1
* @param autocontinue autocontinue to next wp
* @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
* @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
* @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
* @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
* @param param1 PARAM1, see MAV_CMD enum
* @param param2 PARAM2, see MAV_CMD enum
* @param param3 PARAM3, see MAV_CMD enum
* @param param4 PARAM4, see MAV_CMD enum
* @param x PARAM5 / local: x position, global: latitude
* @param y PARAM6 / y position: global: longitude
* @param z PARAM7 / z position: global: altitude
* @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -367,7 +367,7 @@ static inline uint8_t mavlink_msg_mission_item_get_autocontinue(const mavlink_me
/**
* @brief Get field param1 from mission_item message
*
* @return PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
* @return PARAM1, see MAV_CMD enum
*/
static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t* msg)
{
@@ -377,7 +377,7 @@ static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t*
/**
* @brief Get field param2 from mission_item message
*
* @return PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
* @return PARAM2, see MAV_CMD enum
*/
static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t* msg)
{
@@ -387,7 +387,7 @@ static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t*
/**
* @brief Get field param3 from mission_item message
*
* @return PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
* @return PARAM3, see MAV_CMD enum
*/
static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t* msg)
{
@@ -397,7 +397,7 @@ static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t*
/**
* @brief Get field param4 from mission_item message
*
* @return PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
* @return PARAM4, see MAV_CMD enum
*/
static inline float mavlink_msg_mission_item_get_param4(const mavlink_message_t* msg)
{
@@ -427,7 +427,7 @@ static inline float mavlink_msg_mission_item_get_y(const mavlink_message_t* msg)
/**
* @brief Get field z from mission_item message
*
* @return PARAM7 / z position: global: altitude
* @return PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
*/
static inline float mavlink_msg_mission_item_get_z(const mavlink_message_t* msg)
{
mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h
+375
View File
@@ -0,0 +1,375 @@
// MESSAGE SCALED_IMU2 PACKING
#define MAVLINK_MSG_ID_SCALED_IMU2 116
typedef struct __mavlink_scaled_imu2_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
int16_t xmag; ///< X Magnetic field (milli tesla)
int16_t ymag; ///< Y Magnetic field (milli tesla)
int16_t zmag; ///< Z Magnetic field (milli tesla)
} mavlink_scaled_imu2_t;
#define MAVLINK_MSG_ID_SCALED_IMU2_LEN 22
#define MAVLINK_MSG_ID_116_LEN 22
#define MAVLINK_MSG_ID_SCALED_IMU2_CRC 76
#define MAVLINK_MSG_ID_116_CRC 76
#define MAVLINK_MESSAGE_INFO_SCALED_IMU2 { \
"SCALED_IMU2", \
10, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu2_t, time_boot_ms) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu2_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu2_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu2_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu2_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu2_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu2_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu2_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu2_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu2_t, zmag) }, \
} \
}
/**
* @brief Pack a scaled_imu2 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 Timestamp (milliseconds since system boot)
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_imu2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#else
mavlink_scaled_imu2_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
}
/**
* @brief Pack a scaled_imu2 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 Timestamp (milliseconds since system boot)
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_imu2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#else
mavlink_scaled_imu2_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
}
/**
* @brief Encode a scaled_imu2 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 scaled_imu2 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_scaled_imu2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2)
{
return mavlink_msg_scaled_imu2_pack(system_id, component_id, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag);
}
/**
* @brief Encode a scaled_imu2 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 scaled_imu2 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_scaled_imu2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2)
{
return mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, chan, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag);
}
/**
* @brief Send a scaled_imu2 message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_scaled_imu2_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
#else
mavlink_scaled_imu2_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
#endif
}
#endif
// MESSAGE SCALED_IMU2 UNPACKING
/**
* @brief Get field time_boot_ms from scaled_imu2 message
*
* @return Timestamp (milliseconds since system boot)
*/
static inline uint32_t mavlink_msg_scaled_imu2_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field xacc from scaled_imu2 message
*
* @return X acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 4);
}
/**
* @brief Get field yacc from scaled_imu2 message
*
* @return Y acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 6);
}
/**
* @brief Get field zacc from scaled_imu2 message
