Snapshot iniziale: bridge telemetria CRSF->LTM/MAVLink (ESP-NOW)
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
34
02_telemetry_bridge/lib/mavlink/standard/mavlink.h
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34
02_telemetry_bridge/lib/mavlink/standard/mavlink.h
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@@ -0,0 +1,34 @@
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/** @file
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* @brief MAVLink comm protocol built from standard.xml
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* @see http://mavlink.org
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*/
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#pragma once
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#ifndef MAVLINK_H
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#define MAVLINK_H
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#define MAVLINK_PRIMARY_XML_HASH -4334145906794048255
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#ifndef MAVLINK_STX
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#define MAVLINK_STX 253
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#endif
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#ifndef MAVLINK_ENDIAN
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#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
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#endif
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#ifndef MAVLINK_ALIGNED_FIELDS
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#define MAVLINK_ALIGNED_FIELDS 1
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#endif
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#ifndef MAVLINK_CRC_EXTRA
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#define MAVLINK_CRC_EXTRA 1
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#endif
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#ifndef MAVLINK_COMMAND_24BIT
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#define MAVLINK_COMMAND_24BIT 1
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#endif
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#include "version.h"
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#include "standard.h"
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#endif // MAVLINK_H
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@@ -0,0 +1,573 @@
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#pragma once
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// MESSAGE AUTOPILOT_VERSION PACKING
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#define MAVLINK_MSG_ID_AUTOPILOT_VERSION 148
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typedef struct __mavlink_autopilot_version_t {
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uint64_t capabilities; /*< Bitmap of capabilities*/
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uint64_t uid; /*< UID if provided by hardware (see uid2)*/
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uint32_t flight_sw_version; /*< Firmware version number.
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The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE).
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*/
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uint32_t middleware_sw_version; /*< Middleware version number*/
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uint32_t os_sw_version; /*< Operating system version number*/
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uint32_t board_version; /*< HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt*/
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uint16_t vendor_id; /*< ID of the board vendor*/
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uint16_t product_id; /*< ID of the product*/
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uint8_t flight_custom_version[8]; /*< Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.*/
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uint8_t middleware_custom_version[8]; /*< Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.*/
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uint8_t os_custom_version[8]; /*< Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.*/
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uint8_t uid2[18]; /*< UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)*/
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} mavlink_autopilot_version_t;
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#define MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN 78
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#define MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN 60
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#define MAVLINK_MSG_ID_148_LEN 78
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#define MAVLINK_MSG_ID_148_MIN_LEN 60
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#define MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC 178
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#define MAVLINK_MSG_ID_148_CRC 178
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#define MAVLINK_MSG_AUTOPILOT_VERSION_FIELD_FLIGHT_CUSTOM_VERSION_LEN 8
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#define MAVLINK_MSG_AUTOPILOT_VERSION_FIELD_MIDDLEWARE_CUSTOM_VERSION_LEN 8
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#define MAVLINK_MSG_AUTOPILOT_VERSION_FIELD_OS_CUSTOM_VERSION_LEN 8
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#define MAVLINK_MSG_AUTOPILOT_VERSION_FIELD_UID2_LEN 18
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_AUTOPILOT_VERSION { \
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148, \
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"AUTOPILOT_VERSION", \
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12, \
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{ { "capabilities", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_autopilot_version_t, capabilities) }, \
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{ "flight_sw_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 16, offsetof(mavlink_autopilot_version_t, flight_sw_version) }, \
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{ "middleware_sw_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_autopilot_version_t, middleware_sw_version) }, \
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{ "os_sw_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_autopilot_version_t, os_sw_version) }, \
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{ "board_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_autopilot_version_t, board_version) }, \
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{ "flight_custom_version", NULL, MAVLINK_TYPE_UINT8_T, 8, 36, offsetof(mavlink_autopilot_version_t, flight_custom_version) }, \
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{ "middleware_custom_version", NULL, MAVLINK_TYPE_UINT8_T, 8, 44, offsetof(mavlink_autopilot_version_t, middleware_custom_version) }, \
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{ "os_custom_version", NULL, MAVLINK_TYPE_UINT8_T, 8, 52, offsetof(mavlink_autopilot_version_t, os_custom_version) }, \
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{ "vendor_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_autopilot_version_t, vendor_id) }, \
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{ "product_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 34, offsetof(mavlink_autopilot_version_t, product_id) }, \
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{ "uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_autopilot_version_t, uid) }, \
