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Snapshot iniziale: bridge telemetria CRSF->LTM/MAVLink (ESP-NOW)

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Stato di partenza prima dei fix. Il repo git era inizializzato a meta'
(config.lock + objects/ mancante, zero commit): riparato.
my_config.h (UID reale, tutti e 3 i sottoprogetti) escluso via .gitignore;
aggiunto my_config.h.example. .pio/ escluso.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This commit is contained in:
Francesco Zanin
2026-06-23 19:32:11 +02:00
commit e22a47fce1
284 changed files with 132664 additions and 0 deletions
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34
02_telemetry_bridge/lib/mavlink/minimal/mavlink.h Normal file
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/** @file
* @brief MAVLink comm protocol built from minimal.xml
* @see http://mavlink.org
*/
#pragma once
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH 2320519642817848902
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 1
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#ifndef MAVLINK_COMMAND_24BIT
#define MAVLINK_COMMAND_24BIT 1
#endif
#include "version.h"
#include "minimal.h"
#endif // MAVLINK_H

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02_telemetry_bridge/lib/mavlink/minimal/mavlink_msg_heartbeat.h Normal file
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#pragma once
// MESSAGE HEARTBEAT PACKING
#define MAVLINK_MSG_ID_HEARTBEAT 0
typedef struct __mavlink_heartbeat_t {
uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags*/
uint8_t type; /*< Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.*/
uint8_t autopilot; /*< Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.*/
uint8_t base_mode; /*< System mode bitmap.*/
uint8_t system_status; /*< System status flag.*/
uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/
} mavlink_heartbeat_t;
#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
#define MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN 9
#define MAVLINK_MSG_ID_0_LEN 9
#define MAVLINK_MSG_ID_0_MIN_LEN 9
#define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
#define MAVLINK_MSG_ID_0_CRC 50
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
0, \
"HEARTBEAT", \
6, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
"HEARTBEAT", \
6, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
} \
}
#endif
/**
* @brief Pack a heartbeat message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param type Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
* @param autopilot Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
* @param base_mode System mode bitmap.
* @param custom_mode A bitfield for use for autopilot-specific flags
* @param system_status System status flag.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#else
mavlink_heartbeat_t packet;
packet.custom_mode = custom_mode;
packet.type = type;
packet.autopilot = autopilot;
packet.base_mode = base_mode;
packet.system_status = system_status;
packet.mavlink_version = 3;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
}
/**
* @brief Pack a heartbeat message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param status MAVLink status structure
* @param msg The MAVLink message to compress the data into
*
* @param type Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
* @param autopilot Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
* @param base_mode System mode bitmap.
* @param custom_mode A bitfield for use for autopilot-specific flags
* @param system_status System status flag.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_heartbeat_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#else
mavlink_heartbeat_t packet;
packet.custom_mode = custom_mode;
packet.type = type;
packet.autopilot = autopilot;
packet.base_mode = base_mode;
packet.system_status = system_status;
packet.mavlink_version = 3;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#else
return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#endif
}
/**
* @brief Pack a heartbeat message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param type Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
* @param autopilot Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
* @param base_mode System mode bitmap.
* @param custom_mode A bitfield for use for autopilot-specific flags
* @param system_status System status flag.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#else
mavlink_heartbeat_t packet;
packet.custom_mode = custom_mode;
packet.type = type;
packet.autopilot = autopilot;
packet.base_mode = base_mode;
packet.system_status = system_status;
packet.mavlink_version = 3;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
}
/**
* @brief Encode a heartbeat struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param heartbeat C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
{
return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
}
/**
* @brief Encode a heartbeat struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param heartbeat C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
{
return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
}
/**
* @brief Encode a heartbeat struct with provided status structure
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param status MAVLink status structure
* @param msg The MAVLink message to compress the data into
* @param heartbeat C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_heartbeat_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
{
return mavlink_msg_heartbeat_pack_status(system_id, component_id, _status, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
}
/**
* @brief Send a heartbeat message
* @param chan MAVLink channel to send the message
*
* @param type Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
* @param autopilot Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
* @param base_mode System mode bitmap.