*
* @return Z acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 8);
}
/**
* @brief Get field xgyro from scaled_imu2 message
*
* @return Angular speed around X axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 10);
}
/**
* @brief Get field ygyro from scaled_imu2 message
*
* @return Angular speed around Y axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Get field zgyro from scaled_imu2 message
*
* @return Angular speed around Z axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 14);
}
/**
* @brief Get field xmag from scaled_imu2 message
*
* @return X Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_xmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 16);
}
/**
* @brief Get field ymag from scaled_imu2 message
*
* @return Y Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_ymag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 18);
}
/**
* @brief Get field zmag from scaled_imu2 message
*
* @return Z Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu2_get_zmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 20);
}
/**
* @brief Decode a scaled_imu2 message into a struct
*
* @param msg The message to decode
* @param scaled_imu2 C-struct to decode the message contents into
*/
static inline void mavlink_msg_scaled_imu2_decode(const mavlink_message_t* msg, mavlink_scaled_imu2_t* scaled_imu2)
{
#if MAVLINK_NEED_BYTE_SWAP
scaled_imu2->time_boot_ms = mavlink_msg_scaled_imu2_get_time_boot_ms(msg);
scaled_imu2->xacc = mavlink_msg_scaled_imu2_get_xacc(msg);
scaled_imu2->yacc = mavlink_msg_scaled_imu2_get_yacc(msg);
scaled_imu2->zacc = mavlink_msg_scaled_imu2_get_zacc(msg);
scaled_imu2->xgyro = mavlink_msg_scaled_imu2_get_xgyro(msg);
scaled_imu2->ygyro = mavlink_msg_scaled_imu2_get_ygyro(msg);
scaled_imu2->zgyro = mavlink_msg_scaled_imu2_get_zgyro(msg);
scaled_imu2->xmag = mavlink_msg_scaled_imu2_get_xmag(msg);
scaled_imu2->ymag = mavlink_msg_scaled_imu2_get_ymag(msg);
scaled_imu2->zmag = mavlink_msg_scaled_imu2_get_zmag(msg);
#else
memcpy(scaled_imu2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
}
mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h
+15 -15
View File
@@ -4,9 +4,9 @@
typedef struct __mavlink_sys_status_t
{
uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
uint16_t voltage_battery; ///< Battery voltage, in millivolts (1 = 1 millivolt)
int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
@@ -53,9 +53,9 @@ typedef struct __mavlink_sys_status_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
@@ -121,9 +121,9 @@ static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t co
* @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 onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
@@ -215,9 +215,9 @@ static inline uint16_t mavlink_msg_sys_status_encode_chan(uint8_t system_id, uin
* @brief Send a sys_status message
* @param chan MAVLink channel to send the message
*
* @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
@@ -286,7 +286,7 @@ static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t
/**
* @brief Get field onboard_control_sensors_present from sys_status message
*
* @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
*/
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg)
{
@@ -296,7 +296,7 @@ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_presen
/**
* @brief Get field onboard_control_sensors_enabled from sys_status message
*
* @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
*/
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg)
{
@@ -306,7 +306,7 @@ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enable
/**
* @brief Get field onboard_control_sensors_health from sys_status message
*
* @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
* @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
*/
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg)
{
mavlink/include/mavlink/v1.0/common/testsuite.h
+871 -509
View File
File diff suppressed because it is too large Load Diff
mavlink/include/mavlink/v1.0/common/version.h
+1 -1
View File
@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Sep 10 23:50:05 2013"
#define MAVLINK_BUILD_DATE "Mon Dec 16 08:59:18 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
+3 -3
View File
File diff suppressed because one or more lines are too long
mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h
+141 -141
View File
@@ -31,7 +31,7 @@ static void mavlink_test_flexifunction_set(uint8_t system_id, uint8_t component_
uint16_t i;
mavlink_flexifunction_set_t packet_in = {
5,
72,
}72,
};
mavlink_flexifunction_set_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -76,9 +76,9 @@ static void mavlink_test_flexifunction_read_req(uint8_t system_id, uint8_t compo
uint16_t i;
mavlink_flexifunction_read_req_t packet_in = {
17235,
17339,
17,
84,
}17339,
}17,
}84,
};
mavlink_flexifunction_read_req_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -125,12 +125,12 @@ static void mavlink_test_flexifunction_buffer_function(uint8_t system_id, uint8_
uint16_t i;
mavlink_flexifunction_buffer_function_t packet_in = {
17235,
17339,
17443,
17547,
29,
96,
{ 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210 },
}17339,
}17443,
}17547,
}29,
}96,
}{ 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210 },
};
mavlink_flexifunction_buffer_function_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -180,9 +180,9 @@ static void mavlink_test_flexifunction_buffer_function_ack(uint8_t system_id, ui
uint16_t i;
mavlink_flexifunction_buffer_function_ack_t packet_in = {
17235,
17339,
17,
84,
}17339,
}17,
}84,
};
mavlink_flexifunction_buffer_function_ack_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -229,11 +229,11 @@ static void mavlink_test_flexifunction_directory(uint8_t system_id, uint8_t comp
