├── README.md ├── libraries ├── .DS_Store ├── FrSkySportTelemetry_20190824.zip └── Mavlink │ ├── .DS_Store │ ├── .idea │ ├── Mavlink.iml │ ├── misc.xml │ ├── modules.xml │ └── workspace.xml │ ├── checksum.h │ ├── common │ ├── common.h │ ├── mavlink.h │ ├── mavlink_msg_attitude.h │ ├── mavlink_msg_attitude_quaternion.h │ ├── mavlink_msg_auth_key.h │ ├── mavlink_msg_change_operator_control.h │ ├── mavlink_msg_change_operator_control_ack.h │ ├── mavlink_msg_command_ack.h │ ├── mavlink_msg_command_long.h │ ├── mavlink_msg_data_stream.h │ ├── mavlink_msg_debug.h │ ├── mavlink_msg_debug_vect.h │ ├── mavlink_msg_global_position_int.h │ ├── mavlink_msg_global_position_setpoint_int.h │ ├── mavlink_msg_global_vision_position_estimate.h │ ├── mavlink_msg_gps_global_origin.h │ ├── mavlink_msg_gps_raw_int.h │ ├── mavlink_msg_gps_status.h │ ├── mavlink_msg_heartbeat.h │ ├── mavlink_msg_hil_controls.h │ ├── mavlink_msg_hil_rc_inputs_raw.h │ ├── mavlink_msg_hil_state.h │ ├── mavlink_msg_local_position_ned.h │ ├── mavlink_msg_local_position_ned_system_global_offset.h │ ├── mavlink_msg_local_position_setpoint.h │ ├── mavlink_msg_manual_control.h │ ├── mavlink_msg_memory_vect.h │ ├── mavlink_msg_mission_ack.h │ ├── mavlink_msg_mission_clear_all.h │ ├── mavlink_msg_mission_count.h │ ├── mavlink_msg_mission_current.h │ ├── mavlink_msg_mission_item.h │ ├── mavlink_msg_mission_item_reached.h │ ├── mavlink_msg_mission_request.h │ ├── mavlink_msg_mission_request_list.h │ ├── mavlink_msg_mission_request_partial_list.h │ ├── mavlink_msg_mission_set_current.h │ ├── mavlink_msg_mission_write_partial_list.h │ ├── mavlink_msg_named_value_float.h │ ├── mavlink_msg_named_value_int.h │ ├── mavlink_msg_nav_controller_output.h │ ├── mavlink_msg_optical_flow.h │ ├── mavlink_msg_param_request_list.h │ ├── mavlink_msg_param_request_read.h │ ├── mavlink_msg_param_set.h │ ├── mavlink_msg_param_value.h │ ├── mavlink_msg_ping.h │ ├── mavlink_msg_raw_imu.h │ ├── mavlink_msg_raw_pressure.h │ ├── mavlink_msg_rc_channels_override.h │ ├── mavlink_msg_rc_channels_raw.h │ ├── mavlink_msg_rc_channels_scaled.h │ ├── mavlink_msg_request_data_stream.h │ ├── mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h │ ├── mavlink_msg_roll_pitch_yaw_thrust_setpoint.h │ ├── mavlink_msg_safety_allowed_area.h │ ├── mavlink_msg_safety_set_allowed_area.h │ ├── mavlink_msg_scaled_imu.h │ ├── mavlink_msg_scaled_pressure.h │ ├── mavlink_msg_servo_output_raw.h │ ├── mavlink_msg_set_global_position_setpoint_int.h │ ├── mavlink_msg_set_gps_global_origin.h │ ├── mavlink_msg_set_local_position_setpoint.h │ ├── mavlink_msg_set_mode.h │ ├── mavlink_msg_set_quad_motors_setpoint.h │ ├── mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h │ ├── mavlink_msg_set_roll_pitch_yaw_speed_thrust.h │ ├── mavlink_msg_set_roll_pitch_yaw_thrust.h │ ├── mavlink_msg_state_correction.h │ ├── mavlink_msg_statustext.h │ ├── mavlink_msg_sys_status.h │ ├── mavlink_msg_system_time.h │ ├── mavlink_msg_vfr_hud.h │ ├── mavlink_msg_vicon_position_estimate.h │ ├── mavlink_msg_vision_position_estimate.h │ ├── mavlink_msg_vision_speed_estimate.h │ ├── testsuite.h │ └── version.h │ ├── matrixpilot │ ├── matrixpilot.h │ ├── mavlink.h │ ├── testsuite.h │ └── version.h │ ├── mavlink.h │ ├── mavlink_helpers.h │ ├── mavlink_protobuf_manager.hpp │ ├── mavlink_types.h │ ├── minimal │ ├── mavlink.h │ ├── mavlink_msg_heartbeat.h │ ├── minimal.h │ ├── testsuite.h │ └── version.h │ ├── pixhawk │ ├── mavlink.h │ ├── mavlink_msg_attitude_control.h │ ├── mavlink_msg_brief_feature.h │ ├── mavlink_msg_data_transmission_handshake.h │ ├── mavlink_msg_encapsulated_data.h │ ├── mavlink_msg_image_available.h │ ├── mavlink_msg_image_trigger_control.h │ ├── mavlink_msg_image_triggered.h │ ├── mavlink_msg_marker.h │ ├── mavlink_msg_pattern_detected.h │ ├── mavlink_msg_point_of_interest.h │ ├── mavlink_msg_point_of_interest_connection.h │ ├── mavlink_msg_position_control_setpoint.h │ ├── mavlink_msg_raw_aux.h │ ├── mavlink_msg_set_cam_shutter.h │ ├── mavlink_msg_set_position_control_offset.h │ ├── mavlink_msg_watchdog_command.h │ ├── mavlink_msg_watchdog_heartbeat.h │ ├── mavlink_msg_watchdog_process_info.h │ ├── mavlink_msg_watchdog_process_status.h │ ├── pixhawk.h │ ├── pixhawk.pb.h │ ├── testsuite.h │ └── version.h │ ├── protocol.h │ ├── sensesoar │ ├── mavlink.h │ ├── mavlink_msg_cmd_airspeed_ack.h │ ├── mavlink_msg_cmd_airspeed_chng.h │ ├── mavlink_msg_filt_rot_vel.h │ ├── mavlink_msg_llc_out.h │ ├── mavlink_msg_obs_air_temp.h │ ├── mavlink_msg_obs_air_velocity.h │ ├── mavlink_msg_obs_attitude.h │ ├── mavlink_msg_obs_bias.h │ ├── mavlink_msg_obs_position.h │ ├── mavlink_msg_obs_qff.h │ ├── mavlink_msg_obs_velocity.h │ ├── mavlink_msg_obs_wind.h │ ├── mavlink_msg_pm_elec.h │ ├── mavlink_msg_sys_stat.h │ ├── sensesoar.h │ ├── testsuite.h │ └── version.h │ ├── slugs │ ├── mavlink.h │ ├── mavlink_msg_air_data.h │ ├── mavlink_msg_cpu_load.h │ ├── mavlink_msg_ctrl_srfc_pt.h │ ├── mavlink_msg_data_log.h │ ├── mavlink_msg_diagnostic.h │ ├── mavlink_msg_gps_date_time.h │ ├── mavlink_msg_mid_lvl_cmds.h │ ├── mavlink_msg_sensor_bias.h │ ├── mavlink_msg_slugs_action.h │ ├── mavlink_msg_slugs_navigation.h │ ├── slugs.h │ ├── testsuite.h │ └── version.h │ ├── test │ ├── mavlink.h │ ├── mavlink_msg_test_types.h │ ├── test.h │ ├── testsuite.h │ └── version.h │ └── ualberta │ ├── mavlink.h │ ├── mavlink_msg_nav_filter_bias.h │ ├── mavlink_msg_radio_calibration.h │ ├── mavlink_msg_ualberta_sys_status.h │ ├── testsuite.h │ ├── ualberta.h │ └── version.h ├── sport-to-mavlink └── sport-to-mavlink.ino └── wiring.jpg /README.md: -------------------------------------------------------------------------------- 1 | # Arduino S.Port to MAVLink Converter 2 | 3 | ## Introduction 4 | 5 | This is an Arduino Sketch for converting FrSky S.Port telemetry data into the more common MAVLink format to be used with various groundstation applications. This should provide full telemetry as well as a functional moving map. 6 | S.Port data should be provided from a FrSky Transmitter such as the Taranis X9D. 7 | 8 | Note that the sketch is currently in Beta state, as there is still more testing to be done. 9 | 10 | ## Wiring 11 | 12 | Here's how to wire up an Arduino Nano for this project. Note that for other Arduinos, pinouts may vary. 13 | This graph assumes the arduino is powered with 5V via USB - you can power it directly from the TX module as well (by connecting to + on the S.Port), but make sure the voltage matches what your Arduino supports! 14 | Bluetooth was tested with a HC-05 module at 38400 bauds, others will most likely work as well. If you need a different baud rate, make sure to change it in the setup{}. 15 | You might need to use a voltage divider for your HC-05's RXD pin, as it may use 3.3V logic. Mine works without one for some reason. 16 | 17 | ![Alt text](wiring.jpg?raw=true "Title") 18 | 19 | You do not need to use a TX module for this to work, you can also connect the Arduino directly to the module bay pins if using the internal module. Check Google for the correct module bay pinout. 20 | 21 | Tested with: 22 | - [x] FrSky R9M 23 | - [ ] FrSky XJT Module (coming soon) 24 | - [ ] Taranis Module Bay 25 | 26 | ## Installation & Testing 27 | 28 | Simply flash the .ino file on any Arduino (tested on Arduino Nano), don't forget to include the provided libraries. 29 | The Arduino will then provide MAVLink telemetry data through its USB port at 115200 bauds, as well as at 38400 bauds on the optional Bluetooth module. 30 | 31 | From your groundstation application, simply choose the appropriate COM port (or bluetooth device), set baud rate to 115200 for USB or 38400 for Bluetooth and hit "connect". 32 | If you are using Mission Planner, you might have to skip parameter fetching, as the Arduino does not output any parameter data. 33 | 34 | 35 | ## Currently supported applications 36 | 37 | The following groundstation applications have been tested and are known to be working with this sketch: 38 | 39 | - [x] Mission Planner (Windows) 40 | - [x] APM Planner 2.0 (macOS/Windows) 41 | - [ ] QGroundcontrol (macOS/Windows) -> coming soon 42 | - [ ] Tower (Android) -> coming soon 43 | 44 | ## Known issues 45 | 46 | - Not all sensors currently supported 47 | 48 | If you find any further problems, feel free to open an issue! 49 | 50 | ## Future plans 51 | 52 | - Expanding sensor selection 53 | - Including attitude data (roll/pitch/yaw) if possible to have functional AHI in groundstation applications 54 | - Add support for QGroundcontrol 55 | 56 | 57 | (c) 2019 David Wyss 58 | 59 | ## Credits 60 | Base Arduino to MAVLink code from https://github.com/alaney/arduino-mavlink 61 | 62 | S.Port conversion library and sample code by Pawelsky from https://www.rcgroups.com/forums/showpost.php?p=29439177&postcount=1 63 | 64 | -------------------------------------------------------------------------------- /libraries/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/davwys/arduino-sport-to-mavlink/9e16af47dead8d5167a7b9232867520812e5a10a/libraries/.DS_Store -------------------------------------------------------------------------------- /libraries/FrSkySportTelemetry_20190824.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/davwys/arduino-sport-to-mavlink/9e16af47dead8d5167a7b9232867520812e5a10a/libraries/FrSkySportTelemetry_20190824.zip -------------------------------------------------------------------------------- /libraries/Mavlink/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/davwys/arduino-sport-to-mavlink/9e16af47dead8d5167a7b9232867520812e5a10a/libraries/Mavlink/.DS_Store -------------------------------------------------------------------------------- /libraries/Mavlink/.idea/Mavlink.iml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /libraries/Mavlink/.idea/misc.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | -------------------------------------------------------------------------------- /libraries/Mavlink/.idea/modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /libraries/Mavlink/checksum.h: -------------------------------------------------------------------------------- 1 | #ifdef __cplusplus 2 | extern "C" { 3 | #endif 4 | 5 | #ifndef _CHECKSUM_H_ 6 | #define _CHECKSUM_H_ 7 | 8 | 9 | /** 10 | * 11 | * CALCULATE THE CHECKSUM 12 | * 13 | */ 14 | 15 | #define X25_INIT_CRC 0xffff 16 | #define X25_VALIDATE_CRC 0xf0b8 17 | 18 | /** 19 | * @brief Accumulate the X.25 CRC by adding one char at a time. 20 | * 21 | * The checksum function adds the hash of one char at a time to the 22 | * 16 bit checksum (uint16_t). 23 | * 24 | * @param data new char to hash 25 | * @param crcAccum the already accumulated checksum 26 | **/ 27 | #ifndef HAVE_CRC_ACCUMULATE 28 | static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum) 29 | { 30 | /*Accumulate one byte of data into the CRC*/ 31 | uint8_t tmp; 32 | 33 | tmp = data ^ (uint8_t)(*crcAccum &0xff); 34 | tmp ^= (tmp<<4); 35 | *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); 36 | } 37 | #endif 38 | 39 | /** 40 | * @brief Initiliaze the buffer for the X.25 CRC 41 | * 42 | * @param crcAccum the 16 bit X.25 CRC 43 | */ 44 | static inline void crc_init(uint16_t* crcAccum) 45 | { 46 | *crcAccum = X25_INIT_CRC; 47 | } 48 | 49 | 50 | /** 51 | * @brief Calculates the X.25 checksum on a byte buffer 52 | * 53 | * @param pBuffer buffer containing the byte array to hash 54 | * @param length length of the byte array 55 | * @return the checksum over the buffer bytes 56 | **/ 57 | static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length) 58 | { 59 | uint16_t crcTmp; 60 | crc_init(&crcTmp); 61 | while (length--) { 62 | crc_accumulate(*pBuffer++, &crcTmp); 63 | } 64 | return crcTmp; 65 | } 66 | 67 | /** 68 | * @brief Accumulate the X.25 CRC by adding an array of bytes 69 | * 70 | * The checksum function adds the hash of one char at a time to the 71 | * 16 bit checksum (uint16_t). 72 | * 73 | * @param data new bytes to hash 74 | * @param crcAccum the already accumulated checksum 75 | **/ 76 | static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length) 77 | { 78 | const uint8_t *p = (const uint8_t *)pBuffer; 79 | while (length--) { 80 | crc_accumulate(*p++, crcAccum); 81 | } 82 | } 83 | 84 | 85 | 86 | 87 | #endif /* _CHECKSUM_H_ */ 88 | 89 | #ifdef __cplusplus 90 | } 91 | #endif 92 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from common.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_H 6 | #define MAVLINK_H 7 | 8 | #ifndef MAVLINK_STX 9 | #define MAVLINK_STX 254 10 | #endif 11 | 12 | #ifndef MAVLINK_ENDIAN 13 | #define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN 14 | #endif 15 | 16 | #ifndef MAVLINK_ALIGNED_FIELDS 17 | #define MAVLINK_ALIGNED_FIELDS 1 18 | #endif 19 | 20 | #ifndef MAVLINK_CRC_EXTRA 21 | #define MAVLINK_CRC_EXTRA 1 22 | #endif 23 | 24 | #include "version.h" 25 | #include "common.h" 26 | 27 | #endif // MAVLINK_H 28 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_auth_key.h: -------------------------------------------------------------------------------- 1 | // MESSAGE AUTH_KEY PACKING 2 | 3 | #define MAVLINK_MSG_ID_AUTH_KEY 7 4 | 5 | typedef struct __mavlink_auth_key_t 6 | { 7 | char key[32]; ///< key 8 | } mavlink_auth_key_t; 9 | 10 | #define MAVLINK_MSG_ID_AUTH_KEY_LEN 32 11 | #define MAVLINK_MSG_ID_7_LEN 32 12 | 13 | #define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32 14 | 15 | #define MAVLINK_MESSAGE_INFO_AUTH_KEY { \ 16 | "AUTH_KEY", \ 17 | 1, \ 18 | { { "key", NULL, MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a auth_key message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param key key 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | const char *key) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[32]; 37 | 38 | _mav_put_char_array(buf, 0, key, 32); 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); 40 | #else 41 | mavlink_auth_key_t packet; 42 | 43 | mav_array_memcpy(packet.key, key, sizeof(char)*32); 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; 48 | return mavlink_finalize_message(msg, system_id, component_id, 32, 119); 49 | } 50 | 51 | /** 52 | * @brief Pack a auth_key message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param key key 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | const char *key) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[32]; 66 | 67 | _mav_put_char_array(buf, 0, key, 32); 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); 69 | #else 70 | mavlink_auth_key_t packet; 71 | 72 | mav_array_memcpy(packet.key, key, sizeof(char)*32); 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 119); 78 | } 79 | 80 | /** 81 | * @brief Encode a auth_key struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param auth_key C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key) 89 | { 90 | return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key); 91 | } 92 | 93 | /** 94 | * @brief Send a auth_key message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param key key 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[32]; 105 | 106 | _mav_put_char_array(buf, 0, key, 32); 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, 32, 119); 108 | #else 109 | mavlink_auth_key_t packet; 110 | 111 | mav_array_memcpy(packet.key, key, sizeof(char)*32); 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, 32, 119); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE AUTH_KEY UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field key from auth_key message 123 | * 124 | * @return key 125 | */ 126 | static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key) 127 | { 128 | return _MAV_RETURN_char_array(msg, key, 32, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a auth_key message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param auth_key C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | mavlink_msg_auth_key_get_key(msg, auth_key->key); 141 | #else 142 | memcpy(auth_key, _MAV_PAYLOAD(msg), 32); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_command_ack.h: -------------------------------------------------------------------------------- 1 | // MESSAGE COMMAND_ACK PACKING 2 | 3 | #define MAVLINK_MSG_ID_COMMAND_ACK 77 4 | 5 | typedef struct __mavlink_command_ack_t 6 | { 7 | uint16_t command; ///< Command ID, as defined by MAV_CMD enum. 8 | uint8_t result; ///< See MAV_RESULT enum 9 | } mavlink_command_ack_t; 10 | 11 | #define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3 12 | #define MAVLINK_MSG_ID_77_LEN 3 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \ 17 | "COMMAND_ACK", \ 18 | 2, \ 19 | { { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \ 20 | { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a command_ack message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param command Command ID, as defined by MAV_CMD enum. 32 | * @param result See MAV_RESULT enum 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint16_t command, uint8_t result) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[3]; 40 | _mav_put_uint16_t(buf, 0, command); 41 | _mav_put_uint8_t(buf, 2, result); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); 44 | #else 45 | mavlink_command_ack_t packet; 46 | packet.command = command; 47 | packet.result = result; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; 53 | return mavlink_finalize_message(msg, system_id, component_id, 3, 143); 54 | } 55 | 56 | /** 57 | * @brief Pack a command_ack message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param command Command ID, as defined by MAV_CMD enum. 63 | * @param result See MAV_RESULT enum 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | uint16_t command,uint8_t result) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[3]; 72 | _mav_put_uint16_t(buf, 0, command); 73 | _mav_put_uint8_t(buf, 2, result); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); 76 | #else 77 | mavlink_command_ack_t packet; 78 | packet.command = command; 79 | packet.result = result; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 143); 86 | } 87 | 88 | /** 89 | * @brief Encode a command_ack struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param command_ack C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack) 97 | { 98 | return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result); 99 | } 100 | 101 | /** 102 | * @brief Send a command_ack message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param command Command ID, as defined by MAV_CMD enum. 106 | * @param result See MAV_RESULT enum 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[3]; 114 | _mav_put_uint16_t(buf, 0, command); 115 | _mav_put_uint8_t(buf, 2, result); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 3, 143); 118 | #else 119 | mavlink_command_ack_t packet; 120 | packet.command = command; 121 | packet.result = result; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 3, 143); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE COMMAND_ACK UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field command from command_ack message 134 | * 135 | * @return Command ID, as defined by MAV_CMD enum. 136 | */ 137 | static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_uint16_t(msg, 0); 140 | } 141 | 142 | /** 143 | * @brief Get field result from command_ack message 144 | * 145 | * @return See MAV_RESULT enum 146 | */ 147 | static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_uint8_t(msg, 2); 150 | } 151 | 152 | /** 153 | * @brief Decode a command_ack message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param command_ack C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | command_ack->command = mavlink_msg_command_ack_get_command(msg); 162 | command_ack->result = mavlink_msg_command_ack_get_result(msg); 163 | #else 164 | memcpy(command_ack, _MAV_PAYLOAD(msg), 3); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_debug.h: -------------------------------------------------------------------------------- 1 | // MESSAGE DEBUG PACKING 2 | 3 | #define MAVLINK_MSG_ID_DEBUG 254 4 | 5 | typedef struct __mavlink_debug_t 6 | { 7 | uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) 8 | float value; ///< DEBUG value 9 | uint8_t ind; ///< index of debug variable 10 | } mavlink_debug_t; 11 | 12 | #define MAVLINK_MSG_ID_DEBUG_LEN 9 13 | #define MAVLINK_MSG_ID_254_LEN 9 14 | 15 | 16 | 17 | #define MAVLINK_MESSAGE_INFO_DEBUG { \ 18 | "DEBUG", \ 19 | 3, \ 20 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \ 21 | { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \ 22 | { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \ 23 | } \ 24 | } 25 | 26 | 27 | /** 28 | * @brief Pack a debug message 29 | * @param system_id ID of this system 30 | * @param component_id ID of this component (e.g. 200 for IMU) 31 | * @param msg The MAVLink message to compress the data into 32 | * 33 | * @param time_boot_ms Timestamp (milliseconds since system boot) 34 | * @param ind index of debug variable 35 | * @param value DEBUG value 36 | * @return length of the message in bytes (excluding serial stream start sign) 37 | */ 38 | static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 39 | uint32_t time_boot_ms, uint8_t ind, float value) 40 | { 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 42 | char buf[9]; 43 | _mav_put_uint32_t(buf, 0, time_boot_ms); 44 | _mav_put_float(buf, 4, value); 45 | _mav_put_uint8_t(buf, 8, ind); 46 | 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); 48 | #else 49 | mavlink_debug_t packet; 50 | packet.time_boot_ms = time_boot_ms; 51 | packet.value = value; 52 | packet.ind = ind; 53 | 54 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); 55 | #endif 56 | 57 | msg->msgid = MAVLINK_MSG_ID_DEBUG; 58 | return mavlink_finalize_message(msg, system_id, component_id, 9, 46); 59 | } 60 | 61 | /** 62 | * @brief Pack a debug message on a channel 63 | * @param system_id ID of this system 64 | * @param component_id ID of this component (e.g. 200 for IMU) 65 | * @param chan The MAVLink channel this message was sent over 66 | * @param msg The MAVLink message to compress the data into 67 | * @param time_boot_ms Timestamp (milliseconds since system boot) 68 | * @param ind index of debug variable 69 | * @param value DEBUG value 70 | * @return length of the message in bytes (excluding serial stream start sign) 71 | */ 72 | static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 73 | mavlink_message_t* msg, 74 | uint32_t time_boot_ms,uint8_t ind,float value) 75 | { 76 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 77 | char buf[9]; 78 | _mav_put_uint32_t(buf, 0, time_boot_ms); 79 | _mav_put_float(buf, 4, value); 80 | _mav_put_uint8_t(buf, 8, ind); 81 | 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); 83 | #else 84 | mavlink_debug_t packet; 85 | packet.time_boot_ms = time_boot_ms; 86 | packet.value = value; 87 | packet.ind = ind; 88 | 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); 90 | #endif 91 | 92 | msg->msgid = MAVLINK_MSG_ID_DEBUG; 93 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 46); 94 | } 95 | 96 | /** 97 | * @brief Encode a debug struct into a message 98 | * 99 | * @param system_id ID of this system 100 | * @param component_id ID of this component (e.g. 200 for IMU) 101 | * @param msg The MAVLink message to compress the data into 102 | * @param debug C-struct to read the message contents from 103 | */ 104 | static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug) 105 | { 106 | return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value); 107 | } 108 | 109 | /** 110 | * @brief Send a debug message 111 | * @param chan MAVLink channel to send the message 112 | * 113 | * @param time_boot_ms Timestamp (milliseconds since system boot) 114 | * @param ind index of debug variable 115 | * @param value DEBUG value 116 | */ 117 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 118 | 119 | static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value) 120 | { 121 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 122 | char buf[9]; 123 | _mav_put_uint32_t(buf, 0, time_boot_ms); 124 | _mav_put_float(buf, 4, value); 125 | _mav_put_uint8_t(buf, 8, ind); 126 | 127 