* @param custom_mode A bitfield for use for autopilot-specific flags
* @param system_status System status flag.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#else
mavlink_heartbeat_t packet;
packet.custom_mode = custom_mode;
packet.type = type;
packet.autopilot = autopilot;
packet.base_mode = base_mode;
packet.system_status = system_status;
packet.mavlink_version = 3;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#endif
}
/**
* @brief Send a heartbeat message
* @param chan MAVLink channel to send the message
* @param struct The MAVLink struct to serialize
*/
static inline void mavlink_msg_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_heartbeat_t* heartbeat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_heartbeat_send(chan, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)heartbeat, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#endif
}
#if MAVLINK_MSG_ID_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This variant of _send() can be used to save stack space by reusing
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#else
mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;
packet->custom_mode = custom_mode;
packet->type = type;
packet->autopilot = autopilot;
packet->base_mode = base_mode;
packet->system_status = system_status;
packet->mavlink_version = 3;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#endif
}
#endif
#endif
// MESSAGE HEARTBEAT UNPACKING
/**
* @brief Get field type from heartbeat message
*
* @return Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
*/
static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field autopilot from heartbeat message
*
* @return Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
*/
static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
* @brief Get field base_mode from heartbeat message
*
* @return System mode bitmap.
*/
static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field custom_mode from heartbeat message
*
* @return A bitfield for use for autopilot-specific flags
*/
static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field system_status from heartbeat message
*
* @return System status flag.
*/
static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
* @brief Get field mavlink_version from heartbeat message
*
* @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
*/
static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Decode a heartbeat message into a struct
*
* @param msg The message to decode
* @param heartbeat C-struct to decode the message contents into
*/
static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_HEARTBEAT_LEN;
memset(heartbeat, 0, MAVLINK_MSG_ID_HEARTBEAT_LEN);
memcpy(heartbeat, _MAV_PAYLOAD(msg), len);
#endif
}

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/** @file
* @brief MAVLink comm protocol generated from minimal.xml
* @see http://mavlink.org
*/
#pragma once
#ifndef MAVLINK_MINIMAL_H
#define MAVLINK_MINIMAL_H
#ifndef MAVLINK_H
#error Wrong include order: MAVLINK_MINIMAL.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
#endif
#define MAVLINK_MINIMAL_XML_HASH 2320519642817848902
#ifdef __cplusplus
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 9, 0, 0, 0}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_MINIMAL
// ENUM DEFINITIONS
/** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */
#ifndef HAVE_ENUM_MAV_AUTOPILOT
#define HAVE_ENUM_MAV_AUTOPILOT
typedef enum MAV_AUTOPILOT
{
MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything | */
MAV_AUTOPILOT_RESERVED=1, /* Reserved for future use. | */
MAV_AUTOPILOT_SLUGS=2, /* SLUGS autopilot, http://slugsuav.soe.ucsc.edu | */
MAV_AUTOPILOT_ARDUPILOTMEGA=3, /* ArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org | */
MAV_AUTOPILOT_OPENPILOT=4, /* OpenPilot, http://openpilot.org | */
MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY=5, /* Generic autopilot only supporting simple waypoints | */
MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY=6, /* Generic autopilot supporting waypoints and other simple navigation commands | */