uint16_t i;
mavlink_flexifunction_directory_t packet_in = {
5,
72,
139,
206,
17,
{ 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131 },
}72,
}139,
}206,
}17,
}{ 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131 },
};
mavlink_flexifunction_directory_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -282,11 +282,11 @@ static void mavlink_test_flexifunction_directory_ack(uint8_t system_id, uint8_t
uint16_t i;
mavlink_flexifunction_directory_ack_t packet_in = {
17235,
139,
206,
17,
84,
151,
}139,
}206,
}17,
}84,
}151,
};
mavlink_flexifunction_directory_ack_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -335,8 +335,8 @@ static void mavlink_test_flexifunction_command(uint8_t system_id, uint8_t compon
uint16_t i;
mavlink_flexifunction_command_t packet_in = {
5,
72,
139,
}72,
}139,
};
mavlink_flexifunction_command_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -382,7 +382,7 @@ static void mavlink_test_flexifunction_command_ack(uint8_t system_id, uint8_t co
uint16_t i;
mavlink_flexifunction_command_ack_t packet_in = {
17235,
17339,
}17339,
};
mavlink_flexifunction_command_ack_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -427,33 +427,33 @@ static void mavlink_test_serial_udb_extra_f2_a(uint8_t system_id, uint8_t compon
uint16_t i;
mavlink_serial_udb_extra_f2_a_t packet_in = {
963497464,
963497672,
963497880,
963498088,
18067,
18171,
18275,
18379,
18483,
18587,
18691,
18795,
18899,
19003,
19107,
19211,
19315,
19419,
19523,
19627,
19731,
19835,
19939,
20043,
20147,
20251,
20355,
63,
}963497672,
}963497880,
}963498088,
}18067,
}18171,
}18275,
}18379,
}18483,
}18587,
}18691,
}18795,
}18899,
}19003,
}19107,
}19211,
}19315,
}19419,
}19523,
}19627,
}19731,
}19835,
}19939,
}20043,
}20147,
}20251,
}20355,
}63,
};
mavlink_serial_udb_extra_f2_a_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -524,38 +524,38 @@ static void mavlink_test_serial_udb_extra_f2_b(uint8_t system_id, uint8_t compon
uint16_t i;
mavlink_serial_udb_extra_f2_b_t packet_in = {
963497464,
963497672,
17651,
17755,
17859,
17963,
18067,
18171,
18275,
18379,
18483,
18587,
18691,
18795,
18899,
19003,
19107,
19211,
19315,
19419,
19523,
19627,
19731,
19835,
19939,
20043,
20147,
20251,
20355,
20459,
20563,
20667,
20771,
}963497672,
}17651,
}17755,
}17859,
}17963,
}18067,
}18171,
}18275,
}18379,
}18483,
}18587,
}18691,
}18795,
}18899,
}19003,
}19107,
}19211,
}19315,
}19419,
}19523,
}19627,
}19731,
}19835,
}19939,
}20043,
}20147,
}20251,
}20355,
}20459,
}20563,
}20667,
}20771,
};
mavlink_serial_udb_extra_f2_b_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -631,15 +631,15 @@ static void mavlink_test_serial_udb_extra_f4(uint8_t system_id, uint8_t componen
uint16_t i;
mavlink_serial_udb_extra_f4_t packet_in = {
5,
72,
139,
206,
17,
84,
151,
218,
29,
96,
}72,
}139,
}206,
}17,
}84,
}151,
}218,
}29,
}96,
};
mavlink_serial_udb_extra_f4_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -692,11 +692,11 @@ static void mavlink_test_serial_udb_extra_f5(uint8_t system_id, uint8_t componen
uint16_t i;
mavlink_serial_udb_extra_f5_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
}45.0,
}73.0,
}101.0,
}129.0,
}157.0,
};
mavlink_serial_udb_extra_f5_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -745,10 +745,10 @@ static void mavlink_test_serial_udb_extra_f6(uint8_t system_id, uint8_t componen
uint16_t i;
mavlink_serial_udb_extra_f6_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
}45.0,
}73.0,
}101.0,
}129.0,
};
mavlink_serial_udb_extra_f6_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -796,11 +796,11 @@ static void mavlink_test_serial_udb_extra_f7(uint8_t system_id, uint8_t componen
uint16_t i;
mavlink_serial_udb_extra_f7_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
}45.0,
}73.0,
}101.0,
}129.0,
}157.0,
};
mavlink_serial_udb_extra_f7_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -849,12 +849,12 @@ static void mavlink_test_serial_udb_extra_f8(uint8_t system_id, uint8_t componen
uint16_t i;
mavlink_serial_udb_extra_f8_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
185.0,
}45.0,
}73.0,
}101.0,
}129.0,
}157.0,
}185.0,
};
mavlink_serial_udb_extra_f8_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -904,9 +904,9 @@ static void mavlink_test_serial_udb_extra_f13(uint8_t system_id, uint8_t compone
uint16_t i;
mavlink_serial_udb_extra_f13_t packet_in = {
963497464,
963497672,
963497880,
17859,
}963497672,
}963497880,
}17859,
};
mavlink_serial_udb_extra_f13_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -953,16 +953,16 @@ static void mavlink_test_serial_udb_extra_f14(uint8_t system_id, uint8_t compone
uint16_t i;
mavlink_serial_udb_extra_f14_t packet_in = {
963497464,
17443,
17547,
17651,
163,
230,
41,
108,
175,
242,
53,
}17443,
}17547,
}17651,
}163,
}230,
}41,
}108,
}175,
}242,
}53,
};
mavlink_serial_udb_extra_f14_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -1016,7 +1016,7 @@ static void mavlink_test_serial_udb_extra_f15(uint8_t system_id, uint8_t compone
uint16_t i;
mavlink_serial_udb_extra_f15_t packet_in = {
{ 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44 },
{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144 },
}{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144 },
};
mavlink_serial_udb_extra_f15_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -1061,7 +1061,7 @@ static void mavlink_test_serial_udb_extra_f16(uint8_t system_id, uint8_t compone
uint16_t i;
mavlink_serial_udb_extra_f16_t packet_in = {
{ 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44 },
{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194 },