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 9, 46); 128 | #else 129 | mavlink_debug_t packet; 130 | packet.time_boot_ms = time_boot_ms; 131 | packet.value = value; 132 | packet.ind = ind; 133 | 134 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 9, 46); 135 | #endif 136 | } 137 | 138 | #endif 139 | 140 | // MESSAGE DEBUG UNPACKING 141 | 142 | 143 | /** 144 | * @brief Get field time_boot_ms from debug message 145 | * 146 | * @return Timestamp (milliseconds since system boot) 147 | */ 148 | static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg) 149 | { 150 | return _MAV_RETURN_uint32_t(msg, 0); 151 | } 152 | 153 | /** 154 | * @brief Get field ind from debug message 155 | * 156 | * @return index of debug variable 157 | */ 158 | static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg) 159 | { 160 | return _MAV_RETURN_uint8_t(msg, 8); 161 | } 162 | 163 | /** 164 | * @brief Get field value from debug message 165 | * 166 | * @return DEBUG value 167 | */ 168 | static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg) 169 | { 170 | return _MAV_RETURN_float(msg, 4); 171 | } 172 | 173 | /** 174 | * @brief Decode a debug message into a struct 175 | * 176 | * @param msg The message to decode 177 | * @param debug C-struct to decode the message contents into 178 | */ 179 | static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug) 180 | { 181 | #if MAVLINK_NEED_BYTE_SWAP 182 | debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg); 183 | debug->value = mavlink_msg_debug_get_value(msg); 184 | debug->ind = mavlink_msg_debug_get_ind(msg); 185 | #else 186 | memcpy(debug, _MAV_PAYLOAD(msg), 9); 187 | #endif 188 | } 189 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_mission_ack.h: -------------------------------------------------------------------------------- 1 | // MESSAGE MISSION_ACK PACKING 2 | 3 | #define MAVLINK_MSG_ID_MISSION_ACK 47 4 | 5 | typedef struct __mavlink_mission_ack_t 6 | { 7 | uint8_t target_system; ///< System ID 8 | uint8_t target_component; ///< Component ID 9 | uint8_t type; ///< See MAV_MISSION_RESULT enum 10 | } mavlink_mission_ack_t; 11 | 12 | #define MAVLINK_MSG_ID_MISSION_ACK_LEN 3 13 | #define MAVLINK_MSG_ID_47_LEN 3 14 | 15 | 16 | 17 | #define MAVLINK_MESSAGE_INFO_MISSION_ACK { \ 18 | "MISSION_ACK", \ 19 | 3, \ 20 | { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_ack_t, target_system) }, \ 21 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_ack_t, target_component) }, \ 22 | { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_ack_t, type) }, \ 23 | } \ 24 | } 25 | 26 | 27 | /** 28 | * @brief Pack a mission_ack message 29 | * @param system_id ID of this system 30 | * @param component_id ID of this component (e.g. 200 for IMU) 31 | * @param msg The MAVLink message to compress the data into 32 | * 33 | * @param target_system System ID 34 | * @param target_component Component ID 35 | * @param type See MAV_MISSION_RESULT enum 36 | * @return length of the message in bytes (excluding serial stream start sign) 37 | */ 38 | static inline uint16_t mavlink_msg_mission_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 39 | uint8_t target_system, uint8_t target_component, uint8_t type) 40 | { 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 42 | char buf[3]; 43 | _mav_put_uint8_t(buf, 0, target_system); 44 | _mav_put_uint8_t(buf, 1, target_component); 45 | _mav_put_uint8_t(buf, 2, type); 46 | 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); 48 | #else 49 | mavlink_mission_ack_t packet; 50 | packet.target_system = target_system; 51 | packet.target_component = target_component; 52 | packet.type = type; 53 | 54 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); 55 | #endif 56 | 57 | msg->msgid = MAVLINK_MSG_ID_MISSION_ACK; 58 | return mavlink_finalize_message(msg, system_id, component_id, 3, 153); 59 | } 60 | 61 | /** 62 | * @brief Pack a mission_ack message on a channel 63 | * @param system_id ID of this system 64 | * @param component_id ID of this component (e.g. 200 for IMU) 65 | * @param chan The MAVLink channel this message was sent over 66 | * @param msg The MAVLink message to compress the data into 67 | * @param target_system System ID 68 | * @param target_component Component ID 69 | * @param type See MAV_MISSION_RESULT enum 70 | * @return length of the message in bytes (excluding serial stream start sign) 71 | */ 72 | static inline uint16_t mavlink_msg_mission_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 73 | mavlink_message_t* msg, 74 | uint8_t target_system,uint8_t target_component,uint8_t type) 75 | { 76 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 77 | char buf[3]; 78 | _mav_put_uint8_t(buf, 0, target_system); 79 | _mav_put_uint8_t(buf, 1, target_component); 80 | _mav_put_uint8_t(buf, 2, type); 81 | 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); 83 | #else 84 | mavlink_mission_ack_t packet; 85 | packet.target_system = target_system; 86 | packet.target_component = target_component; 87 | packet.type = type; 88 | 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); 90 | #endif 91 | 92 | msg->msgid = MAVLINK_MSG_ID_MISSION_ACK; 93 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 153); 94 | } 95 | 96 | /** 97 | * @brief Encode a mission_ack struct into a message 98 | * 99 | * @param system_id ID of this system 100 | * @param component_id ID of this component (e.g. 200 for IMU) 101 | * @param msg The MAVLink message to compress the data into 102 | * @param mission_ack C-struct to read the message contents from 103 | */ 104 | static inline uint16_t mavlink_msg_mission_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_ack_t* mission_ack) 105 | { 106 | return mavlink_msg_mission_ack_pack(system_id, component_id, msg, mission_ack->target_system, mission_ack->target_component, mission_ack->type); 107 | } 108 | 109 | /** 110 | * @brief Send a mission_ack message 111 | * @param chan MAVLink channel to send the message 112 | * 113 | * @param target_system System ID 114 | * @param target_component Component ID 115 | * @param type See MAV_MISSION_RESULT enum 116 | */ 117 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 118 | 119 | static inline void mavlink_msg_mission_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type) 120 | { 121 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 122 | char buf[3]; 123 | _mav_put_uint8_t(buf, 0, target_system); 124 | _mav_put_uint8_t(buf, 1, target_component); 125 | _mav_put_uint8_t(buf, 2, type); 126 | 127 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, buf, 3, 153); 128 | #else 129 | mavlink_mission_ack_t packet; 130 | packet.target_system = target_system; 131 | packet.target_component = target_component; 132 | packet.type = type; 133 | 134 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, (const char *)&packet, 3, 153); 135 | #endif 136 | } 137 | 138 | #endif 139 | 140 | // MESSAGE MISSION_ACK UNPACKING 141 | 142 | 143 | /** 144 | * @brief Get field target_system from mission_ack message 145 | * 146 | * @return System ID 147 | */ 148 | static inline uint8_t mavlink_msg_mission_ack_get_target_system(const mavlink_message_t* msg) 149 | { 150 | return _MAV_RETURN_uint8_t(msg, 0); 151 | } 152 | 153 | /** 154 | * @brief Get field target_component from mission_ack message 155 | * 156 | * @return Component ID 157 | */ 158 | static inline uint8_t mavlink_msg_mission_ack_get_target_component(const mavlink_message_t* msg) 159 | { 160 | return _MAV_RETURN_uint8_t(msg, 1); 161 | } 162 | 163 | /** 164 | * @brief Get field type from mission_ack message 165 | * 166 | * @return See MAV_MISSION_RESULT enum 167 | */ 168 | static inline uint8_t mavlink_msg_mission_ack_get_type(const mavlink_message_t* msg) 169 | { 170 | return _MAV_RETURN_uint8_t(msg, 2); 171 | } 172 | 173 | /** 174 | * @brief Decode a mission_ack message into a struct 175 | * 176 | * @param msg The message to decode 177 | * @param mission_ack C-struct to decode the message contents into 178 | */ 179 | static inline void mavlink_msg_mission_ack_decode(const mavlink_message_t* msg, mavlink_mission_ack_t* mission_ack) 180 | { 181 | #if MAVLINK_NEED_BYTE_SWAP 182 | mission_ack->target_system = mavlink_msg_mission_ack_get_target_system(msg); 183 | mission_ack->target_component = mavlink_msg_mission_ack_get_target_component(msg); 184 | mission_ack->type = mavlink_msg_mission_ack_get_type(msg); 185 | #else 186 | memcpy(mission_ack, _MAV_PAYLOAD(msg), 3); 187 | #endif 188 | } 189 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_mission_clear_all.h: -------------------------------------------------------------------------------- 1 | // MESSAGE MISSION_CLEAR_ALL PACKING 2 | 3 | #define MAVLINK_MSG_ID_MISSION_CLEAR_ALL 45 4 | 5 | typedef struct __mavlink_mission_clear_all_t 6 | { 7 | uint8_t target_system; ///< System ID 8 | uint8_t target_component; ///< Component ID 9 | } mavlink_mission_clear_all_t; 10 | 11 | #define MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN 2 12 | #define MAVLINK_MSG_ID_45_LEN 2 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL { \ 17 | "MISSION_CLEAR_ALL", \ 18 | 2, \ 19 | { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_clear_all_t, target_system) }, \ 20 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_clear_all_t, target_component) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a mission_clear_all message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param target_system System ID 32 | * @param target_component Component ID 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_mission_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint8_t target_system, uint8_t target_component) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[2]; 40 | _mav_put_uint8_t(buf, 0, target_system); 41 | _mav_put_uint8_t(buf, 1, target_component); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 44 | #else 45 | mavlink_mission_clear_all_t packet; 46 | packet.target_system = target_system; 47 | packet.target_component = target_component; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL; 53 | return mavlink_finalize_message(msg, system_id, component_id, 2, 232); 54 | } 55 | 56 | /** 57 | * @brief Pack a mission_clear_all message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param target_system System ID 63 | * @param target_component Component ID 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_mission_clear_all_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | uint8_t target_system,uint8_t target_component) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[2]; 72 | _mav_put_uint8_t(buf, 0, target_system); 73 | _mav_put_uint8_t(buf, 1, target_component); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 76 | #else 77 | mavlink_mission_clear_all_t packet; 78 | packet.target_system = target_system; 79 | packet.target_component = target_component; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 232); 86 | } 87 | 88 | /** 89 | * @brief Encode a mission_clear_all struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param mission_clear_all C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_mission_clear_all_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_clear_all_t* mission_clear_all) 97 | { 98 | return mavlink_msg_mission_clear_all_pack(system_id, component_id, msg, mission_clear_all->target_system, mission_clear_all->target_component); 99 | } 100 | 101 | /** 102 | * @brief Send a mission_clear_all message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param target_system System ID 106 | * @param target_component Component ID 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_mission_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[2]; 114 | _mav_put_uint8_t(buf, 0, target_system); 115 | _mav_put_uint8_t(buf, 1, target_component); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, buf, 2, 232); 118 | #else 119 | mavlink_mission_clear_all_t packet; 120 | packet.target_system = target_system; 121 | packet.target_component = target_component; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, (const char *)&packet, 2, 232); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE MISSION_CLEAR_ALL UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field target_system from mission_clear_all message 134 | * 135 | * @return System ID 136 | */ 137 | static inline uint8_t mavlink_msg_mission_clear_all_get_target_system(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_uint8_t(msg, 0); 140 | } 141 | 142 | /** 143 | * @brief Get field target_component from mission_clear_all message 144 | * 145 | * @return Component ID 146 | */ 147 | static inline uint8_t mavlink_msg_mission_clear_all_get_target_component(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_uint8_t(msg, 1); 150 | } 151 | 152 | /** 153 | * @brief Decode a mission_clear_all message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param mission_clear_all C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_mission_clear_all_decode(const mavlink_message_t* msg, mavlink_mission_clear_all_t* mission_clear_all) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | mission_clear_all->target_system = mavlink_msg_mission_clear_all_get_target_system(msg); 162 | mission_clear_all->target_component = mavlink_msg_mission_clear_all_get_target_component(msg); 163 | #else 164 | memcpy(mission_clear_all, _MAV_PAYLOAD(msg), 2); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_mission_current.h: -------------------------------------------------------------------------------- 1 | // MESSAGE MISSION_CURRENT PACKING 2 | 3 | #define MAVLINK_MSG_ID_MISSION_CURRENT 42 4 | 5 | typedef struct __mavlink_mission_current_t 6 | { 7 | uint16_t seq; ///< Sequence 8 | } mavlink_mission_current_t; 9 | 10 | #define MAVLINK_MSG_ID_MISSION_CURRENT_LEN 2 11 | #define MAVLINK_MSG_ID_42_LEN 2 12 | 13 | 14 | 15 | #define MAVLINK_MESSAGE_INFO_MISSION_CURRENT { \ 16 | "MISSION_CURRENT", \ 17 | 1, \ 18 | { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_current_t, seq) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a mission_current message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param seq Sequence 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_mission_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | uint16_t seq) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[2]; 37 | _mav_put_uint16_t(buf, 0, seq); 38 | 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 40 | #else 41 | mavlink_mission_current_t packet; 42 | packet.seq = seq; 43 | 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT; 48 | return mavlink_finalize_message(msg, system_id, component_id, 2, 28); 49 | } 50 | 51 | /** 52 | * @brief Pack a mission_current message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param seq Sequence 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_mission_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | uint16_t seq) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[2]; 66 | _mav_put_uint16_t(buf, 0, seq); 67 | 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 69 | #else 70 | mavlink_mission_current_t packet; 71 | packet.seq = seq; 72 | 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 28); 78 | } 79 | 80 | /** 81 | * @brief Encode a mission_current struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param mission_current C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_mission_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_current_t* mission_current) 89 | { 90 | return mavlink_msg_mission_current_pack(system_id, component_id, msg, mission_current->seq); 91 | } 92 | 93 | /** 94 | * @brief Send a mission_current message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param seq Sequence 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_mission_current_send(mavlink_channel_t chan, uint16_t seq) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[2]; 105 | _mav_put_uint16_t(buf, 0, seq); 106 | 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, 2, 28); 108 | #else 109 | mavlink_mission_current_t packet; 110 | packet.seq = seq; 111 | 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)&packet, 2, 28); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE MISSION_CURRENT UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field seq from mission_current message 123 | * 124 | * @return Sequence 125 | */ 126 | static inline uint16_t mavlink_msg_mission_current_get_seq(const mavlink_message_t* msg) 127 | { 128 | return _MAV_RETURN_uint16_t(msg, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a mission_current message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param mission_current C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_mission_current_decode(const mavlink_message_t* msg, mavlink_mission_current_t* mission_current) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | mission_current->seq = mavlink_msg_mission_current_get_seq(msg); 141 | #else 142 | memcpy(mission_current, _MAV_PAYLOAD(msg), 2); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_mission_item_reached.h: -------------------------------------------------------------------------------- 1 | // MESSAGE MISSION_ITEM_REACHED PACKING 2 | 3 | #define MAVLINK_MSG_ID_MISSION_ITEM_REACHED 46 4 | 5 | typedef struct __mavlink_mission_item_reached_t 6 | { 7 | uint16_t seq; ///< Sequence 8 | } mavlink_mission_item_reached_t; 9 | 10 | #define MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN 2 11 | #define MAVLINK_MSG_ID_46_LEN 2 12 | 13 | 14 | 15 | #define MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED { \ 16 | "MISSION_ITEM_REACHED", \ 17 | 1, \ 18 | { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_item_reached_t, seq) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a mission_item_reached message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param seq Sequence 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_mission_item_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | uint16_t seq) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[2]; 37 | _mav_put_uint16_t(buf, 0, seq); 38 | 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 40 | #else 41 | mavlink_mission_item_reached_t packet; 42 | packet.seq = seq; 43 | 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED; 48 | return mavlink_finalize_message(msg, system_id, component_id, 2, 11); 49 | } 50 | 51 | /** 52 | * @brief Pack a mission_item_reached message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param seq Sequence 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_mission_item_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | uint16_t seq) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[2]; 66 | _mav_put_uint16_t(buf, 0, seq); 67 | 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 69 | #else 70 | mavlink_mission_item_reached_t packet; 71 | packet.seq = seq; 72 | 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 11); 78 | } 79 | 80 | /** 81 | * @brief Encode a mission_item_reached struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param mission_item_reached C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_mission_item_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_item_reached_t* mission_item_reached) 89 | { 90 | return mavlink_msg_mission_item_reached_pack(system_id, component_id, msg, mission_item_reached->seq); 91 | } 92 | 93 | /** 94 | * @brief Send a mission_item_reached message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param seq Sequence 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_mission_item_reached_send(mavlink_channel_t chan, uint16_t seq) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[2]; 105 | _mav_put_uint16_t(buf, 0, seq); 106 | 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, buf, 2, 11); 108 | #else 109 | mavlink_mission_item_reached_t packet; 110 | packet.seq = seq; 111 | 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, (const char *)&packet, 2, 11); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE MISSION_ITEM_REACHED UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field seq from mission_item_reached message 123 | * 124 | * @return Sequence 125 | */ 126 | static inline uint16_t mavlink_msg_mission_item_reached_get_seq(const mavlink_message_t* msg) 127 | { 128 | return _MAV_RETURN_uint16_t(msg, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a mission_item_reached message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param mission_item_reached C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_mission_item_reached_decode(const mavlink_message_t* msg, mavlink_mission_item_reached_t* mission_item_reached) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | mission_item_reached->seq = mavlink_msg_mission_item_reached_get_seq(msg); 141 | #else 142 | memcpy(mission_item_reached, _MAV_PAYLOAD(msg), 2); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_mission_request.h: -------------------------------------------------------------------------------- 1 | // MESSAGE MISSION_REQUEST PACKING 2 | 3 | #define MAVLINK_MSG_ID_MISSION_REQUEST 40 4 | 5 | typedef struct __mavlink_mission_request_t 6 | { 7 | uint16_t seq; ///< Sequence 8 | uint8_t target_system; ///< System ID 9 | uint8_t target_component; ///< Component ID 10 | } mavlink_mission_request_t; 11 | 12 | #define MAVLINK_MSG_ID_MISSION_REQUEST_LEN 4 13 | #define MAVLINK_MSG_ID_40_LEN 4 14 | 15 | 16 | 17 | #define MAVLINK_MESSAGE_INFO_MISSION_REQUEST { \ 18 | "MISSION_REQUEST", \ 19 | 3, \ 20 | { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_request_t, seq) }, \ 21 | { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_request_t, target_system) }, \ 22 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_request_t, target_component) }, \ 23 | } \ 24 | } 25 | 26 | 27 | /** 28 | * @brief Pack a mission_request message 29 | * @param system_id ID of this system 30 | * @param component_id ID of this component (e.g. 200 for IMU) 31 | * @param msg The MAVLink message to compress the data into 32 | * 33 | * @param target_system System ID 34 | * @param target_component Component ID 35 | * @param seq Sequence 36 | * @return length of the message in bytes (excluding serial stream start sign) 37 | */ 38 | static inline uint16_t mavlink_msg_mission_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 39 | uint8_t target_system, uint8_t target_component, uint16_t seq) 40 | { 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 42 | char buf[4]; 43 | _mav_put_uint16_t(buf, 0, seq); 44 | _mav_put_uint8_t(buf, 2, target_system); 45 | _mav_put_uint8_t(buf, 3, target_component); 46 | 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 48 | #else 49 | mavlink_mission_request_t packet; 50 | packet.seq = seq; 51 | packet.target_system = target_system; 52 | packet.target_component = target_component; 53 | 54 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 55 | #endif 56 | 57 | msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST; 58 | return mavlink_finalize_message(msg, system_id, component_id, 4, 230); 59 | } 60 | 61 | /** 62 | * @brief Pack a mission_request message on a channel 63 | * @param system_id ID of this system 64 | * @param component_id ID of this component (e.g. 200 for IMU) 65 | * @param chan The MAVLink channel this message was sent over 66 | * @param msg The MAVLink message to compress the data into 67 | * @param target_system System ID 68 | * @param target_component Component ID 69 | * @param seq Sequence 70 | * @return length of the message in bytes (excluding serial stream start sign) 71 | */ 72 | static inline uint16_t mavlink_msg_mission_request_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 73 | mavlink_message_t* msg, 74 | uint8_t target_system,uint8_t target_component,uint16_t seq) 75 | { 76 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 77 | char buf[4]; 78 | _mav_put_uint16_t(buf, 0, seq); 79 | _mav_put_uint8_t(buf, 2, target_system); 80 | _mav_put_uint8_t(buf, 3, target_component); 81 | 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 83 | #else 84 | mavlink_mission_request_t packet; 85 | packet.seq = seq; 86 | packet.target_system = target_system; 87 | packet.target_component = target_component; 88 | 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 90 | #endif 91 | 92 | msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST; 93 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 230); 94 | } 95 | 96 | /** 97 | * @brief Encode a mission_request struct into a message 98 | * 99 | * @param system_id ID of this system 100 | * @param component_id ID of this component (e.g. 200 for IMU) 101 | * @param msg The MAVLink message to compress the data into 102 | * @param mission_request C-struct to read the message contents from 103 | */ 104 | static inline uint16_t mavlink_msg_mission_request_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_t* mission_request) 105 | { 106 | return mavlink_msg_mission_request_pack(system_id, component_id, msg, mission_request->target_system, mission_request->target_component, mission_request->seq); 107 | } 108 | 109 | /** 110 | * @brief Send a mission_request message 111 | * @param chan MAVLink channel to send the message 112 | * 113 | * @param target_system System ID 114 | * @param target_component Component ID 115 | * @param seq Sequence 116 | */ 117 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 118 | 119 | static inline void mavlink_msg_mission_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) 120 | { 121 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 122 | char buf[4]; 123 | _mav_put_uint16_t(buf, 0, seq); 124 | _mav_put_uint8_t(buf, 2, target_system); 125 | _mav_put_uint8_t(buf, 3, target_component); 126 | 127 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, buf, 4, 230); 128 | #else 129 | mavlink_mission_request_t packet; 130 | packet.seq = seq; 131 | packet.target_system = target_system; 132 | packet.target_component = target_component; 133 | 134 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, (const char *)&packet, 4, 230); 135 | #endif 136 | } 137 | 138 | #endif 139 | 140 | // MESSAGE MISSION_REQUEST UNPACKING 141 | 142 | 143 | /** 144 | * @brief Get field target_system from mission_request message 145 | * 146 | * @return System ID 147 | */ 148 | static inline uint8_t mavlink_msg_mission_request_get_target_system(const mavlink_message_t* msg) 149 | { 150 | return _MAV_RETURN_uint8_t(msg, 2); 151 | } 152 | 153 | /** 154 | * @brief Get field target_component from mission_request message 155 | * 156 | * @return Component ID 157 | */ 158 | static inline uint8_t mavlink_msg_mission_request_get_target_component(const mavlink_message_t* msg) 159 | { 160 | return _MAV_RETURN_uint8_t(msg, 3); 161 | } 162 | 163 | /** 164 | * @brief Get field seq from mission_request message 165 | * 166 | * @return Sequence 167 | */ 168 | static inline uint16_t mavlink_msg_mission_request_get_seq(const mavlink_message_t* msg) 169 | { 170 | return _MAV_RETURN_uint16_t(msg, 0); 171 | } 172 | 173 | /** 174 | * @brief Decode a mission_request message into a struct 175 | * 176 | * @param msg The message to decode 177 | * @param mission_request C-struct to decode the message contents into 178 | */ 179 | static inline void mavlink_msg_mission_request_decode(const mavlink_message_t* msg, mavlink_mission_request_t* mission_request) 180 | { 181 | #if MAVLINK_NEED_BYTE_SWAP 182 | mission_request->seq = mavlink_msg_mission_request_get_seq(msg); 183 | mission_request->target_system = mavlink_msg_mission_request_get_target_system(msg); 184 | mission_request->target_component = mavlink_msg_mission_request_get_target_component(msg); 185 | #else 186 | memcpy(mission_request, _MAV_PAYLOAD(msg), 4); 187 | #endif 188 | } 189 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_mission_request_list.h: -------------------------------------------------------------------------------- 1 | // MESSAGE MISSION_REQUEST_LIST PACKING 2 | 3 | #define MAVLINK_MSG_ID_MISSION_REQUEST_LIST 43 4 | 5 | typedef struct __mavlink_mission_request_list_t 6 | { 7 | uint8_t target_system; ///< System ID 8 | uint8_t target_component; ///< Component ID 9 | } mavlink_mission_request_list_t; 10 | 11 | #define MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN 2 12 | #define MAVLINK_MSG_ID_43_LEN 2 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST { \ 17 | "MISSION_REQUEST_LIST", \ 18 | 2, \ 19 | { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_request_list_t, target_system) }, \ 20 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_request_list_t, target_component) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a mission_request_list message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param target_system System ID 32 | * @param target_component Component ID 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_mission_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint8_t target_system, uint8_t target_component) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[2]; 40 | _mav_put_uint8_t(buf, 0, target_system); 41 | _mav_put_uint8_t(buf, 1, target_component); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 44 | #else 45 | mavlink_mission_request_list_t packet; 46 | packet.target_system = target_system; 47 | packet.target_component = target_component; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST; 53 | return mavlink_finalize_message(msg, system_id, component_id, 2, 132); 54 | } 55 | 56 | /** 57 | * @brief Pack a mission_request_list message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param target_system System ID 63 | * @param target_component Component ID 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_mission_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | uint8_t target_system,uint8_t target_component) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[2]; 72 | _mav_put_uint8_t(buf, 0, target_system); 73 | _mav_put_uint8_t(buf, 1, target_component); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 76 | #else 77 | mavlink_mission_request_list_t packet; 78 | packet.target_system = target_system; 79 | packet.target_component = target_component; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 132); 86 | } 87 | 88 | /** 89 | * @brief Encode a mission_request_list struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param mission_request_list C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_mission_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_list_t* mission_request_list) 97 | { 98 | return mavlink_msg_mission_request_list_pack(system_id, component_id, msg, mission_request_list->target_system, mission_request_list->target_component); 99 | } 100 | 101 | /** 102 | * @brief Send a mission_request_list message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param target_system System ID 106 | * @param target_component Component ID 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_mission_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[2]; 114 | _mav_put_uint8_t(buf, 0, target_system); 115 | _mav_put_uint8_t(buf, 1, target_component); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, buf, 2, 132); 118 | #else 119 | mavlink_mission_request_list_t packet; 120 | packet.target_system = target_system; 121 | packet.target_component = target_component; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, (const char *)&packet, 2, 132); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE MISSION_REQUEST_LIST UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field target_system from mission_request_list message 134 | * 135 | * @return System ID 136 | */ 137 | static inline uint8_t mavlink_msg_mission_request_list_get_target_system(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_uint8_t(msg, 0); 140 | } 141 | 142 | /** 143 | * @brief Get field target_component from mission_request_list message 144 | * 145 | * @return Component ID 146 | */ 147 | static inline uint8_t mavlink_msg_mission_request_list_get_target_component(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_uint8_t(msg, 1); 150 | } 151 | 152 | /** 153 | * @brief Decode a mission_request_list message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param mission_request_list C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_mission_request_list_decode(const mavlink_message_t* msg, mavlink_mission_request_list_t* mission_request_list) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | mission_request_list->target_system = mavlink_msg_mission_request_list_get_target_system(msg); 162 | mission_request_list->target_component = mavlink_msg_mission_request_list_get_target_component(msg); 163 | #else 164 | memcpy(mission_request_list, _MAV_PAYLOAD(msg), 2); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_param_request_list.h: -------------------------------------------------------------------------------- 1 | // MESSAGE PARAM_REQUEST_LIST PACKING 2 | 3 | #define MAVLINK_MSG_ID_PARAM_REQUEST_LIST 21 4 | 5 | typedef struct __mavlink_param_request_list_t 6 | { 7 | uint8_t target_system; ///< System ID 8 | uint8_t target_component; ///< Component ID 9 | } mavlink_param_request_list_t; 10 | 11 | #define MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN 2 12 | #define MAVLINK_MSG_ID_21_LEN 2 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST { \ 17 | "PARAM_REQUEST_LIST", \ 18 | 2, \ 19 | { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_list_t, target_system) }, \ 20 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_list_t, target_component) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a param_request_list message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param target_system System ID 32 | * @param target_component Component ID 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint8_t target_system, uint8_t target_component) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[2]; 40 | _mav_put_uint8_t(buf, 0, target_system); 41 | _mav_put_uint8_t(buf, 1, target_component); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 44 | #else 45 | mavlink_param_request_list_t packet; 46 | packet.target_system = target_system; 47 | packet.target_component = target_component; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; 53 | return mavlink_finalize_message(msg, system_id, component_id, 2, 159); 54 | } 55 | 56 | /** 57 | * @brief Pack a param_request_list message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param target_system System ID 63 | * @param target_component Component ID 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_param_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | uint8_t target_system,uint8_t target_component) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[2]; 72 | _mav_put_uint8_t(buf, 0, target_system); 73 | _mav_put_uint8_t(buf, 1, target_component); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); 76 | #else 77 | mavlink_param_request_list_t packet; 78 | packet.target_system = target_system; 79 | packet.target_component = target_component; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 159); 86 | } 87 | 88 | /** 89 | * @brief Encode a param_request_list struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param param_request_list C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_list_t* param_request_list) 97 | { 98 | return mavlink_msg_param_request_list_pack(system_id, component_id, msg, param_request_list->target_system, param_request_list->target_component); 99 | } 100 | 101 | /** 102 | * @brief Send a param_request_list message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param target_system System ID 106 | * @param target_component Component ID 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[2]; 114 | _mav_put_uint8_t(buf, 0, target_system); 115 | _mav_put_uint8_t(buf, 1, target_component); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, 2, 159); 118 | #else 119 | mavlink_param_request_list_t packet; 120 | packet.target_system = target_system; 121 | packet.target_component = target_component; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)&packet, 2, 159); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE PARAM_REQUEST_LIST UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field target_system from param_request_list message 134 | * 135 | * @return System ID 136 | */ 137 | static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_uint8_t(msg, 0); 140 | } 141 | 142 | /** 143 | * @brief Get field target_component from param_request_list message 144 | * 145 | * @return Component ID 146 | */ 147 | static inline uint8_t mavlink_msg_param_request_list_get_target_component(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_uint8_t(msg, 1); 150 | } 151 | 152 | /** 153 | * @brief Decode a param_request_list message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param param_request_list C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_param_request_list_decode(const mavlink_message_t* msg, mavlink_param_request_list_t* param_request_list) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | param_request_list->target_system = mavlink_msg_param_request_list_get_target_system(msg); 162 | param_request_list->target_component = mavlink_msg_param_request_list_get_target_component(msg); 163 | #else 164 | memcpy(param_request_list, _MAV_PAYLOAD(msg), 2); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_statustext.h: -------------------------------------------------------------------------------- 1 | // MESSAGE STATUSTEXT PACKING 2 | 3 | #define MAVLINK_MSG_ID_STATUSTEXT 253 4 | 5 | typedef struct __mavlink_statustext_t 6 | { 7 | uint8_t severity; ///< Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. 8 | char text[50]; ///< Status text message, without null termination character 9 | } mavlink_statustext_t; 10 | 11 | #define MAVLINK_MSG_ID_STATUSTEXT_LEN 51 12 | #define MAVLINK_MSG_ID_253_LEN 51 13 | 14 | #define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50 15 | 16 | #define MAVLINK_MESSAGE_INFO_STATUSTEXT { \ 17 | "STATUSTEXT", \ 18 | 2, \ 19 | { { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \ 20 | { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a statustext message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. 32 | * @param text Status text message, without null termination character 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint8_t severity, const char *text) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[51]; 40 | _mav_put_uint8_t(buf, 0, severity); 41 | _mav_put_char_array(buf, 1, text, 50); 42 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 51); 43 | #else 44 | mavlink_statustext_t packet; 45 | packet.severity = severity; 46 | mav_array_memcpy(packet.text, text, sizeof(char)*50); 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 51); 48 | #endif 49 | 50 | msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; 51 | return mavlink_finalize_message(msg, system_id, component_id, 51, 83); 52 | } 53 | 54 | /** 55 | * @brief Pack a statustext message on a channel 56 | * @param system_id ID of this system 57 | * @param component_id ID of this component (e.g. 200 for IMU) 58 | * @param chan The MAVLink channel this message was sent over 59 | * @param msg The MAVLink message to compress the data into 60 | * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. 61 | * @param text Status text message, without null termination character 62 | * @return length of the message in bytes (excluding serial stream start sign) 63 | */ 64 | static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 65 | mavlink_message_t* msg, 66 | uint8_t severity,const char *text) 67 | { 68 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 69 | char buf[51]; 70 | _mav_put_uint8_t(buf, 0, severity); 71 | _mav_put_char_array(buf, 1, text, 50); 72 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 51); 73 | #else 74 | mavlink_statustext_t packet; 75 | packet.severity = severity; 76 | mav_array_memcpy(packet.text, text, sizeof(char)*50); 77 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 51); 78 | #endif 79 | 80 | msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; 81 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 51, 83); 82 | } 83 | 84 | /** 85 | * @brief Encode a statustext struct into a message 86 | * 87 | * @param system_id ID of this system 88 | * @param component_id ID of this component (e.g. 200 for IMU) 89 | * @param msg The MAVLink message to compress the data into 90 | * @param statustext C-struct to read the message contents from 91 | */ 92 | static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext) 93 | { 94 | return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text); 95 | } 96 | 97 | /** 98 | * @brief Send a statustext message 99 | * @param chan MAVLink channel to send the message 100 | * 101 | * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. 102 | * @param text Status text message, without null termination character 103 | */ 104 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 105 | 106 | static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text) 107 | { 108 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 109 | char buf[51]; 110 | _mav_put_uint8_t(buf, 0, severity); 111 | _mav_put_char_array(buf, 1, text, 50); 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, 51, 83); 113 | #else 114 | mavlink_statustext_t packet; 115 | packet.severity = severity; 116 | mav_array_memcpy(packet.text, text, sizeof(char)*50); 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, 51, 83); 118 | #endif 119 | } 120 | 121 | #endif 122 | 123 | // MESSAGE STATUSTEXT UNPACKING 124 | 125 | 126 | /** 127 | * @brief Get field severity from statustext message 128 | * 129 | * @return Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. 130 | */ 131 | static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg) 132 | { 133 | return _MAV_RETURN_uint8_t(msg, 0); 134 | } 135 | 136 | /** 137 | * @brief Get field text from statustext message 138 | * 139 | * @return Status text message, without null termination character 140 | */ 141 | static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, char *text) 142 | { 143 | return _MAV_RETURN_char_array(msg, text, 50, 1); 144 | } 145 | 146 | /** 147 | * @brief Decode a statustext message into a struct 148 | * 149 | * @param msg The message to decode 150 | * @param statustext C-struct to decode the message contents into 151 | */ 152 | static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext) 153 | { 154 | #if MAVLINK_NEED_BYTE_SWAP 155 | statustext->severity = mavlink_msg_statustext_get_severity(msg); 156 | mavlink_msg_statustext_get_text(msg, statustext->text); 157 | #else 158 | memcpy(statustext, _MAV_PAYLOAD(msg), 51); 159 | #endif 160 | } 161 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/mavlink_msg_system_time.h: -------------------------------------------------------------------------------- 1 | // MESSAGE SYSTEM_TIME PACKING 2 | 3 | #define MAVLINK_MSG_ID_SYSTEM_TIME 2 4 | 5 | typedef struct __mavlink_system_time_t 6 | { 7 | uint64_t time_unix_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch. 8 | uint32_t time_boot_ms; ///< Timestamp of the component clock since boot time in milliseconds. 9 | } mavlink_system_time_t; 10 | 11 | #define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12 12 | #define MAVLINK_MSG_ID_2_LEN 12 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \ 17 | "SYSTEM_TIME", \ 18 | 2, \ 19 | { { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \ 20 | { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a system_time message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. 32 | * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint64_t time_unix_usec, uint32_t time_boot_ms) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[12]; 40 | _mav_put_uint64_t(buf, 0, time_unix_usec); 41 | _mav_put_uint32_t(buf, 8, time_boot_ms); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 44 | #else 45 | mavlink_system_time_t packet; 46 | packet.time_unix_usec = time_unix_usec; 47 | packet.time_boot_ms = time_boot_ms; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; 53 | return mavlink_finalize_message(msg, system_id, component_id, 12, 137); 54 | } 55 | 56 | /** 57 | * @brief Pack a system_time message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. 63 | * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | uint64_t time_unix_usec,uint32_t time_boot_ms) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[12]; 72 | _mav_put_uint64_t(buf, 0, time_unix_usec); 73 | _mav_put_uint32_t(buf, 8, time_boot_ms); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 76 | #else 77 | mavlink_system_time_t packet; 78 | packet.time_unix_usec = time_unix_usec; 79 | packet.time_boot_ms = time_boot_ms; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 137); 86 | } 87 | 88 | /** 89 | * @brief Encode a system_time struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param system_time C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time) 97 | { 98 | return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_unix_usec, system_time->time_boot_ms); 99 | } 100 | 101 | /** 102 | * @brief Send a system_time message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. 106 | * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[12]; 114 | _mav_put_uint64_t(buf, 0, time_unix_usec); 115 | _mav_put_uint32_t(buf, 8, time_boot_ms); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, 12, 137); 118 | #else 119 | mavlink_system_time_t packet; 120 | packet.time_unix_usec = time_unix_usec; 121 | packet.time_boot_ms = time_boot_ms; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, 12, 137); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE SYSTEM_TIME UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field time_unix_usec from system_time message 134 | * 135 | * @return Timestamp of the master clock in microseconds since UNIX epoch. 136 | */ 137 | static inline uint64_t mavlink_msg_system_time_get_time_unix_usec(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_uint64_t(msg, 0); 140 | } 141 | 142 | /** 143 | * @brief Get field time_boot_ms from system_time message 144 | * 145 | * @return Timestamp of the component clock since boot time in milliseconds. 146 | */ 147 | static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_uint32_t(msg, 8); 150 | } 151 | 152 | /** 153 | * @brief Decode a system_time message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param system_time C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | system_time->time_unix_usec = mavlink_msg_system_time_get_time_unix_usec(msg); 162 | system_time->time_boot_ms = mavlink_msg_system_time_get_time_boot_ms(msg); 163 | #else 164 | memcpy(system_time, _MAV_PAYLOAD(msg), 12); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/common/version.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from common.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_VERSION_H 6 | #define MAVLINK_VERSION_H 7 | 8 | #define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:54 2012" 9 | #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" 10 | #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 11 | 12 | #endif // MAVLINK_VERSION_H 13 | -------------------------------------------------------------------------------- /libraries/Mavlink/matrixpilot/mavlink.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from matrixpilot.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_H 6 | #define MAVLINK_H 7 | 8 | #ifndef MAVLINK_STX 9 | #define MAVLINK_STX 254 10 | #endif 11 | 12 | #ifndef MAVLINK_ENDIAN 13 | #define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN 14 | #endif 15 | 16 | #ifndef MAVLINK_ALIGNED_FIELDS 17 | #define MAVLINK_ALIGNED_FIELDS 1 18 | #endif 19 | 20 | #ifndef MAVLINK_CRC_EXTRA 21 | #define MAVLINK_CRC_EXTRA 1 22 | #endif 23 | 24 | #include "version.h" 25 | #include "matrixpilot.h" 26 | 27 | #endif // MAVLINK_H 28 | -------------------------------------------------------------------------------- /libraries/Mavlink/matrixpilot/testsuite.