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{ "uid2", NULL, MAVLINK_TYPE_UINT8_T, 18, 60, offsetof(mavlink_autopilot_version_t, uid2) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_AUTOPILOT_VERSION { \
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"AUTOPILOT_VERSION", \
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12, \
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{ { "capabilities", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_autopilot_version_t, capabilities) }, \
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{ "flight_sw_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 16, offsetof(mavlink_autopilot_version_t, flight_sw_version) }, \
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{ "middleware_sw_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_autopilot_version_t, middleware_sw_version) }, \
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{ "os_sw_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_autopilot_version_t, os_sw_version) }, \
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{ "board_version", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_autopilot_version_t, board_version) }, \
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{ "flight_custom_version", NULL, MAVLINK_TYPE_UINT8_T, 8, 36, offsetof(mavlink_autopilot_version_t, flight_custom_version) }, \
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{ "middleware_custom_version", NULL, MAVLINK_TYPE_UINT8_T, 8, 44, offsetof(mavlink_autopilot_version_t, middleware_custom_version) }, \
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{ "os_custom_version", NULL, MAVLINK_TYPE_UINT8_T, 8, 52, offsetof(mavlink_autopilot_version_t, os_custom_version) }, \
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{ "vendor_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_autopilot_version_t, vendor_id) }, \
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{ "product_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 34, offsetof(mavlink_autopilot_version_t, product_id) }, \
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{ "uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_autopilot_version_t, uid) }, \
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{ "uid2", NULL, MAVLINK_TYPE_UINT8_T, 18, 60, offsetof(mavlink_autopilot_version_t, uid2) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a autopilot_version message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param capabilities Bitmap of capabilities
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* @param flight_sw_version Firmware version number.
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The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE).
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* @param middleware_sw_version Middleware version number
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* @param os_sw_version Operating system version number
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* @param board_version HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt
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* @param flight_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
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* @param middleware_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
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* @param os_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
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* @param vendor_id ID of the board vendor
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* @param product_id ID of the product
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* @param uid UID if provided by hardware (see uid2)
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* @param uid2 UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_autopilot_version_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t capabilities, uint32_t flight_sw_version, uint32_t middleware_sw_version, uint32_t os_sw_version, uint32_t board_version, const uint8_t *flight_custom_version, const uint8_t *middleware_custom_version, const uint8_t *os_custom_version, uint16_t vendor_id, uint16_t product_id, uint64_t uid, const uint8_t *uid2)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN];
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_mav_put_uint64_t(buf, 0, capabilities);
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_mav_put_uint64_t(buf, 8, uid);
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_mav_put_uint32_t(buf, 16, flight_sw_version);
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_mav_put_uint32_t(buf, 20, middleware_sw_version);
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_mav_put_uint32_t(buf, 24, os_sw_version);
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_mav_put_uint32_t(buf, 28, board_version);
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_mav_put_uint16_t(buf, 32, vendor_id);
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_mav_put_uint16_t(buf, 34, product_id);
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_mav_put_uint8_t_array(buf, 36, flight_custom_version, 8);
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_mav_put_uint8_t_array(buf, 44, middleware_custom_version, 8);
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_mav_put_uint8_t_array(buf, 52, os_custom_version, 8);
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_mav_put_uint8_t_array(buf, 60, uid2, 18);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN);
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#else
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mavlink_autopilot_version_t packet;
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packet.capabilities = capabilities;
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packet.uid = uid;
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packet.flight_sw_version = flight_sw_version;
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packet.middleware_sw_version = middleware_sw_version;
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packet.os_sw_version = os_sw_version;
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packet.board_version = board_version;
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packet.vendor_id = vendor_id;
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packet.product_id = product_id;
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mav_array_memcpy(packet.flight_custom_version, flight_custom_version, sizeof(uint8_t)*8);
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mav_array_memcpy(packet.middleware_custom_version, middleware_custom_version, sizeof(uint8_t)*8);
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mav_array_memcpy(packet.os_custom_version, os_custom_version, sizeof(uint8_t)*8);
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mav_array_memcpy(packet.uid2, uid2, sizeof(uint8_t)*18);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AUTOPILOT_VERSION;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC);
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}
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/**
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* @brief Pack a autopilot_version message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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*
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* @param capabilities Bitmap of capabilities
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* @param flight_sw_version Firmware version number.
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The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE).