}{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194 },
};
mavlink_serial_udb_extra_f16_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -1106,12 +1106,12 @@ static void mavlink_test_altitudes(uint8_t system_id, uint8_t component_id, mavl
uint16_t i;
mavlink_altitudes_t packet_in = {
963497464,
963497672,
963497880,
963498088,
963498296,
963498504,
963498712,
}963497672,
}963497880,
}963498088,
}963498296,
}963498504,
}963498712,
};
mavlink_altitudes_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -1161,12 +1161,12 @@ static void mavlink_test_airspeeds(uint8_t system_id, uint8_t component_id, mavl
uint16_t i;
mavlink_airspeeds_t packet_in = {
963497464,
17443,
17547,
17651,
17755,
17859,
17963,
}17443,
}17547,
}17651,
}17755,
}17859,
}17963,
};
mavlink_airspeeds_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
mavlink/include/mavlink/v1.0/matrixpilot/version.h
+1 -1
View File
@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:51 2013"
#define MAVLINK_BUILD_DATE "Mon Dec 16 08:57:49 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
+3 -3
View File
File diff suppressed because one or more lines are too long
mavlink/include/mavlink/v1.0/pixhawk/testsuite.h
+114 -114
View File
@@ -31,11 +31,11 @@ static void mavlink_test_set_cam_shutter(uint8_t system_id, uint8_t component_id
uint16_t i;
mavlink_set_cam_shutter_t packet_in = {
17.0,
17443,
17547,
29,
96,
163,
}17443,
}17547,
}29,
}96,
}163,
};
mavlink_set_cam_shutter_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -84,17 +84,17 @@ static void mavlink_test_image_triggered(uint8_t system_id, uint8_t component_id
uint16_t i;
mavlink_image_triggered_t packet_in = {
93372036854775807ULL,
963497880,
101.0,
129.0,
157.0,
185.0,
213.0,
241.0,
269.0,
297.0,
325.0,
353.0,
}963497880,
}101.0,
}129.0,
}157.0,
}185.0,
}213.0,
}241.0,
}269.0,
}297.0,
}325.0,
}353.0,
};
mavlink_image_triggered_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -192,28 +192,28 @@ static void mavlink_test_image_available(uint8_t system_id, uint8_t component_id
uint16_t i;
mavlink_image_available_t packet_in = {
93372036854775807ULL,
93372036854776311ULL,
93372036854776815ULL,
963498712,
963498920,
963499128,
963499336,
297.0,
325.0,
353.0,
381.0,
409.0,
437.0,
465.0,
493.0,
521.0,
549.0,
577.0,
21603,
21707,
21811,
147,
214,
}93372036854776311ULL,
}93372036854776815ULL,
}963498712,
}963498920,
}963499128,
}963499336,
}297.0,
}325.0,
}353.0,
}381.0,
}409.0,
}437.0,
}465.0,
}493.0,
}521.0,
}549.0,
}577.0,
}21603,
}21707,
}21811,
}147,
}214,
};
mavlink_image_available_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -279,11 +279,11 @@ static void mavlink_test_set_position_control_offset(uint8_t system_id, uint8_t
uint16_t i;
mavlink_set_position_control_offset_t packet_in = {
17.0,
45.0,
73.0,
101.0,
53,
120,
}45.0,
}73.0,
}101.0,
}53,
}120,
};
mavlink_set_position_control_offset_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -332,10 +332,10 @@ static void mavlink_test_position_control_setpoint(uint8_t system_id, uint8_t co
uint16_t i;
mavlink_position_control_setpoint_t packet_in = {
17.0,
45.0,
73.0,
101.0,
18067,
}45.0,
}73.0,
}101.0,
}18067,
};
mavlink_position_control_setpoint_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -383,12 +383,12 @@ static void mavlink_test_marker(uint8_t system_id, uint8_t component_id, mavlink
uint16_t i;
mavlink_marker_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
18483,
}45.0,
}73.0,
}101.0,
}129.0,
}157.0,
}18483,
};
mavlink_marker_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -438,12 +438,12 @@ static void mavlink_test_raw_aux(uint8_t system_id, uint8_t component_id, mavlin
uint16_t i;
mavlink_raw_aux_t packet_in = {
963497464,
17443,
17547,
17651,
17755,
17859,
17963,
}17443,
}17547,
}17651,
}17755,
}17859,
}17963,
};
mavlink_raw_aux_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -493,7 +493,7 @@ static void mavlink_test_watchdog_heartbeat(uint8_t system_id, uint8_t component
uint16_t i;
mavlink_watchdog_heartbeat_t packet_in = {
17235,
17339,
}17339,
};
mavlink_watchdog_heartbeat_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -538,10 +538,10 @@ static void mavlink_test_watchdog_process_info(uint8_t system_id, uint8_t compon
uint16_t i;
mavlink_watchdog_process_info_t packet_in = {
963497464,
17443,
17547,
"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABC",
"EFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRST",
}17443,
}17547,
}"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABC",
}"EFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRST",
};
mavlink_watchdog_process_info_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -589,11 +589,11 @@ static void mavlink_test_watchdog_process_status(uint8_t system_id, uint8_t comp
uint16_t i;
mavlink_watchdog_process_status_t packet_in = {
963497464,
17443,
17547,
17651,
163,
230,
}17443,
}17547,
}17651,
}163,
}230,
};
mavlink_watchdog_process_status_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -642,9 +642,9 @@ static void mavlink_test_watchdog_command(uint8_t system_id, uint8_t component_i
uint16_t i;
mavlink_watchdog_command_t packet_in = {
17235,
17339,
17,
84,
}17339,
}17,
}84,
};
mavlink_watchdog_command_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -691,9 +691,9 @@ static void mavlink_test_pattern_detected(uint8_t system_id, uint8_t component_i
uint16_t i;
mavlink_pattern_detected_t packet_in = {
17.0,
17,
"FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZ",
128,
}17,
}"FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZ",
}128,
};
mavlink_pattern_detected_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -740,13 +740,13 @@ static void mavlink_test_point_of_interest(uint8_t system_id, uint8_t component_