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol testsuite generated from matrixpilot.xml 3 | * @see http://qgroundcontrol.org/mavlink/ 4 | */ 5 | #ifndef MATRIXPILOT_TESTSUITE_H 6 | #define MATRIXPILOT_TESTSUITE_H 7 | 8 | #ifdef __cplusplus 9 | extern "C" { 10 | #endif 11 | 12 | #ifndef MAVLINK_TEST_ALL 13 | #define MAVLINK_TEST_ALL 14 | static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); 15 | static void mavlink_test_matrixpilot(uint8_t, uint8_t, mavlink_message_t *last_msg); 16 | 17 | static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 18 | { 19 | mavlink_test_common(system_id, component_id, last_msg); 20 | mavlink_test_matrixpilot(system_id, component_id, last_msg); 21 | } 22 | #endif 23 | 24 | #include "../common/testsuite.h" 25 | 26 | 27 | 28 | static void mavlink_test_matrixpilot(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 29 | { 30 | 31 | } 32 | 33 | #ifdef __cplusplus 34 | } 35 | #endif // __cplusplus 36 | #endif // MATRIXPILOT_TESTSUITE_H 37 | -------------------------------------------------------------------------------- /libraries/Mavlink/matrixpilot/version.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from matrixpilot.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_VERSION_H 6 | #define MAVLINK_VERSION_H 7 | 8 | #define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:49 2012" 9 | #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" 10 | #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 11 | 12 | #endif // MAVLINK_VERSION_H 13 | -------------------------------------------------------------------------------- /libraries/Mavlink/mavlink.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from ardupilotmega.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_H 6 | #define MAVLINK_H 7 | 8 | #ifndef MAVLINK_STX 9 | #define MAVLINK_STX 254 10 | #endif 11 | 12 | #ifndef MAVLINK_ENDIAN 13 | #define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN 14 | #endif 15 | 16 | #ifndef MAVLINK_ALIGNED_FIELDS 17 | #define MAVLINK_ALIGNED_FIELDS 1 18 | #endif 19 | 20 | #ifndef MAVLINK_CRC_EXTRA 21 | #define MAVLINK_CRC_EXTRA 1 22 | #endif 23 | 24 | #include "common/common.h" 25 | #include "protocol.h" 26 | 27 | 28 | #endif // MAVLINK_H 29 | -------------------------------------------------------------------------------- /libraries/Mavlink/mavlink_types.h: -------------------------------------------------------------------------------- 1 | #ifndef MAVLINK_TYPES_H_ 2 | #define MAVLINK_TYPES_H_ 3 | 4 | #include 5 | 6 | #ifndef MAVLINK_MAX_PAYLOAD_LEN 7 | // it is possible to override this, but be careful! 8 | #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length 9 | #endif 10 | 11 | #define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte) 12 | #define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum 13 | #define MAVLINK_NUM_CHECKSUM_BYTES 2 14 | #define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES) 15 | 16 | #define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length 17 | 18 | #define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255 19 | #define MAVLINK_EXTENDED_HEADER_LEN 14 20 | 21 | #if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__) 22 | /* full fledged 32bit++ OS */ 23 | #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507 24 | #else 25 | /* small microcontrollers */ 26 | #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048 27 | #endif 28 | 29 | #define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES) 30 | 31 | typedef struct param_union { 32 | union { 33 | float param_float; 34 | int32_t param_int32; 35 | uint32_t param_uint32; 36 | uint8_t param_uint8; 37 | uint8_t bytes[4]; 38 | }; 39 | uint8_t type; 40 | } mavlink_param_union_t; 41 | 42 | typedef struct __mavlink_system { 43 | uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function 44 | uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function 45 | uint8_t type; ///< Unused, can be used by user to store the system's type 46 | uint8_t state; ///< Unused, can be used by user to store the system's state 47 | uint8_t mode; ///< Unused, can be used by user to store the system's mode 48 | uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode 49 | } mavlink_system_t; 50 | 51 | typedef struct __mavlink_message { 52 | uint16_t checksum; /// sent at end of packet 53 | uint8_t magic; ///< protocol magic marker 54 | uint8_t len; ///< Length of payload 55 | uint8_t seq; ///< Sequence of packet 56 | uint8_t sysid; ///< ID of message sender system/aircraft 57 | uint8_t compid; ///< ID of the message sender component 58 | uint8_t msgid; ///< ID of message in payload 59 | uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; 60 | } mavlink_message_t; 61 | 62 | 63 | typedef struct __mavlink_extended_message { 64 | mavlink_message_t base_msg; 65 | int32_t extended_payload_len; ///< Length of extended payload if any 66 | uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN]; 67 | } mavlink_extended_message_t; 68 | 69 | 70 | typedef enum { 71 | MAVLINK_TYPE_CHAR = 0, 72 | MAVLINK_TYPE_UINT8_T = 1, 73 | MAVLINK_TYPE_INT8_T = 2, 74 | MAVLINK_TYPE_UINT16_T = 3, 75 | MAVLINK_TYPE_INT16_T = 4, 76 | MAVLINK_TYPE_UINT32_T = 5, 77 | MAVLINK_TYPE_INT32_T = 6, 78 | MAVLINK_TYPE_UINT64_T = 7, 79 | MAVLINK_TYPE_INT64_T = 8, 80 | MAVLINK_TYPE_FLOAT = 9, 81 | MAVLINK_TYPE_DOUBLE = 10 82 | } mavlink_message_type_t; 83 | 84 | #define MAVLINK_MAX_FIELDS 64 85 | 86 | typedef struct __mavlink_field_info { 87 | const char *name; // name of this field 88 | const char *print_format; // printing format hint, or NULL 89 | mavlink_message_type_t type; // type of this field 90 | unsigned int array_length; // if non-zero, field is an array 91 | unsigned int wire_offset; // offset of each field in the payload 92 | unsigned int structure_offset; // offset in a C structure 93 | } mavlink_field_info_t; 94 | 95 | // note that in this structure the order of fields is the order 96 | // in the XML file, not necessary the wire order 97 | typedef struct __mavlink_message_info { 98 | const char *name; // name of the message 99 | unsigned num_fields; // how many fields in this message 100 | mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information 101 | } mavlink_message_info_t; 102 | 103 | #define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0]))) 104 | #define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0]))) 105 | 106 | // checksum is immediately after the payload bytes 107 | #define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg)) 108 | #define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg)) 109 | 110 | typedef enum { 111 | MAVLINK_COMM_0, 112 | MAVLINK_COMM_1, 113 | MAVLINK_COMM_2, 114 | MAVLINK_COMM_3 115 | } mavlink_channel_t; 116 | 117 | /* 118 | * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number 119 | * of buffers they will use. If more are used, then the result will be 120 | * a stack overrun 121 | */ 122 | #ifndef MAVLINK_COMM_NUM_BUFFERS 123 | #if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) 124 | # define MAVLINK_COMM_NUM_BUFFERS 16 125 | #else 126 | # define MAVLINK_COMM_NUM_BUFFERS 4 127 | #endif 128 | #endif 129 | 130 | typedef enum { 131 | MAVLINK_PARSE_STATE_UNINIT=0, 132 | MAVLINK_PARSE_STATE_IDLE, 133 | MAVLINK_PARSE_STATE_GOT_STX, 134 | MAVLINK_PARSE_STATE_GOT_SEQ, 135 | MAVLINK_PARSE_STATE_GOT_LENGTH, 136 | MAVLINK_PARSE_STATE_GOT_SYSID, 137 | MAVLINK_PARSE_STATE_GOT_COMPID, 138 | MAVLINK_PARSE_STATE_GOT_MSGID, 139 | MAVLINK_PARSE_STATE_GOT_PAYLOAD, 140 | MAVLINK_PARSE_STATE_GOT_CRC1 141 | } mavlink_parse_state_t; ///< The state machine for the comm parser 142 | 143 | typedef struct __mavlink_status { 144 | uint8_t msg_received; ///< Number of received messages 145 | uint8_t buffer_overrun; ///< Number of buffer overruns 146 | uint8_t parse_error; ///< Number of parse errors 147 | mavlink_parse_state_t parse_state; ///< Parsing state machine 148 | uint8_t packet_idx; ///< Index in current packet 149 | uint8_t current_rx_seq; ///< Sequence number of last packet received 150 | uint8_t current_tx_seq; ///< Sequence number of last packet sent 151 | uint16_t packet_rx_success_count; ///< Received packets 152 | uint16_t packet_rx_drop_count; ///< Number of packet drops 153 | } mavlink_status_t; 154 | 155 | #define MAVLINK_BIG_ENDIAN 0 156 | #define MAVLINK_LITTLE_ENDIAN 1 157 | 158 | #endif /* MAVLINK_TYPES_H_ */ 159 | -------------------------------------------------------------------------------- /libraries/Mavlink/minimal/mavlink.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from minimal.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_H 6 | #define MAVLINK_H 7 | 8 | #ifndef MAVLINK_STX 9 | #define MAVLINK_STX 254 10 | #endif 11 | 12 | #ifndef MAVLINK_ENDIAN 13 | #define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN 14 | #endif 15 | 16 | #ifndef MAVLINK_ALIGNED_FIELDS 17 | #define MAVLINK_ALIGNED_FIELDS 1 18 | #endif 19 | 20 | #ifndef MAVLINK_CRC_EXTRA 21 | #define MAVLINK_CRC_EXTRA 1 22 | #endif 23 | 24 | #include "version.h" 25 | #include "minimal.h" 26 | 27 | #endif // MAVLINK_H 28 | -------------------------------------------------------------------------------- /libraries/Mavlink/minimal/testsuite.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol testsuite generated from minimal.xml 3 | * @see http://qgroundcontrol.org/mavlink/ 4 | */ 5 | #ifndef MINIMAL_TESTSUITE_H 6 | #define MINIMAL_TESTSUITE_H 7 | 8 | #ifdef __cplusplus 9 | extern "C" { 10 | #endif 11 | 12 | #ifndef MAVLINK_TEST_ALL 13 | #define MAVLINK_TEST_ALL 14 | 15 | static void mavlink_test_minimal(uint8_t, uint8_t, mavlink_message_t *last_msg); 16 | 17 | static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 18 | { 19 | 20 | mavlink_test_minimal(system_id, component_id, last_msg); 21 | } 22 | #endif 23 | 24 | 25 | 26 | 27 | static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 28 | { 29 | mavlink_message_t msg; 30 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 31 | uint16_t i; 32 | mavlink_heartbeat_t packet_in = { 33 | 963497464, 34 | 17, 35 | 84, 36 | 151, 37 | 218, 38 | 2, 39 | }; 40 | mavlink_heartbeat_t packet1, packet2; 41 | memset(&packet1, 0, sizeof(packet1)); 42 | packet1.custom_mode = packet_in.custom_mode; 43 | packet1.type = packet_in.type; 44 | packet1.autopilot = packet_in.autopilot; 45 | packet1.base_mode = packet_in.base_mode; 46 | packet1.system_status = packet_in.system_status; 47 | packet1.mavlink_version = packet_in.mavlink_version; 48 | 49 | 50 | 51 | memset(&packet2, 0, sizeof(packet2)); 52 | mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1); 53 | mavlink_msg_heartbeat_decode(&msg, &packet2); 54 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 55 | 56 | memset(&packet2, 0, sizeof(packet2)); 57 | mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); 58 | mavlink_msg_heartbeat_decode(&msg, &packet2); 59 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 60 | 61 | memset(&packet2, 0, sizeof(packet2)); 62 | mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); 63 | mavlink_msg_heartbeat_decode(&msg, &packet2); 64 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 65 | 66 | memset(&packet2, 0, sizeof(packet2)); 67 | mavlink_msg_to_send_buffer(buffer, &msg); 68 | for (i=0; imsgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; 51 | return mavlink_finalize_message(msg, system_id, component_id, 255, 223); 52 | } 53 | 54 | /** 55 | * @brief Pack a encapsulated_data message on a channel 56 | * @param system_id ID of this system 57 | * @param component_id ID of this component (e.g. 200 for IMU) 58 | * @param chan The MAVLink channel this message was sent over 59 | * @param msg The MAVLink message to compress the data into 60 | * @param seqnr sequence number (starting with 0 on every transmission) 61 | * @param data image data bytes 62 | * @return length of the message in bytes (excluding serial stream start sign) 63 | */ 64 | static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 65 | mavlink_message_t* msg, 66 | uint16_t seqnr,const uint8_t *data) 67 | { 68 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 69 | char buf[255]; 70 | _mav_put_uint16_t(buf, 0, seqnr); 71 | _mav_put_uint8_t_array(buf, 2, data, 253); 72 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 255); 73 | #else 74 | mavlink_encapsulated_data_t packet; 75 | packet.seqnr = seqnr; 76 | mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); 77 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 255); 78 | #endif 79 | 80 | msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; 81 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 255, 223); 82 | } 83 | 84 | /** 85 | * @brief Encode a encapsulated_data struct into a message 86 | * 87 | * @param system_id ID of this system 88 | * @param component_id ID of this component (e.g. 200 for IMU) 89 | * @param msg The MAVLink message to compress the data into 90 | * @param encapsulated_data C-struct to read the message contents from 91 | */ 92 | static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data) 93 | { 94 | return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data); 95 | } 96 | 97 | /** 98 | * @brief Send a encapsulated_data message 99 | * @param chan MAVLink channel to send the message 100 | * 101 | * @param seqnr sequence number (starting with 0 on every transmission) 102 | * @param data image data bytes 103 | */ 104 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 105 | 106 | static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data) 107 | { 108 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 109 | char buf[255]; 110 | _mav_put_uint16_t(buf, 0, seqnr); 111 | _mav_put_uint8_t_array(buf, 2, data, 253); 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, 255, 223); 113 | #else 114 | mavlink_encapsulated_data_t packet; 115 | packet.seqnr = seqnr; 116 | mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, 255, 223); 118 | #endif 119 | } 120 | 121 | #endif 122 | 123 | // MESSAGE ENCAPSULATED_DATA UNPACKING 124 | 125 | 126 | /** 127 | * @brief Get field seqnr from encapsulated_data message 128 | * 129 | * @return sequence number (starting with 0 on every transmission) 130 | */ 131 | static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg) 132 | { 133 | return _MAV_RETURN_uint16_t(msg, 0); 134 | } 135 | 136 | /** 137 | * @brief Get field data from encapsulated_data message 138 | * 139 | * @return image data bytes 140 | */ 141 | static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data) 142 | { 143 | return _MAV_RETURN_uint8_t_array(msg, data, 253, 2); 144 | } 145 | 146 | /** 147 | * @brief Decode a encapsulated_data message into a struct 148 | * 149 | * @param msg The message to decode 150 | * @param encapsulated_data C-struct to decode the message contents into 151 | */ 152 | static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data) 153 | { 154 | #if MAVLINK_NEED_BYTE_SWAP 155 | encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg); 156 | mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data); 157 | #else 158 | memcpy(encapsulated_data, _MAV_PAYLOAD(msg), 255); 159 | #endif 160 | } 161 | -------------------------------------------------------------------------------- /libraries/Mavlink/pixhawk/mavlink_msg_image_trigger_control.h: -------------------------------------------------------------------------------- 1 | // MESSAGE IMAGE_TRIGGER_CONTROL PACKING 2 | 3 | #define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL 153 4 | 5 | typedef struct __mavlink_image_trigger_control_t 6 | { 7 | uint8_t enable; ///< 0 to disable, 1 to enable 8 | } mavlink_image_trigger_control_t; 9 | 10 | #define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN 1 11 | #define MAVLINK_MSG_ID_153_LEN 1 12 | 13 | 14 | 15 | #define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL { \ 16 | "IMAGE_TRIGGER_CONTROL", \ 17 | 1, \ 18 | { { "enable", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_image_trigger_control_t, enable) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a image_trigger_control message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param enable 0 to disable, 1 to enable 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_image_trigger_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | uint8_t enable) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[1]; 37 | _mav_put_uint8_t(buf, 0, enable); 38 | 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 1); 40 | #else 41 | mavlink_image_trigger_control_t packet; 42 | packet.enable = enable; 43 | 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 1); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; 48 | return mavlink_finalize_message(msg, system_id, component_id, 1, 95); 49 | } 50 | 51 | /** 52 | * @brief Pack a image_trigger_control message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param enable 0 to disable, 1 to enable 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_image_trigger_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | uint8_t enable) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[1]; 66 | _mav_put_uint8_t(buf, 0, enable); 67 | 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 1); 69 | #else 70 | mavlink_image_trigger_control_t packet; 71 | packet.enable = enable; 72 | 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 1); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 1, 95); 78 | } 79 | 80 | /** 81 | * @brief Encode a image_trigger_control struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param image_trigger_control C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_image_trigger_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_trigger_control_t* image_trigger_control) 89 | { 90 | return mavlink_msg_image_trigger_control_pack(system_id, component_id, msg, image_trigger_control->enable); 91 | } 92 | 93 | /** 94 | * @brief Send a image_trigger_control message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param enable 0 to disable, 1 to enable 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_image_trigger_control_send(mavlink_channel_t chan, uint8_t enable) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[1]; 105 | _mav_put_uint8_t(buf, 0, enable); 106 | 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, buf, 1, 95); 108 | #else 109 | mavlink_image_trigger_control_t packet; 110 | packet.enable = enable; 111 | 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, (const char *)&packet, 1, 95); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE IMAGE_TRIGGER_CONTROL UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field enable from image_trigger_control message 123 | * 124 | * @return 0 to disable, 1 to enable 125 | */ 126 | static inline uint8_t mavlink_msg_image_trigger_control_get_enable(const mavlink_message_t* msg) 127 | { 128 | return _MAV_RETURN_uint8_t(msg, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a image_trigger_control message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param image_trigger_control C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_image_trigger_control_decode(const mavlink_message_t* msg, mavlink_image_trigger_control_t* image_trigger_control) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | image_trigger_control->enable = mavlink_msg_image_trigger_control_get_enable(msg); 141 | #else 142 | memcpy(image_trigger_control, _MAV_PAYLOAD(msg), 1); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/pixhawk/mavlink_msg_watchdog_heartbeat.h: -------------------------------------------------------------------------------- 1 | // MESSAGE WATCHDOG_HEARTBEAT PACKING 2 | 3 | #define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT 180 4 | 5 | typedef struct __mavlink_watchdog_heartbeat_t 6 | { 7 | uint16_t watchdog_id; ///< Watchdog ID 8 | uint16_t process_count; ///< Number of processes 9 | } mavlink_watchdog_heartbeat_t; 10 | 11 | #define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN 4 12 | #define MAVLINK_MSG_ID_180_LEN 4 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT { \ 17 | "WATCHDOG_HEARTBEAT", \ 18 | 2, \ 19 | { { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_heartbeat_t, watchdog_id) }, \ 20 | { "process_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_heartbeat_t, process_count) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a watchdog_heartbeat message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param watchdog_id Watchdog ID 32 | * @param process_count Number of processes 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint16_t watchdog_id, uint16_t process_count) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[4]; 40 | _mav_put_uint16_t(buf, 0, watchdog_id); 41 | _mav_put_uint16_t(buf, 2, process_count); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 44 | #else 45 | mavlink_watchdog_heartbeat_t packet; 46 | packet.watchdog_id = watchdog_id; 47 | packet.process_count = process_count; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; 53 | return mavlink_finalize_message(msg, system_id, component_id, 4, 153); 54 | } 55 | 56 | /** 57 | * @brief Pack a watchdog_heartbeat message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param watchdog_id Watchdog ID 63 | * @param process_count Number of processes 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | uint16_t watchdog_id,uint16_t process_count) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[4]; 72 | _mav_put_uint16_t(buf, 0, watchdog_id); 73 | _mav_put_uint16_t(buf, 2, process_count); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 76 | #else 77 | mavlink_watchdog_heartbeat_t packet; 78 | packet.watchdog_id = watchdog_id; 79 | packet.process_count = process_count; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 153); 86 | } 87 | 88 | /** 89 | * @brief Encode a watchdog_heartbeat struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param watchdog_heartbeat C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_heartbeat_t* watchdog_heartbeat) 97 | { 98 | return mavlink_msg_watchdog_heartbeat_pack(system_id, component_id, msg, watchdog_heartbeat->watchdog_id, watchdog_heartbeat->process_count); 99 | } 100 | 101 | /** 102 | * @brief Send a watchdog_heartbeat message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param watchdog_id Watchdog ID 106 | * @param process_count Number of processes 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[4]; 114 | _mav_put_uint16_t(buf, 0, watchdog_id); 115 | _mav_put_uint16_t(buf, 2, process_count); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, 4, 153); 118 | #else 119 | mavlink_watchdog_heartbeat_t packet; 120 | packet.watchdog_id = watchdog_id; 121 | packet.process_count = process_count; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)&packet, 4, 153); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE WATCHDOG_HEARTBEAT UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field watchdog_id from watchdog_heartbeat message 134 | * 135 | * @return Watchdog ID 136 | */ 137 | static inline uint16_t mavlink_msg_watchdog_heartbeat_get_watchdog_id(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_uint16_t(msg, 0); 140 | } 141 | 142 | /** 143 | * @brief Get field process_count from watchdog_heartbeat message 144 | * 145 | * @return Number of processes 146 | */ 147 | static inline uint16_t mavlink_msg_watchdog_heartbeat_get_process_count(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_uint16_t(msg, 2); 150 | } 151 | 152 | /** 153 | * @brief Decode a watchdog_heartbeat message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param watchdog_heartbeat C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_watchdog_heartbeat_decode(const mavlink_message_t* msg, mavlink_watchdog_heartbeat_t* watchdog_heartbeat) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | watchdog_heartbeat->watchdog_id = mavlink_msg_watchdog_heartbeat_get_watchdog_id(msg); 162 | watchdog_heartbeat->process_count = mavlink_msg_watchdog_heartbeat_get_process_count(msg); 163 | #else 164 | memcpy(watchdog_heartbeat, _MAV_PAYLOAD(msg), 4); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/pixhawk/version.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from pixhawk.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_VERSION_H 6 | #define MAVLINK_VERSION_H 7 | 8 | #define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:50 2012" 9 | #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" 10 | #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 11 | 12 | #endif // MAVLINK_VERSION_H 13 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from sensesoar.