MAV_AUTOPILOT_GENERIC_MISSION_FULL=7, /* Generic autopilot supporting the full mission command set | */
MAV_AUTOPILOT_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component | */
MAV_AUTOPILOT_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi | */
MAV_AUTOPILOT_UDB=10, /* UAV Dev Board | */
MAV_AUTOPILOT_FP=11, /* FlexiPilot | */
MAV_AUTOPILOT_PX4=12, /* PX4 Autopilot - http://px4.io/ | */
MAV_AUTOPILOT_SMACCMPILOT=13, /* SMACCMPilot - http://smaccmpilot.org | */
MAV_AUTOPILOT_AUTOQUAD=14, /* AutoQuad -- http://autoquad.org | */
MAV_AUTOPILOT_ARMAZILA=15, /* Armazila -- http://armazila.com | */
MAV_AUTOPILOT_AEROB=16, /* Aerob -- http://aerob.ru | */
MAV_AUTOPILOT_ASLUAV=17, /* ASLUAV autopilot -- http://www.asl.ethz.ch | */
MAV_AUTOPILOT_SMARTAP=18, /* SmartAP Autopilot - http://sky-drones.com | */
MAV_AUTOPILOT_AIRRAILS=19, /* AirRails - http://uaventure.com | */
MAV_AUTOPILOT_REFLEX=20, /* Fusion Reflex - https://fusion.engineering | */
MAV_AUTOPILOT_ENUM_END=21, /* | */
} MAV_AUTOPILOT;
#endif
/** @brief MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA). */
#ifndef HAVE_ENUM_MAV_TYPE
#define HAVE_ENUM_MAV_TYPE
typedef enum MAV_TYPE
{
MAV_TYPE_GENERIC=0, /* Generic micro air vehicle | */
MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
MAV_TYPE_QUADROTOR=2, /* Quadrotor | */
MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */
MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */
MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */
MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
MAV_TYPE_ROCKET=9, /* Rocket | */
MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */
MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
MAV_TYPE_SUBMARINE=12, /* Submarine | */
MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */
MAV_TYPE_OCTOROTOR=14, /* Octorotor | */
MAV_TYPE_TRICOPTER=15, /* Tricopter | */
MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */
MAV_TYPE_KITE=17, /* Kite | */
MAV_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */
MAV_TYPE_VTOL_TAILSITTER_DUOROTOR=19, /* Two-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR. | */
MAV_TYPE_VTOL_TAILSITTER_QUADROTOR=20, /* Quad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR. | */
MAV_TYPE_VTOL_TILTROTOR=21, /* Tiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight. | */
MAV_TYPE_VTOL_FIXEDROTOR=22, /* VTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases. | */
MAV_TYPE_VTOL_TAILSITTER=23, /* Tailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate. | */
MAV_TYPE_VTOL_TILTWING=24, /* Tiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode. | */
MAV_TYPE_VTOL_RESERVED5=25, /* VTOL reserved 5 | */
MAV_TYPE_GIMBAL=26, /* Gimbal | */
MAV_TYPE_ADSB=27, /* ADSB system | */
MAV_TYPE_PARAFOIL=28, /* Steerable, nonrigid airfoil | */
MAV_TYPE_DODECAROTOR=29, /* Dodecarotor | */
MAV_TYPE_CAMERA=30, /* Camera | */
MAV_TYPE_CHARGING_STATION=31, /* Charging station | */
MAV_TYPE_FLARM=32, /* FLARM collision avoidance system | */
MAV_TYPE_SERVO=33, /* Servo | */
MAV_TYPE_ODID=34, /* Open Drone ID. See https://mavlink.io/en/services/opendroneid.html. | */
MAV_TYPE_DECAROTOR=35, /* Decarotor | */
MAV_TYPE_BATTERY=36, /* Battery | */
MAV_TYPE_PARACHUTE=37, /* Parachute | */
MAV_TYPE_LOG=38, /* Log | */
MAV_TYPE_OSD=39, /* OSD | */
MAV_TYPE_IMU=40, /* IMU | */
MAV_TYPE_GPS=41, /* GPS | */
MAV_TYPE_WINCH=42, /* Winch | */
MAV_TYPE_GENERIC_MULTIROTOR=43, /* Generic multirotor that does not fit into a specific type or whose type is unknown | */
MAV_TYPE_ILLUMINATOR=44, /* Illuminator. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light). | */
MAV_TYPE_SPACECRAFT_ORBITER=45, /* Orbiter spacecraft. Includes satellites orbiting terrestrial and extra-terrestrial bodies. Follows NASA Spacecraft Classification. | */
MAV_TYPE_GROUND_QUADRUPED=46, /* A generic four-legged ground vehicle (e.g., a robot dog). | */