uint16_t i;
mavlink_point_of_interest_t packet_in = {
17.0,
45.0,
73.0,
17859,
175,
242,
53,
"RSTUVWXYZABCDEFGHIJKLMNOP",
}45.0,
}73.0,
}17859,
}175,
}242,
}53,
}"RSTUVWXYZABCDEFGHIJKLMNOP",
};
mavlink_point_of_interest_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -797,16 +797,16 @@ static void mavlink_test_point_of_interest_connection(uint8_t system_id, uint8_t
uint16_t i;
mavlink_point_of_interest_connection_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
18483,
211,
22,
89,
"DEFGHIJKLMNOPQRSTUVWXYZAB",
}45.0,
}73.0,
}101.0,
}129.0,
}157.0,
}18483,
}211,
}22,
}89,
}"DEFGHIJKLMNOPQRSTUVWXYZAB",
};
mavlink_point_of_interest_connection_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -860,12 +860,12 @@ static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t
uint16_t i;
mavlink_data_transmission_handshake_t packet_in = {
963497464,
17443,
17547,
29,
96,
163,
230,
}17443,
}17547,
}29,
}96,
}163,
}230,
};
mavlink_data_transmission_handshake_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -915,7 +915,7 @@ static void mavlink_test_encapsulated_data(uint8_t system_id, uint8_t component_
uint16_t i;
mavlink_encapsulated_data_t packet_in = {
17235,
{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 },
}{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 },
};
mavlink_encapsulated_data_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -960,13 +960,13 @@ static void mavlink_test_brief_feature(uint8_t system_id, uint8_t component_id,
uint16_t i;
mavlink_brief_feature_t packet_in = {
17.0,
45.0,
73.0,
101.0,
18067,
18171,
65,
{ 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163 },
}45.0,
}73.0,
}101.0,
}18067,
}18171,
}65,
}{ 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163 },
};
mavlink_brief_feature_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -1017,14 +1017,14 @@ static void mavlink_test_attitude_control(uint8_t system_id, uint8_t component_i
uint16_t i;
mavlink_attitude_control_t packet_in = {
17.0,
45.0,
73.0,
101.0,
53,
120,
187,
254,
65,
}45.0,
}73.0,
}101.0,
}53,
}120,
}187,
}254,
}65,
};
mavlink_attitude_control_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
mavlink/include/mavlink/v1.0/pixhawk/version.h
+1 -1
View File
@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:13 2013"
#define MAVLINK_BUILD_DATE "Mon Dec 16 08:58:02 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
nuttx-configs/px4fmu-v2/nsh/defconfig
+1 -1
View File
@@ -308,7 +308,7 @@ CONFIG_UART4_RXDMA=y
# CONFIG_UART7_RS485 is not set
# CONFIG_UART7_RXDMA is not set
# CONFIG_UART8_RS485 is not set
# CONFIG_UART8_RXDMA is not set
CONFIG_UART8_RXDMA=y
CONFIG_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_USART_SINGLEWIRE=y
src/drivers/drv_rc_input.h
+5 -2
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012, 2013 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
@@ -60,7 +60,7 @@
/**
* Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
*/
#define RC_INPUT_MAX_CHANNELS 18
#define RC_INPUT_MAX_CHANNELS 20
/**
* Input signal type, value is a control position from zero to 100
@@ -89,6 +89,9 @@ struct rc_input_values {
/** number of channels actually being seen */
uint32_t channel_count;
/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 1000: full reception */
int32_t rssi;
/** Input source */
enum RC_INPUT_SOURCE input_source;
src/drivers/l3gd20/l3gd20.cpp
+1 -1
View File
@@ -316,7 +316,7 @@ private:
};
L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
_call_interval(0),
_reports(nullptr),
_gyro_range_scale(0.0f),
src/drivers/lsm303d/lsm303d.cpp
+1 -1
View File
@@ -486,7 +486,7 @@ private:
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000),
SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
_mag(new LSM303D_mag(this)),
_call_accel_interval(0),
_call_mag_interval(0),
src/drivers/mpu6000/mpu6000.cpp
+12 -3
View File
@@ -170,7 +170,7 @@
SPI speed
*/
#define MPU6000_LOW_BUS_SPEED 1000*1000
#define MPU6000_HIGH_BUS_SPEED 10*1000*1000
#define MPU6000_HIGH_BUS_SPEED 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */
class MPU6000_gyro;
@@ -505,17 +505,26 @@ out:
void MPU6000::reset()
{
// if the mpu6000 is initialised after the l3gd20 and lsm303d
// then if we don't do an irqsave/irqrestore here the mpu6000
// frequenctly comes up in a bad state where all transfers
// come as zero
irqstate_t state;
state = irqsave();
// Chip reset
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
// Wake up device and select GyroZ clock (better performance)
// Wake up device and select GyroZ clock. Note that the
// MPU6000 starts up in sleep mode, and it can take some time
// for it to come out of sleep
write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
up_udelay(1000);
// Disable I2C bus (recommended on datasheet)
write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
up_udelay(1000);
// SAMPLE RATE
src/drivers/ms5611/ms5611_spi.cpp
+1 -1
View File
@@ -121,7 +121,7 @@ MS5611_spi_interface(ms5611::prom_u &prom_buf)
}
MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 6*1000*1000),
SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */),
_prom(prom_buf)
{
}
src/drivers/px4io/px4io.cpp
+72 -37
View File
@@ -237,6 +237,7 @@ private:
unsigned _update_interval; ///< Subscription interval limiting send rate
bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels
volatile int _task; ///< worker task id
volatile bool _task_should_exit; ///< worker terminate flag
@@ -244,7 +245,9 @@ private:
int _mavlink_fd; ///< mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
int _thread_mavlink_fd; ///< mavlink file descriptor for thread.