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* @param middleware_sw_version Middleware version number
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* @param os_sw_version Operating system version number
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* @param board_version HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt
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* @param flight_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
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* @param middleware_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
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* @param os_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
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* @param vendor_id ID of the board vendor
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* @param product_id ID of the product
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* @param uid UID if provided by hardware (see uid2)
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* @param uid2 UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_autopilot_version_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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uint64_t capabilities, uint32_t flight_sw_version, uint32_t middleware_sw_version, uint32_t os_sw_version, uint32_t board_version, const uint8_t *flight_custom_version, const uint8_t *middleware_custom_version, const uint8_t *os_custom_version, uint16_t vendor_id, uint16_t product_id, uint64_t uid, const uint8_t *uid2)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN];
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_mav_put_uint64_t(buf, 0, capabilities);
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_mav_put_uint64_t(buf, 8, uid);
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_mav_put_uint32_t(buf, 16, flight_sw_version);
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_mav_put_uint32_t(buf, 20, middleware_sw_version);
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_mav_put_uint32_t(buf, 24, os_sw_version);
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_mav_put_uint32_t(buf, 28, board_version);
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_mav_put_uint16_t(buf, 32, vendor_id);
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_mav_put_uint16_t(buf, 34, product_id);
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_mav_put_uint8_t_array(buf, 36, flight_custom_version, 8);
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_mav_put_uint8_t_array(buf, 44, middleware_custom_version, 8);
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_mav_put_uint8_t_array(buf, 52, os_custom_version, 8);
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_mav_put_uint8_t_array(buf, 60, uid2, 18);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN);
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#else
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mavlink_autopilot_version_t packet;
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packet.capabilities = capabilities;
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packet.uid = uid;
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packet.flight_sw_version = flight_sw_version;
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packet.middleware_sw_version = middleware_sw_version;
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packet.os_sw_version = os_sw_version;
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packet.board_version = board_version;
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packet.vendor_id = vendor_id;
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packet.product_id = product_id;
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mav_array_memcpy(packet.flight_custom_version, flight_custom_version, sizeof(uint8_t)*8);
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mav_array_memcpy(packet.middleware_custom_version, middleware_custom_version, sizeof(uint8_t)*8);
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mav_array_memcpy(packet.os_custom_version, os_custom_version, sizeof(uint8_t)*8);
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mav_array_memcpy(packet.uid2, uid2, sizeof(uint8_t)*18);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AUTOPILOT_VERSION;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN);
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#endif
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}
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/**
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* @brief Pack a autopilot_version message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
|
||||
* @param capabilities Bitmap of capabilities
|
||||
* @param flight_sw_version Firmware version number.
|
||||
The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE).
|
||||
|
||||
* @param middleware_sw_version Middleware version number
|
||||
* @param os_sw_version Operating system version number
|
||||
* @param board_version HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt
|
||||
* @param flight_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
* @param middleware_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
* @param os_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
* @param vendor_id ID of the board vendor
|
||||
* @param product_id ID of the product
|
||||
* @param uid UID if provided by hardware (see uid2)
|
||||
* @param uid2 UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