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_H 6 | #define MAVLINK_H 7 | 8 | #ifndef MAVLINK_STX 9 | #define MAVLINK_STX 254 10 | #endif 11 | 12 | #ifndef MAVLINK_ENDIAN 13 | #define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN 14 | #endif 15 | 16 | #ifndef MAVLINK_ALIGNED_FIELDS 17 | #define MAVLINK_ALIGNED_FIELDS 1 18 | #endif 19 | 20 | #ifndef MAVLINK_CRC_EXTRA 21 | #define MAVLINK_CRC_EXTRA 1 22 | #endif 23 | 24 | #include "version.h" 25 | #include "sensesoar.h" 26 | 27 | #endif // MAVLINK_H 28 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_cmd_airspeed_ack.h: -------------------------------------------------------------------------------- 1 | // MESSAGE CMD_AIRSPEED_ACK PACKING 2 | 3 | #define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK 194 4 | 5 | typedef struct __mavlink_cmd_airspeed_ack_t 6 | { 7 | float spCmd; ///< commanded airspeed 8 | uint8_t ack; ///< 0:ack, 1:nack 9 | } mavlink_cmd_airspeed_ack_t; 10 | 11 | #define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN 5 12 | #define MAVLINK_MSG_ID_194_LEN 5 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK { \ 17 | "CMD_AIRSPEED_ACK", \ 18 | 2, \ 19 | { { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_ack_t, spCmd) }, \ 20 | { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_ack_t, ack) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a cmd_airspeed_ack message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param spCmd commanded airspeed 32 | * @param ack 0:ack, 1:nack 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | float spCmd, uint8_t ack) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[5]; 40 | _mav_put_float(buf, 0, spCmd); 41 | _mav_put_uint8_t(buf, 4, ack); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5); 44 | #else 45 | mavlink_cmd_airspeed_ack_t packet; 46 | packet.spCmd = spCmd; 47 | packet.ack = ack; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK; 53 | return mavlink_finalize_message(msg, system_id, component_id, 5, 243); 54 | } 55 | 56 | /** 57 | * @brief Pack a cmd_airspeed_ack message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param spCmd commanded airspeed 63 | * @param ack 0:ack, 1:nack 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | float spCmd,uint8_t ack) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[5]; 72 | _mav_put_float(buf, 0, spCmd); 73 | _mav_put_uint8_t(buf, 4, ack); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5); 76 | #else 77 | mavlink_cmd_airspeed_ack_t packet; 78 | packet.spCmd = spCmd; 79 | packet.ack = ack; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 243); 86 | } 87 | 88 | /** 89 | * @brief Encode a cmd_airspeed_ack struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param cmd_airspeed_ack C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_cmd_airspeed_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack) 97 | { 98 | return mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, msg, cmd_airspeed_ack->spCmd, cmd_airspeed_ack->ack); 99 | } 100 | 101 | /** 102 | * @brief Send a cmd_airspeed_ack message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param spCmd commanded airspeed 106 | * @param ack 0:ack, 1:nack 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_cmd_airspeed_ack_send(mavlink_channel_t chan, float spCmd, uint8_t ack) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[5]; 114 | _mav_put_float(buf, 0, spCmd); 115 | _mav_put_uint8_t(buf, 4, ack); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, buf, 5, 243); 118 | #else 119 | mavlink_cmd_airspeed_ack_t packet; 120 | packet.spCmd = spCmd; 121 | packet.ack = ack; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, (const char *)&packet, 5, 243); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE CMD_AIRSPEED_ACK UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field spCmd from cmd_airspeed_ack message 134 | * 135 | * @return commanded airspeed 136 | */ 137 | static inline float mavlink_msg_cmd_airspeed_ack_get_spCmd(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_float(msg, 0); 140 | } 141 | 142 | /** 143 | * @brief Get field ack from cmd_airspeed_ack message 144 | * 145 | * @return 0:ack, 1:nack 146 | */ 147 | static inline uint8_t mavlink_msg_cmd_airspeed_ack_get_ack(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_uint8_t(msg, 4); 150 | } 151 | 152 | /** 153 | * @brief Decode a cmd_airspeed_ack message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param cmd_airspeed_ack C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_cmd_airspeed_ack_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | cmd_airspeed_ack->spCmd = mavlink_msg_cmd_airspeed_ack_get_spCmd(msg); 162 | cmd_airspeed_ack->ack = mavlink_msg_cmd_airspeed_ack_get_ack(msg); 163 | #else 164 | memcpy(cmd_airspeed_ack, _MAV_PAYLOAD(msg), 5); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_cmd_airspeed_chng.h: -------------------------------------------------------------------------------- 1 | // MESSAGE CMD_AIRSPEED_CHNG PACKING 2 | 3 | #define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG 192 4 | 5 | typedef struct __mavlink_cmd_airspeed_chng_t 6 | { 7 | float spCmd; ///< commanded airspeed 8 | uint8_t target; ///< Target ID 9 | } mavlink_cmd_airspeed_chng_t; 10 | 11 | #define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN 5 12 | #define MAVLINK_MSG_ID_192_LEN 5 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG { \ 17 | "CMD_AIRSPEED_CHNG", \ 18 | 2, \ 19 | { { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_chng_t, spCmd) }, \ 20 | { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_chng_t, target) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a cmd_airspeed_chng message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param target Target ID 32 | * @param spCmd commanded airspeed 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint8_t target, float spCmd) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[5]; 40 | _mav_put_float(buf, 0, spCmd); 41 | _mav_put_uint8_t(buf, 4, target); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5); 44 | #else 45 | mavlink_cmd_airspeed_chng_t packet; 46 | packet.spCmd = spCmd; 47 | packet.target = target; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG; 53 | return mavlink_finalize_message(msg, system_id, component_id, 5, 209); 54 | } 55 | 56 | /** 57 | * @brief Pack a cmd_airspeed_chng message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param target Target ID 63 | * @param spCmd commanded airspeed 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | uint8_t target,float spCmd) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[5]; 72 | _mav_put_float(buf, 0, spCmd); 73 | _mav_put_uint8_t(buf, 4, target); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5); 76 | #else 77 | mavlink_cmd_airspeed_chng_t packet; 78 | packet.spCmd = spCmd; 79 | packet.target = target; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 209); 86 | } 87 | 88 | /** 89 | * @brief Encode a cmd_airspeed_chng struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param cmd_airspeed_chng C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_cmd_airspeed_chng_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng) 97 | { 98 | return mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, msg, cmd_airspeed_chng->target, cmd_airspeed_chng->spCmd); 99 | } 100 | 101 | /** 102 | * @brief Send a cmd_airspeed_chng message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param target Target ID 106 | * @param spCmd commanded airspeed 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_cmd_airspeed_chng_send(mavlink_channel_t chan, uint8_t target, float spCmd) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[5]; 114 | _mav_put_float(buf, 0, spCmd); 115 | _mav_put_uint8_t(buf, 4, target); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, buf, 5, 209); 118 | #else 119 | mavlink_cmd_airspeed_chng_t packet; 120 | packet.spCmd = spCmd; 121 | packet.target = target; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, (const char *)&packet, 5, 209); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE CMD_AIRSPEED_CHNG UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field target from cmd_airspeed_chng message 134 | * 135 | * @return Target ID 136 | */ 137 | static inline uint8_t mavlink_msg_cmd_airspeed_chng_get_target(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_uint8_t(msg, 4); 140 | } 141 | 142 | /** 143 | * @brief Get field spCmd from cmd_airspeed_chng message 144 | * 145 | * @return commanded airspeed 146 | */ 147 | static inline float mavlink_msg_cmd_airspeed_chng_get_spCmd(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_float(msg, 0); 150 | } 151 | 152 | /** 153 | * @brief Decode a cmd_airspeed_chng message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param cmd_airspeed_chng C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_cmd_airspeed_chng_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | cmd_airspeed_chng->spCmd = mavlink_msg_cmd_airspeed_chng_get_spCmd(msg); 162 | cmd_airspeed_chng->target = mavlink_msg_cmd_airspeed_chng_get_target(msg); 163 | #else 164 | memcpy(cmd_airspeed_chng, _MAV_PAYLOAD(msg), 5); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_filt_rot_vel.h: -------------------------------------------------------------------------------- 1 | // MESSAGE FILT_ROT_VEL PACKING 2 | 3 | #define MAVLINK_MSG_ID_FILT_ROT_VEL 184 4 | 5 | typedef struct __mavlink_filt_rot_vel_t 6 | { 7 | float rotVel[3]; ///< rotational velocity 8 | } mavlink_filt_rot_vel_t; 9 | 10 | #define MAVLINK_MSG_ID_FILT_ROT_VEL_LEN 12 11 | #define MAVLINK_MSG_ID_184_LEN 12 12 | 13 | #define MAVLINK_MSG_FILT_ROT_VEL_FIELD_ROTVEL_LEN 3 14 | 15 | #define MAVLINK_MESSAGE_INFO_FILT_ROT_VEL { \ 16 | "FILT_ROT_VEL", \ 17 | 1, \ 18 | { { "rotVel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_filt_rot_vel_t, rotVel) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a filt_rot_vel message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param rotVel rotational velocity 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_filt_rot_vel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | const float *rotVel) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[12]; 37 | 38 | _mav_put_float_array(buf, 0, rotVel, 3); 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 40 | #else 41 | mavlink_filt_rot_vel_t packet; 42 | 43 | mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3); 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL; 48 | return mavlink_finalize_message(msg, system_id, component_id, 12, 79); 49 | } 50 | 51 | /** 52 | * @brief Pack a filt_rot_vel message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param rotVel rotational velocity 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_filt_rot_vel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | const float *rotVel) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[12]; 66 | 67 | _mav_put_float_array(buf, 0, rotVel, 3); 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 69 | #else 70 | mavlink_filt_rot_vel_t packet; 71 | 72 | mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3); 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 79); 78 | } 79 | 80 | /** 81 | * @brief Encode a filt_rot_vel struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param filt_rot_vel C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_filt_rot_vel_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_filt_rot_vel_t* filt_rot_vel) 89 | { 90 | return mavlink_msg_filt_rot_vel_pack(system_id, component_id, msg, filt_rot_vel->rotVel); 91 | } 92 | 93 | /** 94 | * @brief Send a filt_rot_vel message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param rotVel rotational velocity 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_filt_rot_vel_send(mavlink_channel_t chan, const float *rotVel) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[12]; 105 | 106 | _mav_put_float_array(buf, 0, rotVel, 3); 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, buf, 12, 79); 108 | #else 109 | mavlink_filt_rot_vel_t packet; 110 | 111 | mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3); 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, (const char *)&packet, 12, 79); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE FILT_ROT_VEL UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field rotVel from filt_rot_vel message 123 | * 124 | * @return rotational velocity 125 | */ 126 | static inline uint16_t mavlink_msg_filt_rot_vel_get_rotVel(const mavlink_message_t* msg, float *rotVel) 127 | { 128 | return _MAV_RETURN_float_array(msg, rotVel, 3, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a filt_rot_vel message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param filt_rot_vel C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_filt_rot_vel_decode(const mavlink_message_t* msg, mavlink_filt_rot_vel_t* filt_rot_vel) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | mavlink_msg_filt_rot_vel_get_rotVel(msg, filt_rot_vel->rotVel); 141 | #else 142 | memcpy(filt_rot_vel, _MAV_PAYLOAD(msg), 12); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_llc_out.h: -------------------------------------------------------------------------------- 1 | // MESSAGE LLC_OUT PACKING 2 | 3 | #define MAVLINK_MSG_ID_LLC_OUT 186 4 | 5 | typedef struct __mavlink_llc_out_t 6 | { 7 | int16_t servoOut[4]; ///< Servo signal 8 | int16_t MotorOut[2]; ///< motor signal 9 | } mavlink_llc_out_t; 10 | 11 | #define MAVLINK_MSG_ID_LLC_OUT_LEN 12 12 | #define MAVLINK_MSG_ID_186_LEN 12 13 | 14 | #define MAVLINK_MSG_LLC_OUT_FIELD_SERVOOUT_LEN 4 15 | #define MAVLINK_MSG_LLC_OUT_FIELD_MOTOROUT_LEN 2 16 | 17 | #define MAVLINK_MESSAGE_INFO_LLC_OUT { \ 18 | "LLC_OUT", \ 19 | 2, \ 20 | { { "servoOut", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_llc_out_t, servoOut) }, \ 21 | { "MotorOut", NULL, MAVLINK_TYPE_INT16_T, 2, 8, offsetof(mavlink_llc_out_t, MotorOut) }, \ 22 | } \ 23 | } 24 | 25 | 26 | /** 27 | * @brief Pack a llc_out message 28 | * @param system_id ID of this system 29 | * @param component_id ID of this component (e.g. 200 for IMU) 30 | * @param msg The MAVLink message to compress the data into 31 | * 32 | * @param servoOut Servo signal 33 | * @param MotorOut motor signal 34 | * @return length of the message in bytes (excluding serial stream start sign) 35 | */ 36 | static inline uint16_t mavlink_msg_llc_out_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 37 | const int16_t *servoOut, const int16_t *MotorOut) 38 | { 39 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 40 | char buf[12]; 41 | 42 | _mav_put_int16_t_array(buf, 0, servoOut, 4); 43 | _mav_put_int16_t_array(buf, 8, MotorOut, 2); 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 45 | #else 46 | mavlink_llc_out_t packet; 47 | 48 | mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4); 49 | mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2); 50 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 51 | #endif 52 | 53 | msg->msgid = MAVLINK_MSG_ID_LLC_OUT; 54 | return mavlink_finalize_message(msg, system_id, component_id, 12, 5); 55 | } 56 | 57 | /** 58 | * @brief Pack a llc_out message on a channel 59 | * @param system_id ID of this system 60 | * @param component_id ID of this component (e.g. 200 for IMU) 61 | * @param chan The MAVLink channel this message was sent over 62 | * @param msg The MAVLink message to compress the data into 63 | * @param servoOut Servo signal 64 | * @param MotorOut motor signal 65 | * @return length of the message in bytes (excluding serial stream start sign) 66 | */ 67 | static inline uint16_t mavlink_msg_llc_out_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 68 | mavlink_message_t* msg, 69 | const int16_t *servoOut,const int16_t *MotorOut) 70 | { 71 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 72 | char buf[12]; 73 | 74 | _mav_put_int16_t_array(buf, 0, servoOut, 4); 75 | _mav_put_int16_t_array(buf, 8, MotorOut, 2); 76 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 77 | #else 78 | mavlink_llc_out_t packet; 79 | 80 | mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4); 81 | mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2); 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 83 | #endif 84 | 85 | msg->msgid = MAVLINK_MSG_ID_LLC_OUT; 86 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 5); 87 | } 88 | 89 | /** 90 | * @brief Encode a llc_out struct into a message 91 | * 92 | * @param system_id ID of this system 93 | * @param component_id ID of this component (e.g. 200 for IMU) 94 | * @param msg The MAVLink message to compress the data into 95 | * @param llc_out C-struct to read the message contents from 96 | */ 97 | static inline uint16_t mavlink_msg_llc_out_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_llc_out_t* llc_out) 98 | { 99 | return mavlink_msg_llc_out_pack(system_id, component_id, msg, llc_out->servoOut, llc_out->MotorOut); 100 | } 101 | 102 | /** 103 | * @brief Send a llc_out message 104 | * @param chan MAVLink channel to send the message 105 | * 106 | * @param servoOut Servo signal 107 | * @param MotorOut motor signal 108 | */ 109 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 110 | 111 | static inline void mavlink_msg_llc_out_send(mavlink_channel_t chan, const int16_t *servoOut, const int16_t *MotorOut) 112 | { 113 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 114 | char buf[12]; 115 | 116 | _mav_put_int16_t_array(buf, 0, servoOut, 4); 117 | _mav_put_int16_t_array(buf, 8, MotorOut, 2); 118 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, buf, 12, 5); 119 | #else 120 | mavlink_llc_out_t packet; 121 | 122 | mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4); 123 | mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2); 124 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, (const char *)&packet, 12, 5); 125 | #endif 126 | } 127 | 128 | #endif 129 | 130 | // MESSAGE LLC_OUT UNPACKING 131 | 132 | 133 | /** 134 | * @brief Get field servoOut from llc_out message 135 | * 136 | * @return Servo signal 137 | */ 138 | static inline uint16_t mavlink_msg_llc_out_get_servoOut(const mavlink_message_t* msg, int16_t *servoOut) 139 | { 140 | return _MAV_RETURN_int16_t_array(msg, servoOut, 4, 0); 141 | } 142 | 143 | /** 144 | * @brief Get field MotorOut from llc_out message 145 | * 146 | * @return motor signal 147 | */ 148 | static inline uint16_t mavlink_msg_llc_out_get_MotorOut(const mavlink_message_t* msg, int16_t *MotorOut) 149 | { 150 | return _MAV_RETURN_int16_t_array(msg, MotorOut, 2, 8); 151 | } 152 | 153 | /** 154 | * @brief Decode a llc_out message into a struct 155 | * 156 | * @param msg The message to decode 157 | * @param llc_out C-struct to decode the message contents into 158 | */ 159 | static inline void mavlink_msg_llc_out_decode(const mavlink_message_t* msg, mavlink_llc_out_t* llc_out) 160 | { 161 | #if MAVLINK_NEED_BYTE_SWAP 162 | mavlink_msg_llc_out_get_servoOut(msg, llc_out->servoOut); 163 | mavlink_msg_llc_out_get_MotorOut(msg, llc_out->MotorOut); 164 | #else 165 | memcpy(llc_out, _MAV_PAYLOAD(msg), 12); 166 | #endif 167 | } 168 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_obs_air_temp.h: -------------------------------------------------------------------------------- 1 | // MESSAGE OBS_AIR_TEMP PACKING 2 | 3 | #define MAVLINK_MSG_ID_OBS_AIR_TEMP 183 4 | 5 | typedef struct __mavlink_obs_air_temp_t 6 | { 7 | float airT; ///< Air Temperatur 8 | } mavlink_obs_air_temp_t; 9 | 10 | #define MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN 4 11 | #define MAVLINK_MSG_ID_183_LEN 4 12 | 13 | 14 | 15 | #define MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP { \ 16 | "OBS_AIR_TEMP", \ 17 | 1, \ 18 | { { "airT", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_temp_t, airT) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a obs_air_temp message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param airT Air Temperatur 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_obs_air_temp_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | float airT) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[4]; 37 | _mav_put_float(buf, 0, airT); 38 | 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 40 | #else 41 | mavlink_obs_air_temp_t packet; 42 | packet.airT = airT; 43 | 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP; 48 | return mavlink_finalize_message(msg, system_id, component_id, 4, 248); 49 | } 50 | 51 | /** 52 | * @brief Pack a obs_air_temp message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param airT Air Temperatur 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_obs_air_temp_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | float airT) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[4]; 66 | _mav_put_float(buf, 0, airT); 67 | 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 69 | #else 70 | mavlink_obs_air_temp_t packet; 71 | packet.airT = airT; 72 | 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 248); 78 | } 79 | 80 | /** 81 | * @brief Encode a obs_air_temp struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param obs_air_temp C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_obs_air_temp_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_temp_t* obs_air_temp) 89 | { 90 | return mavlink_msg_obs_air_temp_pack(system_id, component_id, msg, obs_air_temp->airT); 91 | } 92 | 93 | /** 94 | * @brief Send a obs_air_temp message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param airT Air Temperatur 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_obs_air_temp_send(mavlink_channel_t chan, float airT) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[4]; 105 | _mav_put_float(buf, 0, airT); 106 | 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, buf, 4, 248); 108 | #else 109 | mavlink_obs_air_temp_t packet; 110 | packet.airT = airT; 111 | 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, (const char *)&packet, 4, 248); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE OBS_AIR_TEMP UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field airT from obs_air_temp message 123 | * 124 | * @return Air Temperatur 125 | */ 126 | static inline float mavlink_msg_obs_air_temp_get_airT(const mavlink_message_t* msg) 127 | { 128 | return _MAV_RETURN_float(msg, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a obs_air_temp message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param obs_air_temp C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_obs_air_temp_decode(const mavlink_message_t* msg, mavlink_obs_air_temp_t* obs_air_temp) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | obs_air_temp->airT = mavlink_msg_obs_air_temp_get_airT(msg); 141 | #else 142 | memcpy(obs_air_temp, _MAV_PAYLOAD(msg), 4); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_obs_air_velocity.h: -------------------------------------------------------------------------------- 1 | // MESSAGE OBS_AIR_VELOCITY PACKING 2 | 3 | #define MAVLINK_MSG_ID_OBS_AIR_VELOCITY 178 4 | 5 | typedef struct __mavlink_obs_air_velocity_t 6 | { 7 | float magnitude; ///< Air speed 8 | float aoa; ///< angle of attack 9 | float slip; ///< slip angle 10 | } mavlink_obs_air_velocity_t; 11 | 12 | #define MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN 12 13 | #define MAVLINK_MSG_ID_178_LEN 12 14 | 15 | 16 | 17 | #define MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY { \ 18 | "OBS_AIR_VELOCITY", \ 19 | 3, \ 20 | { { "magnitude", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_velocity_t, magnitude) }, \ 21 | { "aoa", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_obs_air_velocity_t, aoa) }, \ 22 | { "slip", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_obs_air_velocity_t, slip) }, \ 23 | } \ 24 | } 25 | 26 | 27 | /** 28 | * @brief Pack a obs_air_velocity message 29 | * @param system_id ID of this system 30 | * @param component_id ID of this component (e.g. 200 for IMU) 31 | * @param msg The MAVLink message