MAV_TYPE_VTOL_GYRODYNE=47, /* VTOL hybrid of helicopter and autogyro. It has a main rotor for lift and separate propellers for forward flight. The rotor must be powered for hover but can autorotate in cruise flight. See: https://en.wikipedia.org/wiki/Gyrodyne | */
MAV_TYPE_GRIPPER=48, /* Gripper | */
MAV_TYPE_RADIO=49, /* Radio | */
MAV_TYPE_ENUM_END=50, /* | */
} MAV_TYPE;
#endif
/** @brief These flags encode the MAV mode, see MAV_MODE enum for useful combinations. */
#ifndef HAVE_ENUM_MAV_MODE_FLAG
#define HAVE_ENUM_MAV_MODE_FLAG
typedef enum MAV_MODE_FLAG
{
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 system-specific custom mode is enabled. When using this flag to enable a custom mode all other flags should be ignored. | */
MAV_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
MAV_MODE_FLAG_AUTO_ENABLED=4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
MAV_MODE_FLAG_GUIDED_ENABLED=8, /* 0b00001000 guided mode enabled, system flies waypoints / mission items. | */
MAV_MODE_FLAG_STABILIZE_ENABLED=16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
MAV_MODE_FLAG_HIL_ENABLED=32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */
MAV_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. | */
MAV_MODE_FLAG_ENUM_END=129, /* | */
} MAV_MODE_FLAG;
#endif
/** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */
#ifndef HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
#define HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
typedef enum MAV_MODE_FLAG_DECODE_POSITION
{
MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE=1, /* Eighth bit: 00000001 | */
MAV_MODE_FLAG_DECODE_POSITION_TEST=2, /* Seventh bit: 00000010 | */
MAV_MODE_FLAG_DECODE_POSITION_AUTO=4, /* Sixth bit: 00000100 | */
MAV_MODE_FLAG_DECODE_POSITION_GUIDED=8, /* Fifth bit: 00001000 | */
MAV_MODE_FLAG_DECODE_POSITION_STABILIZE=16, /* Fourth bit: 00010000 | */
MAV_MODE_FLAG_DECODE_POSITION_HIL=32, /* Third bit: 00100000 | */
MAV_MODE_FLAG_DECODE_POSITION_MANUAL=64, /* Second bit: 01000000 | */
MAV_MODE_FLAG_DECODE_POSITION_SAFETY=128, /* First bit: 10000000 | */
MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=129, /* | */
} MAV_MODE_FLAG_DECODE_POSITION;
#endif
/** @brief */
#ifndef HAVE_ENUM_MAV_STATE
#define HAVE_ENUM_MAV_STATE
typedef enum MAV_STATE
{
MAV_STATE_UNINIT=0, /* Uninitialized system, state is unknown. | */
MAV_STATE_BOOT=1, /* System is booting up. | */
MAV_STATE_CALIBRATING=2, /* System is calibrating and not flight-ready. | */
MAV_STATE_STANDBY=3, /* System is grounded and on standby. It can be launched any time. | */
MAV_STATE_ACTIVE=4, /* System is active and might be already airborne. Motors are engaged. | */
MAV_STATE_CRITICAL=5, /* System is in a non-normal flight mode (failsafe). It can however still navigate. | */
MAV_STATE_EMERGENCY=6, /* System is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down. | */
MAV_STATE_POWEROFF=7, /* System just initialized its power-down sequence, will shut down now. | */
MAV_STATE_FLIGHT_TERMINATION=8, /* System is terminating itself (failsafe or commanded). | */
MAV_STATE_ENUM_END=9, /* | */
} MAV_STATE;
#endif
/** @brief Legacy component ID values for particular types of hardware/software that might make up a MAVLink system (autopilot, cameras, servos, avoidance systems etc.).
Components are not required or expected to use IDs with names that correspond to their type or function, but may choose to do so.
Using an ID that matches the type may slightly reduce the chances of component id clashes, as, for historical reasons, it is less likely to be used by some other type of component.
System integration will still need to ensure that all components have unique IDs.
Component IDs are used for addressing messages to a particular component within a system.
A component can use any unique ID between 1 and 255 (MAV_COMP_ID_ALL value is the broadcast address, used to send to all components).
Historically component ID were also used for identifying the type of component.
New code must not use component IDs to infer the component type, but instead check the MAV_TYPE in the HEARTBEAT message!