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static inline uint16_t mavlink_msg_autopilot_version_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t capabilities,uint32_t flight_sw_version,uint32_t middleware_sw_version,uint32_t os_sw_version,uint32_t board_version,const uint8_t *flight_custom_version,const uint8_t *middleware_custom_version,const uint8_t *os_custom_version,uint16_t vendor_id,uint16_t product_id,uint64_t uid,const uint8_t *uid2)
|
||||
{
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||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN];
|
||||
_mav_put_uint64_t(buf, 0, capabilities);
|
||||
_mav_put_uint64_t(buf, 8, uid);
|
||||
_mav_put_uint32_t(buf, 16, flight_sw_version);
|
||||
_mav_put_uint32_t(buf, 20, middleware_sw_version);
|
||||
_mav_put_uint32_t(buf, 24, os_sw_version);
|
||||
_mav_put_uint32_t(buf, 28, board_version);
|
||||
_mav_put_uint16_t(buf, 32, vendor_id);
|
||||
_mav_put_uint16_t(buf, 34, product_id);
|
||||
_mav_put_uint8_t_array(buf, 36, flight_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 44, middleware_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 52, os_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 60, uid2, 18);
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN);
|
||||
#else
|
||||
mavlink_autopilot_version_t packet;
|
||||
packet.capabilities = capabilities;
|
||||
packet.uid = uid;
|
||||
packet.flight_sw_version = flight_sw_version;
|
||||
packet.middleware_sw_version = middleware_sw_version;
|
||||
packet.os_sw_version = os_sw_version;
|
||||
packet.board_version = board_version;
|
||||
packet.vendor_id = vendor_id;
|
||||
packet.product_id = product_id;
|
||||
mav_array_memcpy(packet.flight_custom_version, flight_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet.middleware_custom_version, middleware_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet.os_custom_version, os_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet.uid2, uid2, sizeof(uint8_t)*18);
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_AUTOPILOT_VERSION;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a autopilot_version 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 autopilot_version C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_autopilot_version_t* autopilot_version)
|
||||
{
|
||||
return mavlink_msg_autopilot_version_pack(system_id, component_id, msg, autopilot_version->capabilities, autopilot_version->flight_sw_version, autopilot_version->middleware_sw_version, autopilot_version->os_sw_version, autopilot_version->board_version, autopilot_version->flight_custom_version, autopilot_version->middleware_custom_version, autopilot_version->os_custom_version, autopilot_version->vendor_id, autopilot_version->product_id, autopilot_version->uid, autopilot_version->uid2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a autopilot_version 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 autopilot_version C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_autopilot_version_t* autopilot_version)
|
||||
{
|
||||
return mavlink_msg_autopilot_version_pack_chan(system_id, component_id, chan, msg, autopilot_version->capabilities, autopilot_version->flight_sw_version, autopilot_version->middleware_sw_version, autopilot_version->os_sw_version, autopilot_version->board_version, autopilot_version->flight_custom_version, autopilot_version->middleware_custom_version, autopilot_version->os_custom_version, autopilot_version->vendor_id, autopilot_version->product_id, autopilot_version->uid, autopilot_version->uid2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a autopilot_version 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 autopilot_version C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_autopilot_version_t* autopilot_version)
|
||||
{
|
||||
return mavlink_msg_autopilot_version_pack_status(system_id, component_id, _status, msg, autopilot_version->capabilities, autopilot_version->flight_sw_version, autopilot_version->middleware_sw_version, autopilot_version->os_sw_version, autopilot_version->board_version, autopilot_version->flight_custom_version, autopilot_version->middleware_custom_version, autopilot_version->os_custom_version, autopilot_version->vendor_id, autopilot_version->product_id, autopilot_version->uid, autopilot_version->uid2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a autopilot_version message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param capabilities Bitmap of capabilities
|
||||
* @param flight_sw_version Firmware version number.
|
||||
The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE).
|
||||
|
||||
* @param middleware_sw_version Middleware version number
|
||||
* @param os_sw_version Operating system version number
|
||||
* @param board_version HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt
|
||||
* @param flight_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
* @param middleware_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
* @param os_custom_version Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
* @param vendor_id ID of the board vendor
|
||||
* @param product_id ID of the product
|
||||
* @param uid UID if provided by hardware (see uid2)
|
||||
* @param uid2 UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_autopilot_version_send(mavlink_channel_t chan, uint64_t capabilities, uint32_t flight_sw_version, uint32_t middleware_sw_version, uint32_t os_sw_version, uint32_t board_version, const uint8_t *flight_custom_version, const uint8_t *middleware_custom_version, const uint8_t *os_custom_version, uint16_t vendor_id, uint16_t product_id, uint64_t uid, const uint8_t *uid2)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN];