to compress the data into 32 | * 33 | * @param magnitude Air speed 34 | * @param aoa angle of attack 35 | * @param slip slip angle 36 | * @return length of the message in bytes (excluding serial stream start sign) 37 | */ 38 | static inline uint16_t mavlink_msg_obs_air_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 39 | float magnitude, float aoa, float slip) 40 | { 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 42 | char buf[12]; 43 | _mav_put_float(buf, 0, magnitude); 44 | _mav_put_float(buf, 4, aoa); 45 | _mav_put_float(buf, 8, slip); 46 | 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 48 | #else 49 | mavlink_obs_air_velocity_t packet; 50 | packet.magnitude = magnitude; 51 | packet.aoa = aoa; 52 | packet.slip = slip; 53 | 54 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 55 | #endif 56 | 57 | msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY; 58 | return mavlink_finalize_message(msg, system_id, component_id, 12, 32); 59 | } 60 | 61 | /** 62 | * @brief Pack a obs_air_velocity message on a channel 63 | * @param system_id ID of this system 64 | * @param component_id ID of this component (e.g. 200 for IMU) 65 | * @param chan The MAVLink channel this message was sent over 66 | * @param msg The MAVLink message to compress the data into 67 | * @param magnitude Air speed 68 | * @param aoa angle of attack 69 | * @param slip slip angle 70 | * @return length of the message in bytes (excluding serial stream start sign) 71 | */ 72 | static inline uint16_t mavlink_msg_obs_air_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 73 | mavlink_message_t* msg, 74 | float magnitude,float aoa,float slip) 75 | { 76 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 77 | char buf[12]; 78 | _mav_put_float(buf, 0, magnitude); 79 | _mav_put_float(buf, 4, aoa); 80 | _mav_put_float(buf, 8, slip); 81 | 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 83 | #else 84 | mavlink_obs_air_velocity_t packet; 85 | packet.magnitude = magnitude; 86 | packet.aoa = aoa; 87 | packet.slip = slip; 88 | 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 90 | #endif 91 | 92 | msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY; 93 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 32); 94 | } 95 | 96 | /** 97 | * @brief Encode a obs_air_velocity struct into a message 98 | * 99 | * @param system_id ID of this system 100 | * @param component_id ID of this component (e.g. 200 for IMU) 101 | * @param msg The MAVLink message to compress the data into 102 | * @param obs_air_velocity C-struct to read the message contents from 103 | */ 104 | static inline uint16_t mavlink_msg_obs_air_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_velocity_t* obs_air_velocity) 105 | { 106 | return mavlink_msg_obs_air_velocity_pack(system_id, component_id, msg, obs_air_velocity->magnitude, obs_air_velocity->aoa, obs_air_velocity->slip); 107 | } 108 | 109 | /** 110 | * @brief Send a obs_air_velocity message 111 | * @param chan MAVLink channel to send the message 112 | * 113 | * @param magnitude Air speed 114 | * @param aoa angle of attack 115 | * @param slip slip angle 116 | */ 117 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 118 | 119 | static inline void mavlink_msg_obs_air_velocity_send(mavlink_channel_t chan, float magnitude, float aoa, float slip) 120 | { 121 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 122 | char buf[12]; 123 | _mav_put_float(buf, 0, magnitude); 124 | _mav_put_float(buf, 4, aoa); 125 | _mav_put_float(buf, 8, slip); 126 | 127 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, 12, 32); 128 | #else 129 | mavlink_obs_air_velocity_t packet; 130 | packet.magnitude = magnitude; 131 | packet.aoa = aoa; 132 | packet.slip = slip; 133 | 134 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)&packet, 12, 32); 135 | #endif 136 | } 137 | 138 | #endif 139 | 140 | // MESSAGE OBS_AIR_VELOCITY UNPACKING 141 | 142 | 143 | /** 144 | * @brief Get field magnitude from obs_air_velocity message 145 | * 146 | * @return Air speed 147 | */ 148 | static inline float mavlink_msg_obs_air_velocity_get_magnitude(const mavlink_message_t* msg) 149 | { 150 | return _MAV_RETURN_float(msg, 0); 151 | } 152 | 153 | /** 154 | * @brief Get field aoa from obs_air_velocity message 155 | * 156 | * @return angle of attack 157 | */ 158 | static inline float mavlink_msg_obs_air_velocity_get_aoa(const mavlink_message_t* msg) 159 | { 160 | return _MAV_RETURN_float(msg, 4); 161 | } 162 | 163 | /** 164 | * @brief Get field slip from obs_air_velocity message 165 | * 166 | * @return slip angle 167 | */ 168 | static inline float mavlink_msg_obs_air_velocity_get_slip(const mavlink_message_t* msg) 169 | { 170 | return _MAV_RETURN_float(msg, 8); 171 | } 172 | 173 | /** 174 | * @brief Decode a obs_air_velocity message into a struct 175 | * 176 | * @param msg The message to decode 177 | * @param obs_air_velocity C-struct to decode the message contents into 178 | */ 179 | static inline void mavlink_msg_obs_air_velocity_decode(const mavlink_message_t* msg, mavlink_obs_air_velocity_t* obs_air_velocity) 180 | { 181 | #if MAVLINK_NEED_BYTE_SWAP 182 | obs_air_velocity->magnitude = mavlink_msg_obs_air_velocity_get_magnitude(msg); 183 | obs_air_velocity->aoa = mavlink_msg_obs_air_velocity_get_aoa(msg); 184 | obs_air_velocity->slip = mavlink_msg_obs_air_velocity_get_slip(msg); 185 | #else 186 | memcpy(obs_air_velocity, _MAV_PAYLOAD(msg), 12); 187 | #endif 188 | } 189 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_obs_attitude.h: -------------------------------------------------------------------------------- 1 | // MESSAGE OBS_ATTITUDE PACKING 2 | 3 | #define MAVLINK_MSG_ID_OBS_ATTITUDE 174 4 | 5 | typedef struct __mavlink_obs_attitude_t 6 | { 7 | double quat[4]; ///< Quaternion re;im 8 | } mavlink_obs_attitude_t; 9 | 10 | #define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32 11 | #define MAVLINK_MSG_ID_174_LEN 32 12 | 13 | #define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4 14 | 15 | #define MAVLINK_MESSAGE_INFO_OBS_ATTITUDE { \ 16 | "OBS_ATTITUDE", \ 17 | 1, \ 18 | { { "quat", NULL, MAVLINK_TYPE_DOUBLE, 4, 0, offsetof(mavlink_obs_attitude_t, quat) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a obs_attitude message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param quat Quaternion re;im 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | const double *quat) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[32]; 37 | 38 | _mav_put_double_array(buf, 0, quat, 4); 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); 40 | #else 41 | mavlink_obs_attitude_t packet; 42 | 43 | mav_array_memcpy(packet.quat, quat, sizeof(double)*4); 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE; 48 | return mavlink_finalize_message(msg, system_id, component_id, 32, 146); 49 | } 50 | 51 | /** 52 | * @brief Pack a obs_attitude message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param quat Quaternion re;im 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | const double *quat) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[32]; 66 | 67 | _mav_put_double_array(buf, 0, quat, 4); 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); 69 | #else 70 | mavlink_obs_attitude_t packet; 71 | 72 | mav_array_memcpy(packet.quat, quat, sizeof(double)*4); 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 146); 78 | } 79 | 80 | /** 81 | * @brief Encode a obs_attitude struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param obs_attitude C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude) 89 | { 90 | return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat); 91 | } 92 | 93 | /** 94 | * @brief Send a obs_attitude message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param quat Quaternion re;im 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double *quat) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[32]; 105 | 106 | _mav_put_double_array(buf, 0, quat, 4); 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, 32, 146); 108 | #else 109 | mavlink_obs_attitude_t packet; 110 | 111 | mav_array_memcpy(packet.quat, quat, sizeof(double)*4); 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, 32, 146); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE OBS_ATTITUDE UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field quat from obs_attitude message 123 | * 124 | * @return Quaternion re;im 125 | */ 126 | static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat) 127 | { 128 | return _MAV_RETURN_double_array(msg, quat, 4, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a obs_attitude message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param obs_attitude C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat); 141 | #else 142 | memcpy(obs_attitude, _MAV_PAYLOAD(msg), 32); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_obs_bias.h: -------------------------------------------------------------------------------- 1 | // MESSAGE OBS_BIAS PACKING 2 | 3 | #define MAVLINK_MSG_ID_OBS_BIAS 180 4 | 5 | typedef struct __mavlink_obs_bias_t 6 | { 7 | float accBias[3]; ///< accelerometer bias 8 | float gyroBias[3]; ///< gyroscope bias 9 | } mavlink_obs_bias_t; 10 | 11 | #define MAVLINK_MSG_ID_OBS_BIAS_LEN 24 12 | #define MAVLINK_MSG_ID_180_LEN 24 13 | 14 | #define MAVLINK_MSG_OBS_BIAS_FIELD_ACCBIAS_LEN 3 15 | #define MAVLINK_MSG_OBS_BIAS_FIELD_GYROBIAS_LEN 3 16 | 17 | #define MAVLINK_MESSAGE_INFO_OBS_BIAS { \ 18 | "OBS_BIAS", \ 19 | 2, \ 20 | { { "accBias", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_bias_t, accBias) }, \ 21 | { "gyroBias", NULL, MAVLINK_TYPE_FLOAT, 3, 12, offsetof(mavlink_obs_bias_t, gyroBias) }, \ 22 | } \ 23 | } 24 | 25 | 26 | /** 27 | * @brief Pack a obs_bias message 28 | * @param system_id ID of this system 29 | * @param component_id ID of this component (e.g. 200 for IMU) 30 | * @param msg The MAVLink message to compress the data into 31 | * 32 | * @param accBias accelerometer bias 33 | * @param gyroBias gyroscope bias 34 | * @return length of the message in bytes (excluding serial stream start sign) 35 | */ 36 | static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 37 | const float *accBias, const float *gyroBias) 38 | { 39 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 40 | char buf[24]; 41 | 42 | _mav_put_float_array(buf, 0, accBias, 3); 43 | _mav_put_float_array(buf, 12, gyroBias, 3); 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); 45 | #else 46 | mavlink_obs_bias_t packet; 47 | 48 | mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); 49 | mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); 50 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); 51 | #endif 52 | 53 | msg->msgid = MAVLINK_MSG_ID_OBS_BIAS; 54 | return mavlink_finalize_message(msg, system_id, component_id, 24, 159); 55 | } 56 | 57 | /** 58 | * @brief Pack a obs_bias message on a channel 59 | * @param system_id ID of this system 60 | * @param component_id ID of this component (e.g. 200 for IMU) 61 | * @param chan The MAVLink channel this message was sent over 62 | * @param msg The MAVLink message to compress the data into 63 | * @param accBias accelerometer bias 64 | * @param gyroBias gyroscope bias 65 | * @return length of the message in bytes (excluding serial stream start sign) 66 | */ 67 | static inline uint16_t mavlink_msg_obs_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 68 | mavlink_message_t* msg, 69 | const float *accBias,const float *gyroBias) 70 | { 71 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 72 | char buf[24]; 73 | 74 | _mav_put_float_array(buf, 0, accBias, 3); 75 | _mav_put_float_array(buf, 12, gyroBias, 3); 76 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); 77 | #else 78 | mavlink_obs_bias_t packet; 79 | 80 | mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); 81 | mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); 83 | #endif 84 | 85 | msg->msgid = MAVLINK_MSG_ID_OBS_BIAS; 86 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 159); 87 | } 88 | 89 | /** 90 | * @brief Encode a obs_bias struct into a message 91 | * 92 | * @param system_id ID of this system 93 | * @param component_id ID of this component (e.g. 200 for IMU) 94 | * @param msg The MAVLink message to compress the data into 95 | * @param obs_bias C-struct to read the message contents from 96 | */ 97 | static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias) 98 | { 99 | return mavlink_msg_obs_bias_pack(system_id, component_id, msg, obs_bias->accBias, obs_bias->gyroBias); 100 | } 101 | 102 | /** 103 | * @brief Send a obs_bias message 104 | * @param chan MAVLink channel to send the message 105 | * 106 | * @param accBias accelerometer bias 107 | * @param gyroBias gyroscope bias 108 | */ 109 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 110 | 111 | static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float *accBias, const float *gyroBias) 112 | { 113 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 114 | char buf[24]; 115 | 116 | _mav_put_float_array(buf, 0, accBias, 3); 117 | _mav_put_float_array(buf, 12, gyroBias, 3); 118 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, 24, 159); 119 | #else 120 | mavlink_obs_bias_t packet; 121 | 122 | mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); 123 | mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); 124 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, 24, 159); 125 | #endif 126 | } 127 | 128 | #endif 129 | 130 | // MESSAGE OBS_BIAS UNPACKING 131 | 132 | 133 | /** 134 | * @brief Get field accBias from obs_bias message 135 | * 136 | * @return accelerometer bias 137 | */ 138 | static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t* msg, float *accBias) 139 | { 140 | return _MAV_RETURN_float_array(msg, accBias, 3, 0); 141 | } 142 | 143 | /** 144 | * @brief Get field gyroBias from obs_bias message 145 | * 146 | * @return gyroscope bias 147 | */ 148 | static inline uint16_t mavlink_msg_obs_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias) 149 | { 150 | return _MAV_RETURN_float_array(msg, gyroBias, 3, 12); 151 | } 152 | 153 | /** 154 | * @brief Decode a obs_bias message into a struct 155 | * 156 | * @param msg The message to decode 157 | * @param obs_bias C-struct to decode the message contents into 158 | */ 159 | static inline void mavlink_msg_obs_bias_decode(const mavlink_message_t* msg, mavlink_obs_bias_t* obs_bias) 160 | { 161 | #if MAVLINK_NEED_BYTE_SWAP 162 | mavlink_msg_obs_bias_get_accBias(msg, obs_bias->accBias); 163 | mavlink_msg_obs_bias_get_gyroBias(msg, obs_bias->gyroBias); 164 | #else 165 | memcpy(obs_bias, _MAV_PAYLOAD(msg), 24); 166 | #endif 167 | } 168 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_obs_position.h: -------------------------------------------------------------------------------- 1 | // MESSAGE OBS_POSITION PACKING 2 | 3 | #define MAVLINK_MSG_ID_OBS_POSITION 170 4 | 5 | typedef struct __mavlink_obs_position_t 6 | { 7 | int32_t lon; ///< Longitude expressed in 1E7 8 | int32_t lat; ///< Latitude expressed in 1E7 9 | int32_t alt; ///< Altitude expressed in milimeters 10 | } mavlink_obs_position_t; 11 | 12 | #define MAVLINK_MSG_ID_OBS_POSITION_LEN 12 13 | #define MAVLINK_MSG_ID_170_LEN 12 14 | 15 | 16 | 17 | #define MAVLINK_MESSAGE_INFO_OBS_POSITION { \ 18 | "OBS_POSITION", \ 19 | 3, \ 20 | { { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_obs_position_t, lon) }, \ 21 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_obs_position_t, lat) }, \ 22 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_obs_position_t, alt) }, \ 23 | } \ 24 | } 25 | 26 | 27 | /** 28 | * @brief Pack a obs_position message 29 | * @param system_id ID of this system 30 | * @param component_id ID of this component (e.g. 200 for IMU) 31 | * @param msg The MAVLink message to compress the data into 32 | * 33 | * @param lon Longitude expressed in 1E7 34 | * @param lat Latitude expressed in 1E7 35 | * @param alt Altitude expressed in milimeters 36 | * @return length of the message in bytes (excluding serial stream start sign) 37 | */ 38 | static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 39 | int32_t lon, int32_t lat, int32_t alt) 40 | { 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 42 | char buf[12]; 43 | _mav_put_int32_t(buf, 0, lon); 44 | _mav_put_int32_t(buf, 4, lat); 45 | _mav_put_int32_t(buf, 8, alt); 46 | 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 48 | #else 49 | mavlink_obs_position_t packet; 50 | packet.lon = lon; 51 | packet.lat = lat; 52 | packet.alt = alt; 53 | 54 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 55 | #endif 56 | 57 | msg->msgid = MAVLINK_MSG_ID_OBS_POSITION; 58 | return mavlink_finalize_message(msg, system_id, component_id, 12, 15); 59 | } 60 | 61 | /** 62 | * @brief Pack a obs_position message on a channel 63 | * @param system_id ID of this system 64 | * @param component_id ID of this component (e.g. 200 for IMU) 65 | * @param chan The MAVLink channel this message was sent over 66 | * @param msg The MAVLink message to compress the data into 67 | * @param lon Longitude expressed in 1E7 68 | * @param lat Latitude expressed in 1E7 69 | * @param alt Altitude expressed in milimeters 70 | * @return length of the message in bytes (excluding serial stream start sign) 71 | */ 72 | static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 73 | mavlink_message_t* msg, 74 | int32_t lon,int32_t lat,int32_t alt) 75 | { 76 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 77 | char buf[12]; 78 | _mav_put_int32_t(buf, 0, lon); 79 | _mav_put_int32_t(buf, 4, lat); 80 | _mav_put_int32_t(buf, 8, alt); 81 | 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 83 | #else 84 | mavlink_obs_position_t packet; 85 | packet.lon = lon; 86 | packet.lat = lat; 87 | packet.alt = alt; 88 | 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 90 | #endif 91 | 92 | msg->msgid = MAVLINK_MSG_ID_OBS_POSITION; 93 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 15); 94 | } 95 | 96 | /** 97 | * @brief Encode a obs_position struct into a message 98 | * 99 | * @param system_id ID of this system 100 | * @param component_id ID of this component (e.g. 200 for IMU) 101 | * @param msg The MAVLink message to compress the data into 102 | * @param obs_position C-struct to read the message contents from 103 | */ 104 | static inline uint16_t mavlink_msg_obs_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_position_t* obs_position) 105 | { 106 | return mavlink_msg_obs_position_pack(system_id, component_id, msg, obs_position->lon, obs_position->lat, obs_position->alt); 107 | } 108 | 109 | /** 110 | * @brief Send a obs_position message 111 | * @param chan MAVLink channel to send the message 112 | * 113 | * @param lon Longitude expressed in 1E7 114 | * @param lat Latitude expressed in 1E7 115 | * @param alt Altitude expressed in milimeters 116 | */ 117 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 118 | 119 | static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, int32_t lon, int32_t lat, int32_t alt) 120 | { 121 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 122 | char buf[12]; 123 | _mav_put_int32_t(buf, 0, lon); 124 | _mav_put_int32_t(buf, 4, lat); 125 | _mav_put_int32_t(buf, 8, alt); 126 | 127 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, buf, 12, 15); 128 | #else 129 | mavlink_obs_position_t packet; 130 | packet.lon = lon; 131 | packet.lat = lat; 132 | packet.alt = alt; 133 | 134 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, (const char *)&packet, 12, 15); 135 | #endif 136 | } 137 | 138 | #endif 139 | 140 | // MESSAGE OBS_POSITION UNPACKING 141 | 142 | 143 | /** 144 | * @brief Get field lon from obs_position message 145 | * 146 | * @return Longitude expressed in 1E7 147 | */ 148 | static inline int32_t mavlink_msg_obs_position_get_lon(const mavlink_message_t* msg) 149 | { 150 | return _MAV_RETURN_int32_t(msg, 0); 151 | } 152 | 153 | /** 154 | * @brief Get field lat from obs_position message 155 | * 156 | * @return Latitude expressed in 1E7 157 | */ 158 | static inline int32_t mavlink_msg_obs_position_get_lat(const mavlink_message_t* msg) 159 | { 160 | return _MAV_RETURN_int32_t(msg, 4); 161 | } 162 | 163 | /** 164 | * @brief Get field alt from obs_position message 165 | * 166 | * @return Altitude expressed in milimeters 167 | */ 168 | static inline int32_t mavlink_msg_obs_position_get_alt(const mavlink_message_t* msg) 169 | { 170 | return _MAV_RETURN_int32_t(msg, 8); 171 | } 172 | 173 | /** 174 | * @brief Decode a obs_position message into a struct 175 | * 176 | * @param msg The message to decode 177 | * @param obs_position C-struct to decode the message contents into 178 | */ 179 | static inline void mavlink_msg_obs_position_decode(const mavlink_message_t* msg, mavlink_obs_position_t* obs_position) 180 | { 181 | #if MAVLINK_NEED_BYTE_SWAP 182 | obs_position->lon = mavlink_msg_obs_position_get_lon(msg); 183 | obs_position->lat = mavlink_msg_obs_position_get_lat(msg); 184 | obs_position->alt = mavlink_msg_obs_position_get_alt(msg); 185 | #else 186 | memcpy(obs_position, _MAV_PAYLOAD(msg), 12); 187 | #endif 188 | } 189 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_obs_qff.h: -------------------------------------------------------------------------------- 1 | // MESSAGE OBS_QFF PACKING 2 | 3 | #define MAVLINK_MSG_ID_OBS_QFF 182 4 | 5 | typedef struct __mavlink_obs_qff_t 6 | { 7 | float qff; ///< Wind 8 | } mavlink_obs_qff_t; 9 | 10 | #define MAVLINK_MSG_ID_OBS_QFF_LEN 4 11 | #define MAVLINK_MSG_ID_182_LEN 4 12 | 13 | 14 | 15 | #define MAVLINK_MESSAGE_INFO_OBS_QFF { \ 16 | "OBS_QFF", \ 17 | 1, \ 18 | { { "qff", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_qff_t, qff) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a obs_qff message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param qff Wind 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_obs_qff_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | float qff) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[4]; 37 | _mav_put_float(buf, 0, qff); 38 | 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 40 | #else 41 | mavlink_obs_qff_t packet; 42 | packet.qff = qff; 43 | 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_OBS_QFF; 48 | return mavlink_finalize_message(msg, system_id, component_id, 4, 24); 49 | } 50 | 51 | /** 52 | * @brief Pack a obs_qff message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param qff Wind 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_obs_qff_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | float qff) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[4]; 66 | _mav_put_float(buf, 0, qff); 67 | 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 69 | #else 70 | mavlink_obs_qff_t packet; 71 | packet.qff = qff; 72 | 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_OBS_QFF; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 24); 78 | } 79 | 80 | /** 81 | * @brief Encode a obs_qff struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param obs_qff C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_obs_qff_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_qff_t* obs_qff) 89 | { 90 | return mavlink_msg_obs_qff_pack(system_id, component_id, msg, obs_qff->qff); 91 | } 92 | 93 | /** 94 | * @brief Send a obs_qff message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param qff Wind 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_obs_qff_send(mavlink_channel_t chan, float qff) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[4]; 105 | _mav_put_float(buf, 0, qff); 106 | 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, buf, 4, 24); 108 | #else 109 | mavlink_obs_qff_t packet; 110 | packet.qff = qff; 111 | 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, (const char *)&packet, 4, 24); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE OBS_QFF UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field qff from obs_qff message 123 | * 124 | * @return Wind 125 | */ 126 | static inline float mavlink_msg_obs_qff_get_qff(const mavlink_message_t* msg) 127 | { 128 | return _MAV_RETURN_float(msg, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a obs_qff