perf_counter_t _perf_update; ///< local performance counter
perf_counter_t _perf_update; ///<local performance counter for status updates
perf_counter_t _perf_write; ///<local performance counter for PWM control writes
perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes
/* cached IO state */
uint16_t _status; ///< Various IO status flags
@@ -462,11 +465,14 @@ PX4IO::PX4IO(device::Device *interface) :
_max_transfer(16), /* sensible default */
_update_interval(0),
_rc_handling_disabled(false),
_rc_chan_count(0),
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
_thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
_perf_update(perf_alloc(PC_ELAPSED, "io update")),
_perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
_status(0),
_alarms(0),
_t_actuator_controls_0(-1),
@@ -917,7 +923,23 @@ PX4IO::task_main()
/* re-upload RC input config as it may have changed */
io_set_rc_config();
/* re-set the battery scaling */
int32_t voltage_scaling_val;
param_t voltage_scaling_param;
/* set battery voltage scaling */
param_get(voltage_scaling_param = param_find("BAT_V_SCALE_IO"), &voltage_scaling_val);
/* send scaling voltage to IO */
uint16_t scaling = voltage_scaling_val;
int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
if (pret != OK) {
log("voltage scaling upload failed");
}
}
}
perf_end(_perf_update);
@@ -1101,7 +1123,12 @@ PX4IO::io_set_rc_config()
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 3;
ichan = 4;
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 4;
ichan = 5;
for (unsigned i = 0; i < _max_rc_input; i++)
if (input_map[i] == -1)
@@ -1379,6 +1406,11 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
*/
channel_count = regs[0];
if (channel_count != _rc_chan_count)
perf_count(_perf_chan_count);
_rc_chan_count = channel_count;
if (channel_count > 9) {
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
@@ -2227,7 +2259,10 @@ PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
count = _max_actuators;
if (count > 0) {
perf_begin(_perf_write);
int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
perf_end(_perf_write);
if (ret != OK)
return ret;
@@ -2306,7 +2341,7 @@ void
start(int argc, char *argv[])
{
if (g_dev != nullptr)
errx(1, "already loaded");
errx(0, "already loaded");
/* allocate the interface */
device::Device *interface = get_interface();
@@ -2639,6 +2674,39 @@ px4io_main(int argc, char *argv[])
if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0);
}
if (!strcmp(argv[1], "forceupdate")) {
/*
force update of the IO firmware without requiring
the user to hold the safety switch down
*/
if (argc <= 3) {
warnx("usage: px4io forceupdate MAGIC filename");
exit(1);
}
if (g_dev == nullptr) {
warnx("px4io is not started, still attempting upgrade");
} else {
uint16_t arg = atol(argv[2]);
int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
if (ret != OK) {
printf("reboot failed - %d\n", ret);
exit(1);
}
// tear down the px4io instance
delete g_dev;
}
// upload the specified firmware
const char *fn[2];
fn[0] = argv[3];
fn[1] = nullptr;
PX4IO_Uploader *up = new PX4IO_Uploader;
up->upload(&fn[0]);
delete up;
exit(0);
}
/* commands below here require a started driver */
if (g_dev == nullptr)
@@ -2724,39 +2792,6 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "forceupdate")) {
/*
force update of the IO firmware without requiring
the user to hold the safety switch down
*/
if (argc <= 3) {
printf("usage: px4io forceupdate MAGIC filename\n");
exit(1);
}
if (g_dev == nullptr) {
printf("px4io is not started\n");
exit(1);
}
uint16_t arg = atol(argv[2]);
int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
if (ret != OK) {
printf("reboot failed - %d\n", ret);
exit(1);
}
// tear down the px4io instance
delete g_dev;
// upload the specified firmware
const char *fn[2];
fn[0] = argv[3];
fn[1] = nullptr;
PX4IO_Uploader *up = new PX4IO_Uploader;
up->upload(&fn[0]);
delete up;
exit(0);
}
if (!strcmp(argv[1], "checkcrc")) {
/*
check IO CRC against CRC of a file
src/drivers/stm32/drv_hrt.c
+37 -8
View File
@@ -338,7 +338,12 @@ static void hrt_call_invoke(void);
# define PPM_MIN_START 2500 /* shortest valid start gap */
/* decoded PPM buffer */
#define PPM_MAX_CHANNELS 12
#define PPM_MIN_CHANNELS 5
#define PPM_MAX_CHANNELS 20
/* Number of same-sized frames required to 'lock' */
#define PPM_CHANNEL_LOCK 2 /* should be less than the input timeout */
__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
__EXPORT unsigned ppm_decoded_channels = 0;
__EXPORT uint64_t ppm_last_valid_decode = 0;
@@ -440,7 +445,7 @@ hrt_ppm_decode(uint32_t status)
if (status & SR_OVF_PPM)
goto error;
/* how long since the last edge? */
/* how long since the last edge? - this handles counter wrapping implicitely. */
width = count - ppm.last_edge;
ppm.last_edge = count;
@@ -455,14 +460,38 @@ hrt_ppm_decode(uint32_t status)
*/
if (width >= PPM_MIN_START) {
/* export the last set of samples if we got something sensible */
if (ppm.next_channel > 4) {
for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++)
ppm_buffer[i] = ppm_temp_buffer[i];
/*
* If the number of channels changes unexpectedly, we don't want
* to just immediately jump on the new count as it may be a result
* of noise or dropped edges. Instead, take a few frames to settle.