|
||||
_mav_put_uint64_t(buf, 0, capabilities);
|
||||
_mav_put_uint64_t(buf, 8, uid);
|
||||
_mav_put_uint32_t(buf, 16, flight_sw_version);
|
||||
_mav_put_uint32_t(buf, 20, middleware_sw_version);
|
||||
_mav_put_uint32_t(buf, 24, os_sw_version);
|
||||
_mav_put_uint32_t(buf, 28, board_version);
|
||||
_mav_put_uint16_t(buf, 32, vendor_id);
|
||||
_mav_put_uint16_t(buf, 34, product_id);
|
||||
_mav_put_uint8_t_array(buf, 36, flight_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 44, middleware_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 52, os_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 60, uid2, 18);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_VERSION, buf, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC);
|
||||
#else
|
||||
mavlink_autopilot_version_t packet;
|
||||
packet.capabilities = capabilities;
|
||||
packet.uid = uid;
|
||||
packet.flight_sw_version = flight_sw_version;
|
||||
packet.middleware_sw_version = middleware_sw_version;
|
||||
packet.os_sw_version = os_sw_version;
|
||||
packet.board_version = board_version;
|
||||
packet.vendor_id = vendor_id;
|
||||
packet.product_id = product_id;
|
||||
mav_array_memcpy(packet.flight_custom_version, flight_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet.middleware_custom_version, middleware_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet.os_custom_version, os_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet.uid2, uid2, sizeof(uint8_t)*18);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_VERSION, (const char *)&packet, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a autopilot_version message
|
||||
* @param chan MAVLink channel to send the message
|
||||
* @param struct The MAVLink struct to serialize
|
||||
*/
|
||||
static inline void mavlink_msg_autopilot_version_send_struct(mavlink_channel_t chan, const mavlink_autopilot_version_t* autopilot_version)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
mavlink_msg_autopilot_version_send(chan, autopilot_version->capabilities, autopilot_version->flight_sw_version, autopilot_version->middleware_sw_version, autopilot_version->os_sw_version, autopilot_version->board_version, autopilot_version->flight_custom_version, autopilot_version->middleware_custom_version, autopilot_version->os_custom_version, autopilot_version->vendor_id, autopilot_version->product_id, autopilot_version->uid, autopilot_version->uid2);
|
||||
#else
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_VERSION, (const char *)autopilot_version, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC);
|
||||
#endif
|
||||
}
|
||||
|
||||
#if MAVLINK_MSG_ID_AUTOPILOT_VERSION_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_autopilot_version_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t capabilities, uint32_t flight_sw_version, uint32_t middleware_sw_version, uint32_t os_sw_version, uint32_t board_version, const uint8_t *flight_custom_version, const uint8_t *middleware_custom_version, const uint8_t *os_custom_version, uint16_t vendor_id, uint16_t product_id, uint64_t uid, const uint8_t *uid2)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char *buf = (char *)msgbuf;
|
||||
_mav_put_uint64_t(buf, 0, capabilities);
|
||||
_mav_put_uint64_t(buf, 8, uid);
|
||||
_mav_put_uint32_t(buf, 16, flight_sw_version);
|
||||
_mav_put_uint32_t(buf, 20, middleware_sw_version);
|
||||
_mav_put_uint32_t(buf, 24, os_sw_version);
|
||||
_mav_put_uint32_t(buf, 28, board_version);
|
||||
_mav_put_uint16_t(buf, 32, vendor_id);
|
||||
_mav_put_uint16_t(buf, 34, product_id);
|
||||
_mav_put_uint8_t_array(buf, 36, flight_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 44, middleware_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 52, os_custom_version, 8);
|
||||
_mav_put_uint8_t_array(buf, 60, uid2, 18);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_VERSION, buf, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC);
|
||||
#else
|
||||
mavlink_autopilot_version_t *packet = (mavlink_autopilot_version_t *)msgbuf;
|
||||
packet->capabilities = capabilities;
|
||||
packet->uid = uid;
|
||||
packet->flight_sw_version = flight_sw_version;
|
||||
packet->middleware_sw_version = middleware_sw_version;
|
||||
packet->os_sw_version = os_sw_version;
|
||||
packet->board_version = board_version;
|
||||
packet->vendor_id = vendor_id;
|
||||
packet->product_id = product_id;
|
||||
mav_array_memcpy(packet->flight_custom_version, flight_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet->middleware_custom_version, middleware_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet->os_custom_version, os_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet->uid2, uid2, sizeof(uint8_t)*18);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_VERSION, (const char *)packet, MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN, MAVLINK_MSG_ID_AUTOPILOT_VERSION_CRC);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE AUTOPILOT_VERSION UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field capabilities from autopilot_version message
|
||||
*
|
||||
* @return Bitmap of capabilities
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_autopilot_version_get_capabilities(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field flight_sw_version from autopilot_version message
|
||||
*
|
||||
* @return Firmware version number.
|
||||
The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE).