message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param obs_qff C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_obs_qff_decode(const mavlink_message_t* msg, mavlink_obs_qff_t* obs_qff) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | obs_qff->qff = mavlink_msg_obs_qff_get_qff(msg); 141 | #else 142 | memcpy(obs_qff, _MAV_PAYLOAD(msg), 4); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_obs_velocity.h: -------------------------------------------------------------------------------- 1 | // MESSAGE OBS_VELOCITY PACKING 2 | 3 | #define MAVLINK_MSG_ID_OBS_VELOCITY 172 4 | 5 | typedef struct __mavlink_obs_velocity_t 6 | { 7 | float vel[3]; ///< Velocity 8 | } mavlink_obs_velocity_t; 9 | 10 | #define MAVLINK_MSG_ID_OBS_VELOCITY_LEN 12 11 | #define MAVLINK_MSG_ID_172_LEN 12 12 | 13 | #define MAVLINK_MSG_OBS_VELOCITY_FIELD_VEL_LEN 3 14 | 15 | #define MAVLINK_MESSAGE_INFO_OBS_VELOCITY { \ 16 | "OBS_VELOCITY", \ 17 | 1, \ 18 | { { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_velocity_t, vel) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a obs_velocity message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param vel Velocity 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_obs_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | const float *vel) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[12]; 37 | 38 | _mav_put_float_array(buf, 0, vel, 3); 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 40 | #else 41 | mavlink_obs_velocity_t packet; 42 | 43 | mav_array_memcpy(packet.vel, vel, sizeof(float)*3); 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY; 48 | return mavlink_finalize_message(msg, system_id, component_id, 12, 108); 49 | } 50 | 51 | /** 52 | * @brief Pack a obs_velocity message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param vel Velocity 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_obs_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | const float *vel) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[12]; 66 | 67 | _mav_put_float_array(buf, 0, vel, 3); 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 69 | #else 70 | mavlink_obs_velocity_t packet; 71 | 72 | mav_array_memcpy(packet.vel, vel, sizeof(float)*3); 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 108); 78 | } 79 | 80 | /** 81 | * @brief Encode a obs_velocity struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param obs_velocity C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_obs_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_velocity_t* obs_velocity) 89 | { 90 | return mavlink_msg_obs_velocity_pack(system_id, component_id, msg, obs_velocity->vel); 91 | } 92 | 93 | /** 94 | * @brief Send a obs_velocity message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param vel Velocity 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_obs_velocity_send(mavlink_channel_t chan, const float *vel) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[12]; 105 | 106 | _mav_put_float_array(buf, 0, vel, 3); 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, 12, 108); 108 | #else 109 | mavlink_obs_velocity_t packet; 110 | 111 | mav_array_memcpy(packet.vel, vel, sizeof(float)*3); 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)&packet, 12, 108); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE OBS_VELOCITY UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field vel from obs_velocity message 123 | * 124 | * @return Velocity 125 | */ 126 | static inline uint16_t mavlink_msg_obs_velocity_get_vel(const mavlink_message_t* msg, float *vel) 127 | { 128 | return _MAV_RETURN_float_array(msg, vel, 3, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a obs_velocity message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param obs_velocity C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_obs_velocity_decode(const mavlink_message_t* msg, mavlink_obs_velocity_t* obs_velocity) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | mavlink_msg_obs_velocity_get_vel(msg, obs_velocity->vel); 141 | #else 142 | memcpy(obs_velocity, _MAV_PAYLOAD(msg), 12); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_obs_wind.h: -------------------------------------------------------------------------------- 1 | // MESSAGE OBS_WIND PACKING 2 | 3 | #define MAVLINK_MSG_ID_OBS_WIND 176 4 | 5 | typedef struct __mavlink_obs_wind_t 6 | { 7 | float wind[3]; ///< Wind 8 | } mavlink_obs_wind_t; 9 | 10 | #define MAVLINK_MSG_ID_OBS_WIND_LEN 12 11 | #define MAVLINK_MSG_ID_176_LEN 12 12 | 13 | #define MAVLINK_MSG_OBS_WIND_FIELD_WIND_LEN 3 14 | 15 | #define MAVLINK_MESSAGE_INFO_OBS_WIND { \ 16 | "OBS_WIND", \ 17 | 1, \ 18 | { { "wind", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_wind_t, wind) }, \ 19 | } \ 20 | } 21 | 22 | 23 | /** 24 | * @brief Pack a obs_wind message 25 | * @param system_id ID of this system 26 | * @param component_id ID of this component (e.g. 200 for IMU) 27 | * @param msg The MAVLink message to compress the data into 28 | * 29 | * @param wind Wind 30 | * @return length of the message in bytes (excluding serial stream start sign) 31 | */ 32 | static inline uint16_t mavlink_msg_obs_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 33 | const float *wind) 34 | { 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 36 | char buf[12]; 37 | 38 | _mav_put_float_array(buf, 0, wind, 3); 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 40 | #else 41 | mavlink_obs_wind_t packet; 42 | 43 | mav_array_memcpy(packet.wind, wind, sizeof(float)*3); 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 45 | #endif 46 | 47 | msg->msgid = MAVLINK_MSG_ID_OBS_WIND; 48 | return mavlink_finalize_message(msg, system_id, component_id, 12, 16); 49 | } 50 | 51 | /** 52 | * @brief Pack a obs_wind message on a channel 53 | * @param system_id ID of this system 54 | * @param component_id ID of this component (e.g. 200 for IMU) 55 | * @param chan The MAVLink channel this message was sent over 56 | * @param msg The MAVLink message to compress the data into 57 | * @param wind Wind 58 | * @return length of the message in bytes (excluding serial stream start sign) 59 | */ 60 | static inline uint16_t mavlink_msg_obs_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 61 | mavlink_message_t* msg, 62 | const float *wind) 63 | { 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 65 | char buf[12]; 66 | 67 | _mav_put_float_array(buf, 0, wind, 3); 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); 69 | #else 70 | mavlink_obs_wind_t packet; 71 | 72 | mav_array_memcpy(packet.wind, wind, sizeof(float)*3); 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); 74 | #endif 75 | 76 | msg->msgid = MAVLINK_MSG_ID_OBS_WIND; 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 16); 78 | } 79 | 80 | /** 81 | * @brief Encode a obs_wind struct into a message 82 | * 83 | * @param system_id ID of this system 84 | * @param component_id ID of this component (e.g. 200 for IMU) 85 | * @param msg The MAVLink message to compress the data into 86 | * @param obs_wind C-struct to read the message contents from 87 | */ 88 | static inline uint16_t mavlink_msg_obs_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_wind_t* obs_wind) 89 | { 90 | return mavlink_msg_obs_wind_pack(system_id, component_id, msg, obs_wind->wind); 91 | } 92 | 93 | /** 94 | * @brief Send a obs_wind message 95 | * @param chan MAVLink channel to send the message 96 | * 97 | * @param wind Wind 98 | */ 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 100 | 101 | static inline void mavlink_msg_obs_wind_send(mavlink_channel_t chan, const float *wind) 102 | { 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 104 | char buf[12]; 105 | 106 | _mav_put_float_array(buf, 0, wind, 3); 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, buf, 12, 16); 108 | #else 109 | mavlink_obs_wind_t packet; 110 | 111 | mav_array_memcpy(packet.wind, wind, sizeof(float)*3); 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, (const char *)&packet, 12, 16); 113 | #endif 114 | } 115 | 116 | #endif 117 | 118 | // MESSAGE OBS_WIND UNPACKING 119 | 120 | 121 | /** 122 | * @brief Get field wind from obs_wind message 123 | * 124 | * @return Wind 125 | */ 126 | static inline uint16_t mavlink_msg_obs_wind_get_wind(const mavlink_message_t* msg, float *wind) 127 | { 128 | return _MAV_RETURN_float_array(msg, wind, 3, 0); 129 | } 130 | 131 | /** 132 | * @brief Decode a obs_wind message into a struct 133 | * 134 | * @param msg The message to decode 135 | * @param obs_wind C-struct to decode the message contents into 136 | */ 137 | static inline void mavlink_msg_obs_wind_decode(const mavlink_message_t* msg, mavlink_obs_wind_t* obs_wind) 138 | { 139 | #if MAVLINK_NEED_BYTE_SWAP 140 | mavlink_msg_obs_wind_get_wind(msg, obs_wind->wind); 141 | #else 142 | memcpy(obs_wind, _MAV_PAYLOAD(msg), 12); 143 | #endif 144 | } 145 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_pm_elec.h: -------------------------------------------------------------------------------- 1 | // MESSAGE PM_ELEC PACKING 2 | 3 | #define MAVLINK_MSG_ID_PM_ELEC 188 4 | 5 | typedef struct __mavlink_pm_elec_t 6 | { 7 | float PwCons; ///< current power consumption 8 | float BatStat; ///< battery status 9 | float PwGen[3]; ///< Power generation from each module 10 | } mavlink_pm_elec_t; 11 | 12 | #define MAVLINK_MSG_ID_PM_ELEC_LEN 20 13 | #define MAVLINK_MSG_ID_188_LEN 20 14 | 15 | #define MAVLINK_MSG_PM_ELEC_FIELD_PWGEN_LEN 3 16 | 17 | #define MAVLINK_MESSAGE_INFO_PM_ELEC { \ 18 | "PM_ELEC", \ 19 | 3, \ 20 | { { "PwCons", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pm_elec_t, PwCons) }, \ 21 | { "BatStat", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pm_elec_t, BatStat) }, \ 22 | { "PwGen", NULL, MAVLINK_TYPE_FLOAT, 3, 8, offsetof(mavlink_pm_elec_t, PwGen) }, \ 23 | } \ 24 | } 25 | 26 | 27 | /** 28 | * @brief Pack a pm_elec message 29 | * @param system_id ID of this system 30 | * @param component_id ID of this component (e.g. 200 for IMU) 31 | * @param msg The MAVLink message to compress the data into 32 | * 33 | * @param PwCons current power consumption 34 | * @param BatStat battery status 35 | * @param PwGen Power generation from each module 36 | * @return length of the message in bytes (excluding serial stream start sign) 37 | */ 38 | static inline uint16_t mavlink_msg_pm_elec_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 39 | float PwCons, float BatStat, const float *PwGen) 40 | { 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 42 | char buf[20]; 43 | _mav_put_float(buf, 0, PwCons); 44 | _mav_put_float(buf, 4, BatStat); 45 | _mav_put_float_array(buf, 8, PwGen, 3); 46 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); 47 | #else 48 | mavlink_pm_elec_t packet; 49 | packet.PwCons = PwCons; 50 | packet.BatStat = BatStat; 51 | mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3); 52 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); 53 | #endif 54 | 55 | msg->msgid = MAVLINK_MSG_ID_PM_ELEC; 56 | return mavlink_finalize_message(msg, system_id, component_id, 20, 170); 57 | } 58 | 59 | /** 60 | * @brief Pack a pm_elec message on a channel 61 | * @param system_id ID of this system 62 | * @param component_id ID of this component (e.g. 200 for IMU) 63 | * @param chan The MAVLink channel this message was sent over 64 | * @param msg The MAVLink message to compress the data into 65 | * @param PwCons current power consumption 66 | * @param BatStat battery status 67 | * @param PwGen Power generation from each module 68 | * @return length of the message in bytes (excluding serial stream start sign) 69 | */ 70 | static inline uint16_t mavlink_msg_pm_elec_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 71 | mavlink_message_t* msg, 72 | float PwCons,float BatStat,const float *PwGen) 73 | { 74 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 75 | char buf[20]; 76 | _mav_put_float(buf, 0, PwCons); 77 | _mav_put_float(buf, 4, BatStat); 78 | _mav_put_float_array(buf, 8, PwGen, 3); 79 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); 80 | #else 81 | mavlink_pm_elec_t packet; 82 | packet.PwCons = PwCons; 83 | packet.BatStat = BatStat; 84 | mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3); 85 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); 86 | #endif 87 | 88 | msg->msgid = MAVLINK_MSG_ID_PM_ELEC; 89 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 170); 90 | } 91 | 92 | /** 93 | * @brief Encode a pm_elec struct into a message 94 | * 95 | * @param system_id ID of this system 96 | * @param component_id ID of this component (e.g. 200 for IMU) 97 | * @param msg The MAVLink message to compress the data into 98 | * @param pm_elec C-struct to read the message contents from 99 | */ 100 | static inline uint16_t mavlink_msg_pm_elec_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pm_elec_t* pm_elec) 101 | { 102 | return mavlink_msg_pm_elec_pack(system_id, component_id, msg, pm_elec->PwCons, pm_elec->BatStat, pm_elec->PwGen); 103 | } 104 | 105 | /** 106 | * @brief Send a pm_elec message 107 | * @param chan MAVLink channel to send the message 108 | * 109 | * @param PwCons current power consumption 110 | * @param BatStat battery status 111 | * @param PwGen Power generation from each module 112 | */ 113 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 114 | 115 | static inline void mavlink_msg_pm_elec_send(mavlink_channel_t chan, float PwCons, float BatStat, const float *PwGen) 116 | { 117 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 118 | char buf[20]; 119 | _mav_put_float(buf, 0, PwCons); 120 | _mav_put_float(buf, 4, BatStat); 121 | _mav_put_float_array(buf, 8, PwGen, 3); 122 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, buf, 20, 170); 123 | #else 124 | mavlink_pm_elec_t packet; 125 | packet.PwCons = PwCons; 126 | packet.BatStat = BatStat; 127 | mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3); 128 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, (const char *)&packet, 20, 170); 129 | #endif 130 | } 131 | 132 | #endif 133 | 134 | // MESSAGE PM_ELEC UNPACKING 135 | 136 | 137 | /** 138 | * @brief Get field PwCons from pm_elec message 139 | * 140 | * @return current power consumption 141 | */ 142 | static inline float mavlink_msg_pm_elec_get_PwCons(const mavlink_message_t* msg) 143 | { 144 | return _MAV_RETURN_float(msg, 0); 145 | } 146 | 147 | /** 148 | * @brief Get field BatStat from pm_elec message 149 | * 150 | * @return battery status 151 | */ 152 | static inline float mavlink_msg_pm_elec_get_BatStat(const mavlink_message_t* msg) 153 | { 154 | return _MAV_RETURN_float(msg, 4); 155 | } 156 | 157 | /** 158 | * @brief Get field PwGen from pm_elec message 159 | * 160 | * @return Power generation from each module 161 | */ 162 | static inline uint16_t mavlink_msg_pm_elec_get_PwGen(const mavlink_message_t* msg, float *PwGen) 163 | { 164 | return _MAV_RETURN_float_array(msg, PwGen, 3, 8); 165 | } 166 | 167 | /** 168 | * @brief Decode a pm_elec message into a struct 169 | * 170 | * @param msg The message to decode 171 | * @param pm_elec C-struct to decode the message contents into 172 | */ 173 | static inline void mavlink_msg_pm_elec_decode(const mavlink_message_t* msg, mavlink_pm_elec_t* pm_elec) 174 | { 175 | #if MAVLINK_NEED_BYTE_SWAP 176 | pm_elec->PwCons = mavlink_msg_pm_elec_get_PwCons(msg); 177 | pm_elec->BatStat = mavlink_msg_pm_elec_get_BatStat(msg); 178 | mavlink_msg_pm_elec_get_PwGen(msg, pm_elec->PwGen); 179 | #else 180 | memcpy(pm_elec, _MAV_PAYLOAD(msg), 20); 181 | #endif 182 | } 183 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/mavlink_msg_sys_stat.h: -------------------------------------------------------------------------------- 1 | // MESSAGE SYS_Stat PACKING 2 | 3 | #define MAVLINK_MSG_ID_SYS_Stat 190 4 | 5 | typedef struct __mavlink_sys_stat_t 6 | { 7 | uint8_t gps; ///< gps status 8 | uint8_t act; ///< actuator status 9 | uint8_t mod; ///< module status 10 | uint8_t commRssi; ///< module status 11 | } mavlink_sys_stat_t; 12 | 13 | #define MAVLINK_MSG_ID_SYS_Stat_LEN 4 14 | #define MAVLINK_MSG_ID_190_LEN 4 15 | 16 | 17 | 18 | #define MAVLINK_MESSAGE_INFO_SYS_Stat { \ 19 | "SYS_Stat", \ 20 | 4, \ 21 | { { "gps", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_sys_stat_t, gps) }, \ 22 | { "act", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_sys_stat_t, act) }, \ 23 | { "mod", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_sys_stat_t, mod) }, \ 24 | { "commRssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_sys_stat_t, commRssi) }, \ 25 | } \ 26 | } 27 | 28 | 29 | /** 30 | * @brief Pack a sys_stat message 31 | * @param system_id ID of this system 32 | * @param component_id ID of this component (e.g. 200 for IMU) 33 | * @param msg The MAVLink message to compress the data into 34 | * 35 | * @param gps gps status 36 | * @param act actuator status 37 | * @param mod module status 38 | * @param commRssi module status 39 | * @return length of the message in bytes (excluding serial stream start sign) 40 | */ 41 | static inline uint16_t mavlink_msg_sys_stat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 42 | uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi) 43 | { 44 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 45 | char buf[4]; 46 | _mav_put_uint8_t(buf, 0, gps); 47 | _mav_put_uint8_t(buf, 1, act); 48 | _mav_put_uint8_t(buf, 2, mod); 49 | _mav_put_uint8_t(buf, 3, commRssi); 50 | 51 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 52 | #else 53 | mavlink_sys_stat_t packet; 54 | packet.gps = gps; 55 | packet.act = act; 56 | packet.mod = mod; 57 | packet.commRssi = commRssi; 58 | 59 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 60 | #endif 61 | 62 | msg->msgid = MAVLINK_MSG_ID_SYS_Stat; 63 | return mavlink_finalize_message(msg, system_id, component_id, 4, 157); 64 | } 65 | 66 | /** 67 | * @brief Pack a sys_stat message on a channel 68 | * @param system_id ID of this system 69 | * @param component_id ID of this component (e.g. 200 for IMU) 70 | * @param chan The MAVLink channel this message was sent over 71 | * @param msg The MAVLink message to compress the data into 72 | * @param gps gps status 73 | * @param act actuator status 74 | * @param mod module status 75 | * @param commRssi module status 76 | * @return length of the message in bytes (excluding serial stream start sign) 77 | */ 78 | static inline uint16_t mavlink_msg_sys_stat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 79 | mavlink_message_t* msg, 80 | uint8_t gps,uint8_t act,uint8_t mod,uint8_t commRssi) 81 | { 82 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 83 | char buf[4]; 84 | _mav_put_uint8_t(buf, 0, gps); 85 | _mav_put_uint8_t(buf, 1, act); 86 | _mav_put_uint8_t(buf, 2, mod); 87 | _mav_put_uint8_t(buf, 3, commRssi); 88 | 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 90 | #else 91 | mavlink_sys_stat_t packet; 92 | packet.gps = gps; 93 | packet.act = act; 94 | packet.mod = mod; 95 | packet.commRssi = commRssi; 96 | 97 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 98 | #endif 99 | 100 | msg->msgid = MAVLINK_MSG_ID_SYS_Stat; 101 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 157); 102 | } 103 | 104 | /** 105 | * @brief Encode a sys_stat struct into a message 106 | * 107 | * @param system_id ID of this system 108 | * @param component_id ID of this component (e.g. 200 for IMU) 109 | * @param msg The MAVLink message to compress the data into 110 | * @param sys_stat C-struct to read the message contents from 111 | */ 112 | static inline uint16_t mavlink_msg_sys_stat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_stat_t* sys_stat) 113 | { 114 | return mavlink_msg_sys_stat_pack(system_id, component_id, msg, sys_stat->gps, sys_stat->act, sys_stat->mod, sys_stat->commRssi); 115 | } 116 | 117 | /** 118 | * @brief Send a sys_stat message 119 | * @param chan MAVLink channel to send the message 120 | * 121 | * @param gps gps status 122 | * @param act actuator status 123 | * @param mod module status 124 | * @param commRssi module status 125 | */ 126 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 127 | 128 | static inline void mavlink_msg_sys_stat_send(mavlink_channel_t chan, uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi) 129 | { 130 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 131 | char buf[4]; 132 | _mav_put_uint8_t(buf, 0, gps); 133 | _mav_put_uint8_t(buf, 1, act); 134 | _mav_put_uint8_t(buf, 2, mod); 135 | _mav_put_uint8_t(buf, 3, commRssi); 136 | 137 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, buf, 4, 157); 138 | #else 139 | mavlink_sys_stat_t packet; 140 | packet.gps = gps; 141 | packet.act = act; 142 | packet.mod = mod; 143 | packet.commRssi = commRssi; 144 | 145 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, (const char *)&packet, 4, 157); 146 | #endif 147 | } 148 | 149 | #endif 150 | 151 | // MESSAGE SYS_Stat UNPACKING 152 | 153 | 154 | /** 155 | * @brief Get field gps from sys_stat message 156 | * 157 | * @return gps status 158 | */ 159 | static inline uint8_t mavlink_msg_sys_stat_get_gps(const mavlink_message_t* msg) 160 | { 161 | return _MAV_RETURN_uint8_t(msg, 0); 162 | } 163 | 164 | /** 165 | * @brief Get field act from sys_stat message 166 | * 167 | * @return actuator status 168 | */ 169 | static inline uint8_t mavlink_msg_sys_stat_get_act(const mavlink_message_t* msg) 170 | { 171 | return _MAV_RETURN_uint8_t(msg, 1); 172 | } 173 | 174 | /** 175 | * @brief Get field mod from sys_stat message 176 | * 177 | * @return module status 178 | */ 179 | static inline uint8_t mavlink_msg_sys_stat_get_mod(const mavlink_message_t* msg) 180 | { 181 | return _MAV_RETURN_uint8_t(msg, 2); 182 | } 183 | 184 | /** 185 | * @brief Get field commRssi from sys_stat message 186 | * 187 | * @return module status 188 | */ 189 | static inline uint8_t mavlink_msg_sys_stat_get_commRssi(const mavlink_message_t* msg) 190 | { 191 | return _MAV_RETURN_uint8_t(msg, 3); 192 | } 193 | 194 | /** 195 | * @brief Decode a sys_stat message into a struct 196 | * 197 | * @param msg The message to decode 198 | * @param sys_stat C-struct to decode the message contents into 199 | */ 200 | static inline void mavlink_msg_sys_stat_decode(const mavlink_message_t* msg, mavlink_sys_stat_t* sys_stat) 201 | { 202 | #if MAVLINK_NEED_BYTE_SWAP 203 | sys_stat->gps = mavlink_msg_sys_stat_get_gps(msg); 204 | sys_stat->act = mavlink_msg_sys_stat_get_act(msg); 205 | sys_stat->mod = mavlink_msg_sys_stat_get_mod(msg); 206 | sys_stat->commRssi = mavlink_msg_sys_stat_get_commRssi(msg); 207 | #else 208 | memcpy(sys_stat, _MAV_PAYLOAD(msg), 4); 209 | #endif 210 | } 211 | -------------------------------------------------------------------------------- /libraries/Mavlink/sensesoar/version.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from sensesoar.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_VERSION_H 6 | #define MAVLINK_VERSION_H 7 | 8 | #define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:51 2012" 9 | #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" 10 | #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 11 | 12 | #endif // MAVLINK_VERSION_H 13 | -------------------------------------------------------------------------------- /libraries/Mavlink/slugs/mavlink.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from slugs.