*/
#ifndef HAVE_ENUM_MAV_COMPONENT
#define HAVE_ENUM_MAV_COMPONENT
typedef enum MAV_COMPONENT
{
MAV_COMP_ID_ALL=0, /* Target id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid *source* component id for a message. | */
MAV_COMP_ID_AUTOPILOT1=1, /* System flight controller component ("autopilot"). Only one autopilot is expected in a particular system. | */
MAV_COMP_ID_USER1=25, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER2=26, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER3=27, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER4=28, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER5=29, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER6=30, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER7=31, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER8=32, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER9=33, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER10=34, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER11=35, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER12=36, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER13=37, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER14=38, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER15=39, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER16=40, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER17=41, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER18=42, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER19=43, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER20=44, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER21=45, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER22=46, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER23=47, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER24=48, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER25=49, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER26=50, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER27=51, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER28=52, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER29=53, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER30=54, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER31=55, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER32=56, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER33=57, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER34=58, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER35=59, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER36=60, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER37=61, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER38=62, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER39=63, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER40=64, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER41=65, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER42=66, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER43=67, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_TELEMETRY_RADIO=68, /* Telemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages). | */
MAV_COMP_ID_USER45=69, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER46=70, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER47=71, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER48=72, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER49=73, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER50=74, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER51=75, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER52=76, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER53=77, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER54=78, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER55=79, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER56=80, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER57=81, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER58=82, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER59=83, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER60=84, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER61=85, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER62=86, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER63=87, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER64=88, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER65=89, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER66=90, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER67=91, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER68=92, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER69=93, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER70=94, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER71=95, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER72=96, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER73=97, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER74=98, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_USER75=99, /* Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. | */
MAV_COMP_ID_CAMERA=100, /* Camera #1. | */
MAV_COMP_ID_CAMERA2=101, /* Camera #2. | */
MAV_COMP_ID_CAMERA3=102, /* Camera #3. | */
MAV_COMP_ID_CAMERA4=103, /* Camera #4. | */
MAV_COMP_ID_CAMERA5=104, /* Camera #5. | */
MAV_COMP_ID_CAMERA6=105, /* Camera #6. | */
MAV_COMP_ID_RADIO=110, /* Radio #1. | */
MAV_COMP_ID_RADIO2=111, /* Radio #2. | */
MAV_COMP_ID_RADIO3=112, /* Radio #3. | */
MAV_COMP_ID_SERVO1=140, /* Servo #1. | */
MAV_COMP_ID_SERVO2=141, /* Servo #2. | */
MAV_COMP_ID_SERVO3=142, /* Servo #3. | */
MAV_COMP_ID_SERVO4=143, /* Servo #4. | */
MAV_COMP_ID_SERVO5=144, /* Servo #5. | */
MAV_COMP_ID_SERVO6=145, /* Servo #6. | */
MAV_COMP_ID_SERVO7=146, /* Servo #7. | */
MAV_COMP_ID_SERVO8=147, /* Servo #8. | */
MAV_COMP_ID_SERVO9=148, /* Servo #9. | */