|
||||
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_autopilot_version_get_flight_sw_version(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field middleware_sw_version from autopilot_version message
|
||||
*
|
||||
* @return Middleware version number
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_autopilot_version_get_middleware_sw_version(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field os_sw_version from autopilot_version message
|
||||
*
|
||||
* @return Operating system version number
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_autopilot_version_get_os_sw_version(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field board_version from autopilot_version message
|
||||
*
|
||||
* @return HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_autopilot_version_get_board_version(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field flight_custom_version from autopilot_version message
|
||||
*
|
||||
* @return Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_get_flight_custom_version(const mavlink_message_t* msg, uint8_t *flight_custom_version)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t_array(msg, flight_custom_version, 8, 36);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field middleware_custom_version from autopilot_version message
|
||||
*
|
||||
* @return Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_get_middleware_custom_version(const mavlink_message_t* msg, uint8_t *middleware_custom_version)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t_array(msg, middleware_custom_version, 8, 44);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field os_custom_version from autopilot_version message
|
||||
*
|
||||
* @return Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_get_os_custom_version(const mavlink_message_t* msg, uint8_t *os_custom_version)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t_array(msg, os_custom_version, 8, 52);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vendor_id from autopilot_version message
|
||||
*
|
||||
* @return ID of the board vendor
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_get_vendor_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field product_id from autopilot_version message
|
||||
*
|
||||
* @return ID of the product
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_get_product_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 34);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field uid from autopilot_version message
|
||||
*
|
||||
* @return UID if provided by hardware (see uid2)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_autopilot_version_get_uid(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field uid2 from autopilot_version message
|
||||
*
|
||||
* @return UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_autopilot_version_get_uid2(const mavlink_message_t* msg, uint8_t *uid2)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t_array(msg, uid2, 18, 60);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a autopilot_version message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param autopilot_version C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_autopilot_version_decode(const mavlink_message_t* msg, mavlink_autopilot_version_t* autopilot_version)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
autopilot_version->capabilities = mavlink_msg_autopilot_version_get_capabilities(msg);
|
||||
autopilot_version->uid = mavlink_msg_autopilot_version_get_uid(msg);
|
||||
autopilot_version->flight_sw_version = mavlink_msg_autopilot_version_get_flight_sw_version(msg);
|
||||
autopilot_version->middleware_sw_version = mavlink_msg_autopilot_version_get_middleware_sw_version(msg);
|
||||
autopilot_version->os_sw_version = mavlink_msg_autopilot_version_get_os_sw_version(msg);
|
||||
autopilot_version->board_version = mavlink_msg_autopilot_version_get_board_version(msg);
|
||||
autopilot_version->vendor_id = mavlink_msg_autopilot_version_get_vendor_id(msg);
|
||||
autopilot_version->product_id = mavlink_msg_autopilot_version_get_product_id(msg);
|
||||
mavlink_msg_autopilot_version_get_flight_custom_version(msg, autopilot_version->flight_custom_version);
|
||||
mavlink_msg_autopilot_version_get_middleware_custom_version(msg, autopilot_version->middleware_custom_version);
|
||||
mavlink_msg_autopilot_version_get_os_custom_version(msg, autopilot_version->os_custom_version);
|
||||
mavlink_msg_autopilot_version_get_uid2(msg, autopilot_version->uid2);
|
||||
#else
|
||||
uint8_t len = msg->len < MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN? msg->len : MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN;
|
||||
memset(autopilot_version, 0, MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN);
|
||||
memcpy(autopilot_version, _MAV_PAYLOAD(msg), len);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,484 @@
|
||||
#pragma once
|
||||
// MESSAGE GLOBAL_POSITION_INT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
|
||||
|
||||
|
||||
typedef struct __mavlink_global_position_int_t {
|
||||
uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
|
||||
int32_t lat; /*< [degE7] Latitude, expressed*/
|
||||
int32_t lon; /*< [degE7] Longitude, expressed*/
|
||||
int32_t alt; /*< [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.*/
|
||||
int32_t relative_alt; /*< [mm] Altitude above home*/
|
||||
int16_t vx; /*< [cm/s] Ground X Speed (Latitude, positive north)*/
|
||||
int16_t vy; /*< [cm/s] Ground Y Speed (Longitude, positive east)*/
|
||||
int16_t vz; /*< [cm/s] Ground Z Speed (Altitude, positive down)*/
|
||||
uint16_t hdg; /*< [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
|
||||
} mavlink_global_position_int_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
|
||||
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN 28
|
||||
#define MAVLINK_MSG_ID_33_LEN 28
|
||||
#define MAVLINK_MSG_ID_33_MIN_LEN 28
|
||||
|
||||
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
|
||||
#define MAVLINK_MSG_ID_33_CRC 104
|
||||
|
||||
|
||||
|
||||
#if MAVLINK_COMMAND_24BIT
|
||||
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
|
||||
33, \
|
||||
"GLOBAL_POSITION_INT", \
|
||||
9, \
|
||||
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
|
||||
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
|
||||
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
|
||||
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
|
||||
{ "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
|
||||
{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
|
||||
{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
|
||||
{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
|
||||
{ "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
|
||||
} \
|
||||
}
|
||||
#else
|
||||
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
|
||||
"GLOBAL_POSITION_INT", \
|
||||
9, \
|
||||
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
|
||||
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
|
||||
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
|
||||
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
|
||||
{ "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
|
||||
{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
|
||||
{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
|
||||
{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
|
||||
{ "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
|
||||
} \
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Pack a global_position_int message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param time_boot_ms [ms] Timestamp (time since system boot).