*/
if (ppm.next_channel != ppm_decoded_channels) {
static unsigned new_channel_count;
static unsigned new_channel_holdoff;
ppm_decoded_channels = i;
ppm_last_valid_decode = hrt_absolute_time();
if (new_channel_count != ppm.next_channel) {
/* start the lock counter for the new channel count */
new_channel_count = ppm.next_channel;
new_channel_holdoff = PPM_CHANNEL_LOCK;
} else if (new_channel_holdoff > 0) {
/* this frame matched the last one, decrement the lock counter */
new_channel_holdoff--;
} else {
/* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */
ppm_decoded_channels = new_channel_count;
new_channel_count = 0;
}
} else {
/* frame channel count matches expected, let's use it */
if (ppm.next_channel > PPM_MIN_CHANNELS) {
for (i = 0; i < ppm.next_channel; i++)
ppm_buffer[i] = ppm_temp_buffer[i];
ppm_last_valid_decode = hrt_absolute_time();
}
}
/* reset for the next frame */
src/modules/commander/commander.cpp
+2 -2
View File
@@ -1624,8 +1624,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
/* switch to failsafe mode */
bool manual_control_old = control_mode->flag_control_manual_enabled;
if (!status->condition_landed) {
/* in air: try to hold position */
if (!status->condition_landed && status->condition_local_position_valid) {
/* in air: try to hold position if possible */
res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode);
} else {
src/modules/px4iofirmware/controls.c
+28 -13
View File
@@ -66,7 +66,7 @@ controls_init(void)
sbus_init("/dev/ttyS2");
/* default to a 1:1 input map, all enabled */
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0;
@@ -94,6 +94,9 @@ controls_tick() {
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
uint16_t rssi = 0;
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count);
@@ -104,14 +107,15 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11;
else
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
rssi = 1000;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
r_raw_rc_count = 8;
}
perf_end(c_gather_sbus);
@@ -122,10 +126,19 @@ controls_tick() {
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
if (ppm_updated)
if (ppm_updated) {
/* XXX sample RSSI properly here */
rssi = 1000;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
}
perf_end(c_gather_ppm);
/* limit number of channels to allowable data size */
if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS)
r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;
/*
* In some cases we may have received a frame, but input has still
* been lost.
@@ -197,14 +210,16 @@ controls_tick() {
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
ASSERT(mapped < PX4IO_CONTROL_CHANNELS);
if (mapped < PX4IO_CONTROL_CHANNELS) {
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
}
}
@@ -221,7 +236,7 @@ controls_tick() {
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0) {
if (assigned_channels == 0 || rssi == 0) {
rc_input_lost = true;
} else {
/* set RC OK flag */
@@ -321,8 +336,8 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* PPM data exists, copy it */
*num_values = ppm_decoded_channels;
if (*num_values > PX4IO_CONTROL_CHANNELS)
*num_values = PX4IO_CONTROL_CHANNELS;
if (*num_values > PX4IO_RC_INPUT_CHANNELS)
*num_values = PX4IO_RC_INPUT_CHANNELS;
for (unsigned i = 0; i < *num_values; i++)
values[i] = ppm_buffer[i];
src/modules/px4iofirmware/protocol.h
+1
View File
@@ -128,6 +128,7 @@
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
src/modules/px4iofirmware/px4io.h
+2 -2
View File
@@ -54,7 +54,7 @@
#define PX4IO_SERVO_COUNT 8
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_CONTROL_GROUPS 2
#define PX4IO_RC_INPUT_CHANNELS 8 // XXX this should be 18 channels
#define PX4IO_RC_INPUT_CHANNELS 18
#define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */
/*
@@ -213,7 +213,7 @@ extern int dsm_init(const char *device);
extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;
src/modules/px4iofirmware/sbus.c
+48 -17
View File
@@ -54,6 +54,27 @@
#define SBUS_FRAME_SIZE 25
#define SBUS_INPUT_CHANNELS 16
#define SBUS_FLAGS_BYTE 23
#define SBUS_FAILSAFE_BIT 3
#define SBUS_FRAMELOST_BIT 2
/*
Measured values with Futaba FX-30/R6108SB:
-+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV)
-+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV)
-+152% on TX: PCM 0.884/1.520/2.160ms -> SBus raw values: 1/1024/2047 (140% ATV plus dirty tricks)
*/
/* define range mapping here, -+100% -> 1000..2000 */
#define SBUS_RANGE_MIN 200.0f
#define SBUS_RANGE_MAX 1800.0f
#define SBUS_TARGET_MIN 1000.0f
#define SBUS_TARGET_MAX 2000.0f
/* pre-calculate the floating point stuff as far as possible at compile time */
#define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))
#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))
static int sbus_fd = -1;
@@ -66,7 +87,7 @@ static unsigned partial_frame_count;
unsigned sbus_frame_drops;
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_channels);
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
int
sbus_init(const char *device)
@@ -97,7 +118,7 @@ sbus_init(const char *device)
}
bool
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels)
{
ssize_t ret;
hrt_abstime now;
@@ -154,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
* decode it.