MAV_COMP_ID_SERVO10=149, /* Servo #10. | */
MAV_COMP_ID_SERVO11=150, /* Servo #11. | */
MAV_COMP_ID_SERVO12=151, /* Servo #12. | */
MAV_COMP_ID_SERVO13=152, /* Servo #13. | */
MAV_COMP_ID_SERVO14=153, /* Servo #14. | */
MAV_COMP_ID_GIMBAL=154, /* Gimbal #1. | */
MAV_COMP_ID_LOG=155, /* Logging component. | */
MAV_COMP_ID_ADSB=156, /* Automatic Dependent Surveillance-Broadcast (ADS-B) component. | */
MAV_COMP_ID_OSD=157, /* On Screen Display (OSD) devices for video links. | */
MAV_COMP_ID_PERIPHERAL=158, /* Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice. | */
MAV_COMP_ID_QX1_GIMBAL=159, /* Gimbal ID for QX1. | */
MAV_COMP_ID_FLARM=160, /* FLARM collision alert component. | */
MAV_COMP_ID_PARACHUTE=161, /* Parachute component. | */
MAV_COMP_ID_WINCH=169, /* Winch component. | */
MAV_COMP_ID_GIMBAL2=171, /* Gimbal #2. | */
MAV_COMP_ID_GIMBAL3=172, /* Gimbal #3. | */
MAV_COMP_ID_GIMBAL4=173, /* Gimbal #4 | */
MAV_COMP_ID_GIMBAL5=174, /* Gimbal #5. | */
MAV_COMP_ID_GIMBAL6=175, /* Gimbal #6. | */
MAV_COMP_ID_BATTERY=180, /* Battery #1. | */
MAV_COMP_ID_BATTERY2=181, /* Battery #2. | */
MAV_COMP_ID_MAVCAN=189, /* CAN over MAVLink client. | */
MAV_COMP_ID_MISSIONPLANNER=190, /* Component that can generate/supply a mission flight plan (e.g. GCS or developer API). | */
MAV_COMP_ID_ONBOARD_COMPUTER=191, /* Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on. | */
MAV_COMP_ID_ONBOARD_COMPUTER2=192, /* Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on. | */
MAV_COMP_ID_ONBOARD_COMPUTER3=193, /* Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on. | */
MAV_COMP_ID_ONBOARD_COMPUTER4=194, /* Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on. | */
MAV_COMP_ID_PATHPLANNER=195, /* Component that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.). | */
MAV_COMP_ID_OBSTACLE_AVOIDANCE=196, /* Component that plans a collision free path between two points. | */
MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY=197, /* Component that provides position estimates using VIO techniques. | */
MAV_COMP_ID_PAIRING_MANAGER=198, /* Component that manages pairing of vehicle and GCS. | */
MAV_COMP_ID_IMU=200, /* Inertial Measurement Unit (IMU) #1. | */
MAV_COMP_ID_IMU_2=201, /* Inertial Measurement Unit (IMU) #2. | */
MAV_COMP_ID_IMU_3=202, /* Inertial Measurement Unit (IMU) #3. | */
MAV_COMP_ID_GPS=220, /* GPS #1. | */
MAV_COMP_ID_GPS2=221, /* GPS #2. | */
MAV_COMP_ID_ODID_TXRX_1=236, /* Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet). | */
MAV_COMP_ID_ODID_TXRX_2=237, /* Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet). | */
MAV_COMP_ID_ODID_TXRX_3=238, /* Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet). | */
MAV_COMP_ID_UDP_BRIDGE=240, /* Component to bridge MAVLink to UDP (i.e. from a UART). | */
MAV_COMP_ID_UART_BRIDGE=241, /* Component to bridge to UART (i.e. from UDP). | */
MAV_COMP_ID_TUNNEL_NODE=242, /* Component handling TUNNEL messages (e.g. vendor specific GUI of a component). | */
MAV_COMP_ID_ILLUMINATOR=243, /* Illuminator | */
MAV_COMP_ID_SYSTEM_CONTROL=250, /* Deprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.). | */
MAV_COMPONENT_ENUM_END=251, /* | */
} MAV_COMPONENT;
#endif
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
// MESSAGE DEFINITIONS
#include "./mavlink_msg_heartbeat.h"
// base include
#if MAVLINK_MINIMAL_XML_HASH == MAVLINK_PRIMARY_XML_HASH
# define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT}
# define MAVLINK_MESSAGE_NAMES {{ "HEARTBEAT", 0 }}
# if MAVLINK_COMMAND_24BIT
# include "../mavlink_get_info.h"
# endif
#endif
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // MAVLINK_MINIMAL_H

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/** @file
* @brief MAVLink comm protocol testsuite generated from minimal.xml
* @see https://mavlink.io/en/
*/
#pragma once
#ifndef MINIMAL_TESTSUITE_H
#define MINIMAL_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_minimal(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_minimal(system_id, component_id, last_msg);
}
#endif
static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_HEARTBEAT >= 256) {
return;
}
#endif
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_heartbeat_t packet_in = {
963497464,17,84,151,218,3
};
mavlink_heartbeat_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.custom_mode = packet_in.custom_mode;
packet1.type = packet_in.type;
packet1.autopilot = packet_in.autopilot;
packet1.base_mode = packet_in.base_mode;
packet1.system_status = packet_in.system_status;
packet1.mavlink_version = packet_in.mavlink_version;
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
// cope with extensions
memset(MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN);
}
#endif
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_heartbeat_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
mavlink_msg_heartbeat_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
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 );
mavlink_msg_heartbeat_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_heartbeat_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
mavlink_msg_heartbeat_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
MAVLINK_ASSERT(mavlink_get_message_info_by_name("HEARTBEAT") != NULL);
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_HEARTBEAT) != NULL);
#endif
}
static void mavlink_test_minimal(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_heartbeat(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // MINIMAL_TESTSUITE_H

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/** @file
* @brief MAVLink comm protocol built from minimal.xml
* @see http://mavlink.org
*/
#pragma once
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Jun 17 2026"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
#endif // MAVLINK_VERSION_H