|
||||
* @param lat [degE7] Latitude, expressed
|
||||
* @param lon [degE7] Longitude, expressed
|
||||
* @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
|
||||
* @param relative_alt [mm] Altitude above home
|
||||
* @param vx [cm/s] Ground X Speed (Latitude, positive north)
|
||||
* @param vy [cm/s] Ground Y Speed (Longitude, positive east)
|
||||
* @param vz [cm/s] Ground Z Speed (Altitude, positive down)
|
||||
* @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
|
||||
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||||
_mav_put_int32_t(buf, 4, lat);
|
||||
_mav_put_int32_t(buf, 8, lon);
|
||||
_mav_put_int32_t(buf, 12, alt);
|
||||
_mav_put_int32_t(buf, 16, relative_alt);
|
||||
_mav_put_int16_t(buf, 20, vx);
|
||||
_mav_put_int16_t(buf, 22, vy);
|
||||
_mav_put_int16_t(buf, 24, vz);
|
||||
_mav_put_uint16_t(buf, 26, hdg);
|
||||
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
||||
#else
|
||||
mavlink_global_position_int_t packet;
|
||||
packet.time_boot_ms = time_boot_ms;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.relative_alt = relative_alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
packet.hdg = hdg;
|
||||
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a global_position_int 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 time_boot_ms [ms] Timestamp (time since system boot).
|
||||
* @param lat [degE7] Latitude, expressed
|
||||
* @param lon [degE7] Longitude, expressed
|
||||
* @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
|
||||
* @param relative_alt [mm] Altitude above home
|
||||
* @param vx [cm/s] Ground X Speed (Latitude, positive north)
|
||||
* @param vy [cm/s] Ground Y Speed (Longitude, positive east)
|
||||
* @param vz [cm/s] Ground Z Speed (Altitude, positive down)
|
||||
* @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
|
||||
uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
|
||||
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||||
_mav_put_int32_t(buf, 4, lat);
|
||||
_mav_put_int32_t(buf, 8, lon);
|
||||
_mav_put_int32_t(buf, 12, alt);
|
||||
_mav_put_int32_t(buf, 16, relative_alt);
|
||||
_mav_put_int16_t(buf, 20, vx);
|
||||
_mav_put_int16_t(buf, 22, vy);
|
||||
_mav_put_int16_t(buf, 24, vz);
|
||||
_mav_put_uint16_t(buf, 26, hdg);
|
||||
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
||||
#else
|
||||
mavlink_global_position_int_t packet;
|
||||
packet.time_boot_ms = time_boot_ms;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.relative_alt = relative_alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
packet.hdg = hdg;
|
||||
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
|
||||
#if MAVLINK_CRC_EXTRA
|
||||
return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
|
||||
#else
|
||||
return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a global_position_int message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message will be sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param time_boot_ms [ms] Timestamp (time since system boot).
|
||||
* @param lat [degE7] Latitude, expressed
|
||||
* @param lon [degE7] Longitude, expressed
|
||||
* @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
|
||||
* @param relative_alt [mm] Altitude above home
|
||||
* @param vx [cm/s] Ground X Speed (Latitude, positive north)
|
||||
* @param vy [cm/s] Ground Y Speed (Longitude, positive east)
|
||||
* @param vz [cm/s] Ground Z Speed (Altitude, positive down)
|
||||
* @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
|
||||
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||||
_mav_put_int32_t(buf, 4, lat);
|
||||
_mav_put_int32_t(buf, 8, lon);
|
||||
_mav_put_int32_t(buf, 12, alt);
|
||||
_mav_put_int32_t(buf, 16, relative_alt);
|
||||
_mav_put_int16_t(buf, 20, vx);
|
||||
_mav_put_int16_t(buf, 22, vy);
|
||||
_mav_put_int16_t(buf, 24, vz);
|
||||
_mav_put_uint16_t(buf, 26, hdg);
|
||||
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
||||
#else
|
||||
mavlink_global_position_int_t packet;
|
||||
packet.time_boot_ms = time_boot_ms;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.relative_alt = relative_alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
packet.hdg = hdg;
|
||||
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
|
||||
{
|
||||
return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
|
||||
{
|
||||
return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
|
||||
{
|
||||
return mavlink_msg_global_position_int_pack_status(system_id, component_id, _status, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a global_position_int message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param time_boot_ms [ms] Timestamp (time since system boot).