*/
partial_frame_count = 0;
return sbus_decode(now, values, num_values, max_channels);
return sbus_decode(now, values, num_values, rssi, max_channels);
}
/*
@@ -194,7 +215,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
};
static bool
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_values)
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values)
{
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
@@ -202,15 +223,6 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
return false;
}
/* if the failsafe or connection lost bit is set, we consider the frame invalid */
if ((frame[23] & (1 << 2)) && /* signal lost */
(frame[23] & (1 << 3))) { /* failsafe */
/* actively announce signal loss */
*values = 0;
return false;
}
/* we have received something we think is a frame */
last_frame_time = frame_time;
@@ -234,8 +246,9 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
}
}
/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
values[channel] = (value / 2) + 998;
/* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */
values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR +.5f) + SBUS_SCALE_OFFSET;
}
/* decode switch channels if data fields are wide enough */
@@ -243,13 +256,31 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
chancount = 18;
/* channel 17 (index 16) */
values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
values[16] = (frame[SBUS_FLAGS_BYTE] & (1 << 0)) * 1000 + 998;
/* channel 18 (index 17) */
values[17] = (frame[23] & (1 << 1)) * 1000 + 998;
values[17] = (frame[SBUS_FLAGS_BYTE] & (1 << 1)) * 1000 + 998;
}
/* note the number of channels decoded */
*num_values = chancount;
/* decode and handle failsafe and frame-lost flags */
if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */
/* report that we failed to read anything valid off the receiver */
*rssi = 0;
return false;
}
else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
/* set a special warning flag or try to calculate some kind of RSSI information - to be implemented
*
* Attention! This flag indicates a skipped frame only, not a total link loss! Handling this
* condition as fail-safe greatly reduces the reliability and range of the radio link,
* e.g. by prematurely issueing return-to-launch!!! */
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
}
*rssi = 1000;
return true;
}
src/modules/sensors/sensor_params.c
+23
View File
@@ -190,11 +190,30 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
#endif
PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
#else
@@ -226,3 +245,7 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */
PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */
PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */
src/modules/sensors/sensors.cpp
+30 -2
View File
@@ -165,7 +165,7 @@ public:
int start();
private:
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
@@ -260,6 +260,10 @@ private:
float rc_scale_yaw;
float rc_scale_flaps;
int rc_fs_ch;
int rc_fs_mode;
float rc_fs_thr;
float battery_voltage_scaling;
} _parameters; /**< local copies of interesting parameters */
@@ -305,6 +309,10 @@ private:
param_t rc_scale_yaw;
param_t rc_scale_flaps;
param_t rc_fs_ch;
param_t rc_fs_mode;
param_t rc_fs_thr;
param_t battery_voltage_scaling;
param_t board_rotation;
@@ -517,6 +525,11 @@ Sensors::Sensors() :
_parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW");
_parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS");
/* RC failsafe */
_parameter_handles.rc_fs_ch = param_find("RC_FS_CH");
_parameter_handles.rc_fs_mode = param_find("RC_FS_MODE");
_parameter_handles.rc_fs_thr = param_find("RC_FS_THR");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
@@ -589,7 +602,7 @@ Sensors::parameters_update()
float tmpRevFactor = 0.0f;
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
for (unsigned int i = 0; i < _rc_max_chan_count; i++) {
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
@@ -668,6 +681,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch));
param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode));
param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -1256,6 +1272,18 @@ Sensors::rc_poll()
if (rc_input.channel_count < 4)
return;
/* failsafe check */
if (_parameters.rc_fs_ch != 0) {
if (_parameters.rc_fs_mode == 0) {
if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr)
return;
} else if (_parameters.rc_fs_mode == 1) {
if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr)
return;
}
}
unsigned channel_limit = rc_input.channel_count;
if (channel_limit > _rc_max_chan_count)

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