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_H 6 | #define MAVLINK_H 7 | 8 | #ifndef MAVLINK_STX 9 | #define MAVLINK_STX 254 10 | #endif 11 | 12 | #ifndef MAVLINK_ENDIAN 13 | #define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN 14 | #endif 15 | 16 | #ifndef MAVLINK_ALIGNED_FIELDS 17 | #define MAVLINK_ALIGNED_FIELDS 1 18 | #endif 19 | 20 | #ifndef MAVLINK_CRC_EXTRA 21 | #define MAVLINK_CRC_EXTRA 1 22 | #endif 23 | 24 | #include "version.h" 25 | #include "slugs.h" 26 | 27 | #endif // MAVLINK_H 28 | -------------------------------------------------------------------------------- /libraries/Mavlink/slugs/mavlink_msg_air_data.h: -------------------------------------------------------------------------------- 1 | // MESSAGE AIR_DATA PACKING 2 | 3 | #define MAVLINK_MSG_ID_AIR_DATA 171 4 | 5 | typedef struct __mavlink_air_data_t 6 | { 7 | float dynamicPressure; ///< Dynamic pressure (Pa) 8 | float staticPressure; ///< Static pressure (Pa) 9 | uint16_t temperature; ///< Board temperature 10 | } mavlink_air_data_t; 11 | 12 | #define MAVLINK_MSG_ID_AIR_DATA_LEN 10 13 | #define MAVLINK_MSG_ID_171_LEN 10 14 | 15 | 16 | 17 | #define MAVLINK_MESSAGE_INFO_AIR_DATA { \ 18 | "AIR_DATA", \ 19 | 3, \ 20 | { { "dynamicPressure", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_air_data_t, dynamicPressure) }, \ 21 | { "staticPressure", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_air_data_t, staticPressure) }, \ 22 | { "temperature", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_air_data_t, temperature) }, \ 23 | } \ 24 | } 25 | 26 | 27 | /** 28 | * @brief Pack a air_data message 29 | * @param system_id ID of this system 30 | * @param component_id ID of this component (e.g. 200 for IMU) 31 | * @param msg The MAVLink message to compress the data into 32 | * 33 | * @param dynamicPressure Dynamic pressure (Pa) 34 | * @param staticPressure Static pressure (Pa) 35 | * @param temperature Board temperature 36 | * @return length of the message in bytes (excluding serial stream start sign) 37 | */ 38 | static inline uint16_t mavlink_msg_air_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 39 | float dynamicPressure, float staticPressure, uint16_t temperature) 40 | { 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 42 | char buf[10]; 43 | _mav_put_float(buf, 0, dynamicPressure); 44 | _mav_put_float(buf, 4, staticPressure); 45 | _mav_put_uint16_t(buf, 8, temperature); 46 | 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 10); 48 | #else 49 | mavlink_air_data_t packet; 50 | packet.dynamicPressure = dynamicPressure; 51 | packet.staticPressure = staticPressure; 52 | packet.temperature = temperature; 53 | 54 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 10); 55 | #endif 56 | 57 | msg->msgid = MAVLINK_MSG_ID_AIR_DATA; 58 | return mavlink_finalize_message(msg, system_id, component_id, 10, 232); 59 | } 60 | 61 | /** 62 | * @brief Pack a air_data message on a channel 63 | * @param system_id ID of this system 64 | * @param component_id ID of this component (e.g. 200 for IMU) 65 | * @param chan The MAVLink channel this message was sent over 66 | * @param msg The MAVLink message to compress the data into 67 | * @param dynamicPressure Dynamic pressure (Pa) 68 | * @param staticPressure Static pressure (Pa) 69 | * @param temperature Board temperature 70 | * @return length of the message in bytes (excluding serial stream start sign) 71 | */ 72 | static inline uint16_t mavlink_msg_air_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 73 | mavlink_message_t* msg, 74 | float dynamicPressure,float staticPressure,uint16_t temperature) 75 | { 76 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 77 | char buf[10]; 78 | _mav_put_float(buf, 0, dynamicPressure); 79 | _mav_put_float(buf, 4, staticPressure); 80 | _mav_put_uint16_t(buf, 8, temperature); 81 | 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 10); 83 | #else 84 | mavlink_air_data_t packet; 85 | packet.dynamicPressure = dynamicPressure; 86 | packet.staticPressure = staticPressure; 87 | packet.temperature = temperature; 88 | 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 10); 90 | #endif 91 | 92 | msg->msgid = MAVLINK_MSG_ID_AIR_DATA; 93 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 10, 232); 94 | } 95 | 96 | /** 97 | * @brief Encode a air_data struct into a message 98 | * 99 | * @param system_id ID of this system 100 | * @param component_id ID of this component (e.g. 200 for IMU) 101 | * @param msg The MAVLink message to compress the data into 102 | * @param air_data C-struct to read the message contents from 103 | */ 104 | static inline uint16_t mavlink_msg_air_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_air_data_t* air_data) 105 | { 106 | return mavlink_msg_air_data_pack(system_id, component_id, msg, air_data->dynamicPressure, air_data->staticPressure, air_data->temperature); 107 | } 108 | 109 | /** 110 | * @brief Send a air_data message 111 | * @param chan MAVLink channel to send the message 112 | * 113 | * @param dynamicPressure Dynamic pressure (Pa) 114 | * @param staticPressure Static pressure (Pa) 115 | * @param temperature Board temperature 116 | */ 117 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 118 | 119 | static inline void mavlink_msg_air_data_send(mavlink_channel_t chan, float dynamicPressure, float staticPressure, uint16_t temperature) 120 | { 121 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 122 | char buf[10]; 123 | _mav_put_float(buf, 0, dynamicPressure); 124 | _mav_put_float(buf, 4, staticPressure); 125 | _mav_put_uint16_t(buf, 8, temperature); 126 | 127 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIR_DATA, buf, 10, 232); 128 | #else 129 | mavlink_air_data_t packet; 130 | packet.dynamicPressure = dynamicPressure; 131 | packet.staticPressure = staticPressure; 132 | packet.temperature = temperature; 133 | 134 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIR_DATA, (const char *)&packet, 10, 232); 135 | #endif 136 | } 137 | 138 | #endif 139 | 140 | // MESSAGE AIR_DATA UNPACKING 141 | 142 | 143 | /** 144 | * @brief Get field dynamicPressure from air_data message 145 | * 146 | * @return Dynamic pressure (Pa) 147 | */ 148 | static inline float mavlink_msg_air_data_get_dynamicPressure(const mavlink_message_t* msg) 149 | { 150 | return _MAV_RETURN_float(msg, 0); 151 | } 152 | 153 | /** 154 | * @brief Get field staticPressure from air_data message 155 | * 156 | * @return Static pressure (Pa) 157 | */ 158 | static inline float mavlink_msg_air_data_get_staticPressure(const mavlink_message_t* msg) 159 | { 160 | return _MAV_RETURN_float(msg, 4); 161 | } 162 | 163 | /** 164 | * @brief Get field temperature from air_data message 165 | * 166 | * @return Board temperature 167 | */ 168 | static inline uint16_t mavlink_msg_air_data_get_temperature(const mavlink_message_t* msg) 169 | { 170 | return _MAV_RETURN_uint16_t(msg, 8); 171 | } 172 | 173 | /** 174 | * @brief Decode a air_data message into a struct 175 | * 176 | * @param msg The message to decode 177 | * @param air_data C-struct to decode the message contents into 178 | */ 179 | static inline void mavlink_msg_air_data_decode(const mavlink_message_t* msg, mavlink_air_data_t* air_data) 180 | { 181 | #if MAVLINK_NEED_BYTE_SWAP 182 | air_data->dynamicPressure = mavlink_msg_air_data_get_dynamicPressure(msg); 183 | air_data->staticPressure = mavlink_msg_air_data_get_staticPressure(msg); 184 | air_data->temperature = mavlink_msg_air_data_get_temperature(msg); 185 | #else 186 | memcpy(air_data, _MAV_PAYLOAD(msg), 10); 187 | #endif 188 | } 189 | -------------------------------------------------------------------------------- /libraries/Mavlink/slugs/mavlink_msg_cpu_load.h: -------------------------------------------------------------------------------- 1 | // MESSAGE CPU_LOAD PACKING 2 | 3 | #define MAVLINK_MSG_ID_CPU_LOAD 170 4 | 5 | typedef struct __mavlink_cpu_load_t 6 | { 7 | uint16_t batVolt; ///< Battery Voltage in millivolts 8 | uint8_t sensLoad; ///< Sensor DSC Load 9 | uint8_t ctrlLoad; ///< Control DSC Load 10 | } mavlink_cpu_load_t; 11 | 12 | #define MAVLINK_MSG_ID_CPU_LOAD_LEN 4 13 | #define MAVLINK_MSG_ID_170_LEN 4 14 | 15 | 16 | 17 | #define MAVLINK_MESSAGE_INFO_CPU_LOAD { \ 18 | "CPU_LOAD", \ 19 | 3, \ 20 | { { "batVolt", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_cpu_load_t, batVolt) }, \ 21 | { "sensLoad", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_cpu_load_t, sensLoad) }, \ 22 | { "ctrlLoad", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_cpu_load_t, ctrlLoad) }, \ 23 | } \ 24 | } 25 | 26 | 27 | /** 28 | * @brief Pack a cpu_load message 29 | * @param system_id ID of this system 30 | * @param component_id ID of this component (e.g. 200 for IMU) 31 | * @param msg The MAVLink message to compress the data into 32 | * 33 | * @param sensLoad Sensor DSC Load 34 | * @param ctrlLoad Control DSC Load 35 | * @param batVolt Battery Voltage in millivolts 36 | * @return length of the message in bytes (excluding serial stream start sign) 37 | */ 38 | static inline uint16_t mavlink_msg_cpu_load_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 39 | uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) 40 | { 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 42 | char buf[4]; 43 | _mav_put_uint16_t(buf, 0, batVolt); 44 | _mav_put_uint8_t(buf, 2, sensLoad); 45 | _mav_put_uint8_t(buf, 3, ctrlLoad); 46 | 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 48 | #else 49 | mavlink_cpu_load_t packet; 50 | packet.batVolt = batVolt; 51 | packet.sensLoad = sensLoad; 52 | packet.ctrlLoad = ctrlLoad; 53 | 54 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 55 | #endif 56 | 57 | msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; 58 | return mavlink_finalize_message(msg, system_id, component_id, 4, 75); 59 | } 60 | 61 | /** 62 | * @brief Pack a cpu_load message on a channel 63 | * @param system_id ID of this system 64 | * @param component_id ID of this component (e.g. 200 for IMU) 65 | * @param chan The MAVLink channel this message was sent over 66 | * @param msg The MAVLink message to compress the data into 67 | * @param sensLoad Sensor DSC Load 68 | * @param ctrlLoad Control DSC Load 69 | * @param batVolt Battery Voltage in millivolts 70 | * @return length of the message in bytes (excluding serial stream start sign) 71 | */ 72 | static inline uint16_t mavlink_msg_cpu_load_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 73 | mavlink_message_t* msg, 74 | uint8_t sensLoad,uint8_t ctrlLoad,uint16_t batVolt) 75 | { 76 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 77 | char buf[4]; 78 | _mav_put_uint16_t(buf, 0, batVolt); 79 | _mav_put_uint8_t(buf, 2, sensLoad); 80 | _mav_put_uint8_t(buf, 3, ctrlLoad); 81 | 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); 83 | #else 84 | mavlink_cpu_load_t packet; 85 | packet.batVolt = batVolt; 86 | packet.sensLoad = sensLoad; 87 | packet.ctrlLoad = ctrlLoad; 88 | 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); 90 | #endif 91 | 92 | msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; 93 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 75); 94 | } 95 | 96 | /** 97 | * @brief Encode a cpu_load struct into a message 98 | * 99 | * @param system_id ID of this system 100 | * @param component_id ID of this component (e.g. 200 for IMU) 101 | * @param msg The MAVLink message to compress the data into 102 | * @param cpu_load C-struct to read the message contents from 103 | */ 104 | static inline uint16_t mavlink_msg_cpu_load_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cpu_load_t* cpu_load) 105 | { 106 | return mavlink_msg_cpu_load_pack(system_id, component_id, msg, cpu_load->sensLoad, cpu_load->ctrlLoad, cpu_load->batVolt); 107 | } 108 | 109 | /** 110 | * @brief Send a cpu_load message 111 | * @param chan MAVLink channel to send the message 112 | * 113 | * @param sensLoad Sensor DSC Load 114 | * @param ctrlLoad Control DSC Load 115 | * @param batVolt Battery Voltage in millivolts 116 | */ 117 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 118 | 119 | static inline void mavlink_msg_cpu_load_send(mavlink_channel_t chan, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) 120 | { 121 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 122 | char buf[4]; 123 | _mav_put_uint16_t(buf, 0, batVolt); 124 | _mav_put_uint8_t(buf, 2, sensLoad); 125 | _mav_put_uint8_t(buf, 3, ctrlLoad); 126 | 127 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CPU_LOAD, buf, 4, 75); 128 | #else 129 | mavlink_cpu_load_t packet; 130 | packet.batVolt = batVolt; 131 | packet.sensLoad = sensLoad; 132 | packet.ctrlLoad = ctrlLoad; 133 | 134 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CPU_LOAD, (const char *)&packet, 4, 75); 135 | #endif 136 | } 137 | 138 | #endif 139 | 140 | // MESSAGE CPU_LOAD UNPACKING 141 | 142 | 143 | /** 144 | * @brief Get field sensLoad from cpu_load message 145 | * 146 | * @return Sensor DSC Load 147 | */ 148 | static inline uint8_t mavlink_msg_cpu_load_get_sensLoad(const mavlink_message_t* msg) 149 | { 150 | return _MAV_RETURN_uint8_t(msg, 2); 151 | } 152 | 153 | /** 154 | * @brief Get field ctrlLoad from cpu_load message 155 | * 156 | * @return Control DSC Load 157 | */ 158 | static inline uint8_t mavlink_msg_cpu_load_get_ctrlLoad(const mavlink_message_t* msg) 159 | { 160 | return _MAV_RETURN_uint8_t(msg, 3); 161 | } 162 | 163 | /** 164 | * @brief Get field batVolt from cpu_load message 165 | * 166 | * @return Battery Voltage in millivolts 167 | */ 168 | static inline uint16_t mavlink_msg_cpu_load_get_batVolt(const mavlink_message_t* msg) 169 | { 170 | return _MAV_RETURN_uint16_t(msg, 0); 171 | } 172 | 173 | /** 174 | * @brief Decode a cpu_load message into a struct 175 | * 176 | * @param msg The message to decode 177 | * @param cpu_load C-struct to decode the message contents into 178 | */ 179 | static inline void mavlink_msg_cpu_load_decode(const mavlink_message_t* msg, mavlink_cpu_load_t* cpu_load) 180 | { 181 | #if MAVLINK_NEED_BYTE_SWAP 182 | cpu_load->batVolt = mavlink_msg_cpu_load_get_batVolt(msg); 183 | cpu_load->sensLoad = mavlink_msg_cpu_load_get_sensLoad(msg); 184 | cpu_load->ctrlLoad = mavlink_msg_cpu_load_get_ctrlLoad(msg); 185 | #else 186 | memcpy(cpu_load, _MAV_PAYLOAD(msg), 4); 187 | #endif 188 | } 189 | -------------------------------------------------------------------------------- /libraries/Mavlink/slugs/mavlink_msg_ctrl_srfc_pt.h: -------------------------------------------------------------------------------- 1 | // MESSAGE CTRL_SRFC_PT PACKING 2 | 3 | #define MAVLINK_MSG_ID_CTRL_SRFC_PT 181 4 | 5 | typedef struct __mavlink_ctrl_srfc_pt_t 6 | { 7 | uint16_t bitfieldPt; ///< Bitfield containing the PT configuration 8 | uint8_t target; ///< The system setting the commands 9 | } mavlink_ctrl_srfc_pt_t; 10 | 11 | #define MAVLINK_MSG_ID_CTRL_SRFC_PT_LEN 3 12 | #define MAVLINK_MSG_ID_181_LEN 3 13 | 14 | 15 | 16 | #define MAVLINK_MESSAGE_INFO_CTRL_SRFC_PT { \ 17 | "CTRL_SRFC_PT", \ 18 | 2, \ 19 | { { "bitfieldPt", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ctrl_srfc_pt_t, bitfieldPt) }, \ 20 | { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_ctrl_srfc_pt_t, target) }, \ 21 | } \ 22 | } 23 | 24 | 25 | /** 26 | * @brief Pack a ctrl_srfc_pt message 27 | * @param system_id ID of this system 28 | * @param component_id ID of this component (e.g. 200 for IMU) 29 | * @param msg The MAVLink message to compress the data into 30 | * 31 | * @param target The system setting the commands 32 | * @param bitfieldPt Bitfield containing the PT configuration 33 | * @return length of the message in bytes (excluding serial stream start sign) 34 | */ 35 | static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 36 | uint8_t target, uint16_t bitfieldPt) 37 | { 38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 39 | char buf[3]; 40 | _mav_put_uint16_t(buf, 0, bitfieldPt); 41 | _mav_put_uint8_t(buf, 2, target); 42 | 43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); 44 | #else 45 | mavlink_ctrl_srfc_pt_t packet; 46 | packet.bitfieldPt = bitfieldPt; 47 | packet.target = target; 48 | 49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); 50 | #endif 51 | 52 | msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; 53 | return mavlink_finalize_message(msg, system_id, component_id, 3, 104); 54 | } 55 | 56 | /** 57 | * @brief Pack a ctrl_srfc_pt message on a channel 58 | * @param system_id ID of this system 59 | * @param component_id ID of this component (e.g. 200 for IMU) 60 | * @param chan The MAVLink channel this message was sent over 61 | * @param msg The MAVLink message to compress the data into 62 | * @param target The system setting the commands 63 | * @param bitfieldPt Bitfield containing the PT configuration 64 | * @return length of the message in bytes (excluding serial stream start sign) 65 | */ 66 | static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 67 | mavlink_message_t* msg, 68 | uint8_t target,uint16_t bitfieldPt) 69 | { 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 71 | char buf[3]; 72 | _mav_put_uint16_t(buf, 0, bitfieldPt); 73 | _mav_put_uint8_t(buf, 2, target); 74 | 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); 76 | #else 77 | mavlink_ctrl_srfc_pt_t packet; 78 | packet.bitfieldPt = bitfieldPt; 79 | packet.target = target; 80 | 81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); 82 | #endif 83 | 84 | msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; 85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 104); 86 | } 87 | 88 | /** 89 | * @brief Encode a ctrl_srfc_pt struct into a message 90 | * 91 | * @param system_id ID of this system 92 | * @param component_id ID of this component (e.g. 200 for IMU) 93 | * @param msg The MAVLink message to compress the data into 94 | * @param ctrl_srfc_pt C-struct to read the message contents from 95 | */ 96 | static inline uint16_t mavlink_msg_ctrl_srfc_pt_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ctrl_srfc_pt_t* ctrl_srfc_pt) 97 | { 98 | return mavlink_msg_ctrl_srfc_pt_pack(system_id, component_id, msg, ctrl_srfc_pt->target, ctrl_srfc_pt->bitfieldPt); 99 | } 100 | 101 | /** 102 | * @brief Send a ctrl_srfc_pt message 103 | * @param chan MAVLink channel to send the message 104 | * 105 | * @param target The system setting the commands 106 | * @param bitfieldPt Bitfield containing the PT configuration 107 | */ 108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 109 | 110 | static inline void mavlink_msg_ctrl_srfc_pt_send(mavlink_channel_t chan, uint8_t target, uint16_t bitfieldPt) 111 | { 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 113 | char buf[3]; 114 | _mav_put_uint16_t(buf, 0, bitfieldPt); 115 | _mav_put_uint8_t(buf, 2, target); 116 | 117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CTRL_SRFC_PT, buf, 3, 104); 118 | #else 119 | mavlink_ctrl_srfc_pt_t packet; 120 | packet.bitfieldPt = bitfieldPt; 121 | packet.target = target; 122 | 123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CTRL_SRFC_PT, (const char *)&packet, 3, 104); 124 | #endif 125 | } 126 | 127 | #endif 128 | 129 | // MESSAGE CTRL_SRFC_PT UNPACKING 130 | 131 | 132 | /** 133 | * @brief Get field target from ctrl_srfc_pt message 134 | * 135 | * @return The system setting the commands 136 | */ 137 | static inline uint8_t mavlink_msg_ctrl_srfc_pt_get_target(const mavlink_message_t* msg) 138 | { 139 | return _MAV_RETURN_uint8_t(msg, 2); 140 | } 141 | 142 | /** 143 | * @brief Get field bitfieldPt from ctrl_srfc_pt message 144 | * 145 | * @return Bitfield containing the PT configuration 146 | */ 147 | static inline uint16_t mavlink_msg_ctrl_srfc_pt_get_bitfieldPt(const mavlink_message_t* msg) 148 | { 149 | return _MAV_RETURN_uint16_t(msg, 0); 150 | } 151 | 152 | /** 153 | * @brief Decode a ctrl_srfc_pt message into a struct 154 | * 155 | * @param msg The message to decode 156 | * @param ctrl_srfc_pt C-struct to decode the message contents into 157 | */ 158 | static inline void mavlink_msg_ctrl_srfc_pt_decode(const mavlink_message_t* msg, mavlink_ctrl_srfc_pt_t* ctrl_srfc_pt) 159 | { 160 | #if MAVLINK_NEED_BYTE_SWAP 161 | ctrl_srfc_pt->bitfieldPt = mavlink_msg_ctrl_srfc_pt_get_bitfieldPt(msg); 162 | ctrl_srfc_pt->target = mavlink_msg_ctrl_srfc_pt_get_target(msg); 163 | #else 164 | memcpy(ctrl_srfc_pt, _MAV_PAYLOAD(msg), 3); 165 | #endif 166 | } 167 | -------------------------------------------------------------------------------- /libraries/Mavlink/slugs/version.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from slugs.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_VERSION_H 6 | #define MAVLINK_VERSION_H 7 | 8 | #define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:53 2012" 9 | #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" 10 | #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 11 | 12 | #endif // MAVLINK_VERSION_H 13 | -------------------------------------------------------------------------------- /libraries/Mavlink/test/mavlink.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol built from test.xml 3 | * @see http://pixhawk.ethz.ch/software/mavlink 4 | */ 5 | #ifndef MAVLINK_H 6 | #define MAVLINK_H 7 | 8 | #ifndef MAVLINK_STX 9 | #define MAVLINK_STX 254 10 | #endif 11 | 12 | #ifndef MAVLINK_ENDIAN 13 | #define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN 14 | #endif 15 | 16 | #ifndef MAVLINK_ALIGNED_FIELDS 17 | #define MAVLINK_ALIGNED_FIELDS 1 18 | #endif 19 | 20 | #ifndef MAVLINK_CRC_EXTRA 21 | #define MAVLINK_CRC_EXTRA 1 22 | #endif 23 | 24 | #include "version.h" 25 | #include "test.h" 26 | 27 | #endif // MAVLINK_H 28 | -------------------------------------------------------------------------------- /libraries/Mavlink/test/testsuite.h: -------------------------------------------------------------------------------- 1 | /** @file 2 | * @brief MAVLink comm protocol testsuite generated from test.xml 3 | * @see http://qgroundcontrol.org/mavlink/ 4 | */ 5 | #ifndef TEST_TESTSUITE_H 6 | #define TEST_TESTSUITE_H 7 | 8 | #ifdef __cplusplus 9 | extern "C" { 10 | #endif 11 | 12 | #ifndef MAVLINK_TEST_ALL 13 | #define MAVLINK_TEST_ALL 14 | 15 | static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg); 16 | 17 | static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 18 | { 19 | 20 | mavlink_test_test(system_id, component_id, last_msg); 21 | } 22 | #endif 23 | 24 | 25 | 26 | 27 | static void mavlink_test_test_types(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 28 | { 29 | mavlink_message_t msg; 30 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 31 | uint16_t i; 32 | mavlink_test_types_t packet_in = { 33 | 93372036854775807ULL, 34 | 93372036854776311LL, 35 | 235.0, 36 | { 93372036854777319, 93372036854777320, 93372036854777321 }, 37 | { 93372036854778831, 93372036854778832, 93372036854778833 }, 38 | { 627.0, 628.0, 629.0 }, 39 | 963502456, 40 | 963502664, 41 | 745.0, 42 | { 963503080, 963503081, 963503082 }, 43 | { 963503704, 963503705, 963503706 }, 44 | { 941.0, 942.0, 943.0 }, 45 | 24723, 46 | 24827, 47 | { 24931, 24932, 24933 }, 48 | { 25243, 25244, 25245 }, 49 | 'E', 50 | "FGHIJKLMN", 51 | 198, 52 | 9, 53 | { 76, 77, 78 }, 54 | { 21, 22, 23 }, 55 | }; 56 | mavlink_test_types_t packet1, packet2; 57 | memset(&packet1, 0, sizeof(packet1)); 58 | packet1.u64 = packet_in.u64; 59 | packet1.s64 = packet_in.s64; 60 | packet1.d = packet_in.d; 61 | packet1.u32 = packet_in.u32; 62 | packet1.s32 = packet_in.s32; 63 | packet1.f = packet_in.f; 64 | packet1.u16 = packet_in.u16; 65 | packet1.s16 = packet_in.s16; 66 | packet1.c = packet_in.c; 67 | packet1.u8 = packet_in.u8; 68 | packet1.s8 = packet_in.s8; 69 | 70 | mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3); 71 | mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3); 72 | mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3); 73 | mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3); 74 | mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3); 75 | mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3); 76 | mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3); 77 | mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3); 78 | mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10); 79 | mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3); 80 | mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3); 81 | 82 | 83 | memset(&packet2, 0, sizeof(packet2)); 84 | mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1); 85 | mavlink_msg_test_types_decode(&msg, &packet2); 86 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 87 | 88 | memset(&packet2, 0, sizeof(packet2)); 89 | mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array ); 90 | mavlink_msg_test_types_decode(&msg, &packet2); 91 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 92 | 93 | memset(&packet2, 0, sizeof(packet2)); 94 | mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array ); 95 | mavlink_msg_test_types_decode(&msg, &packet2); 96 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 97 | 98 | memset(&packet2, 0, sizeof(packet2)); 99 | mavlink_msg_to_send_buffer(buffer, &msg); 100 | for (i=0; i