|
||||
* @param lat [degE7] Latitude, expressed
|
||||
* @param lon [degE7] Longitude, expressed
|
||||
* @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
|
||||
* @param relative_alt [mm] Altitude above home
|
||||
* @param vx [cm/s] Ground X Speed (Latitude, positive north)
|
||||
* @param vy [cm/s] Ground Y Speed (Longitude, positive east)
|
||||
* @param vz [cm/s] Ground Z Speed (Altitude, positive down)
|
||||
* @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
|
||||
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||||
_mav_put_int32_t(buf, 4, lat);
|
||||
_mav_put_int32_t(buf, 8, lon);
|
||||
_mav_put_int32_t(buf, 12, alt);
|
||||
_mav_put_int32_t(buf, 16, relative_alt);
|
||||
_mav_put_int16_t(buf, 20, vx);
|
||||
_mav_put_int16_t(buf, 22, vy);
|
||||
_mav_put_int16_t(buf, 24, vz);
|
||||
_mav_put_uint16_t(buf, 26, hdg);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
|
||||
#else
|
||||
mavlink_global_position_int_t packet;
|
||||
packet.time_boot_ms = time_boot_ms;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.relative_alt = relative_alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
packet.hdg = hdg;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a global_position_int message
|
||||
* @param chan MAVLink channel to send the message
|
||||
* @param struct The MAVLink struct to serialize
|
||||
*/
|
||||
static inline void mavlink_msg_global_position_int_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_t* global_position_int)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
mavlink_msg_global_position_int_send(chan, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
|
||||
#else
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)global_position_int, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
|
||||
#endif
|
||||
}
|
||||
|
||||
#if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_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_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char *buf = (char *)msgbuf;
|
||||
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||||
_mav_put_int32_t(buf, 4, lat);
|
||||
_mav_put_int32_t(buf, 8, lon);
|
||||
_mav_put_int32_t(buf, 12, alt);
|
||||
_mav_put_int32_t(buf, 16, relative_alt);
|
||||
_mav_put_int16_t(buf, 20, vx);
|
||||
_mav_put_int16_t(buf, 22, vy);
|
||||
_mav_put_int16_t(buf, 24, vz);
|
||||
_mav_put_uint16_t(buf, 26, hdg);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
|
||||
#else
|
||||
mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf;
|
||||
packet->time_boot_ms = time_boot_ms;
|
||||
packet->lat = lat;
|
||||
packet->lon = lon;
|
||||
packet->alt = alt;
|
||||
packet->relative_alt = relative_alt;
|
||||
packet->vx = vx;
|
||||
packet->vy = vy;
|
||||
packet->vz = vz;
|
||||
packet->hdg = hdg;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE GLOBAL_POSITION_INT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time_boot_ms from global_position_int message
|
||||
*
|
||||
* @return [ms] Timestamp (time since system boot).
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lat from global_position_int message
|
||||
*
|
||||
* @return [degE7] Latitude, expressed
|
||||
*/
|
||||
static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lon from global_position_int message
|
||||
*
|
||||
* @return [degE7] Longitude, expressed
|
||||
*/
|
||||
static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field alt from global_position_int message
|
||||
*
|
||||
* @return [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
|
||||
*/
|
||||
static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field relative_alt from global_position_int message
|
||||
*
|
||||
* @return [mm] Altitude above home
|
||||
*/
|
||||
static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vx from global_position_int message
|
||||
*
|
||||
* @return [cm/s] Ground X Speed (Latitude, positive north)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vy from global_position_int message
|
||||
*
|
||||
* @return [cm/s] Ground Y Speed (Longitude, positive east)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 22);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vz from global_position_int message
|
||||
*
|
||||
* @return [cm/s] Ground Z Speed (Altitude, positive down)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field hdg from global_position_int message
|
||||
*
|
||||
* @return [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a global_position_int message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param global_position_int C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
|
||||
global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
|
||||
global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
|
||||
global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
|
||||
global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
|
||||
global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
|
||||
global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
|
||||
global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
|
||||
global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
|
||||
#else
|
||||
uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN;
|
||||
memset(global_position_int, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
||||
memcpy(global_position_int, _MAV_PAYLOAD(msg), len);
|
||||
#endif
|
||||
}
|
||||
130
02_telemetry_bridge/lib/mavlink/standard/standard.h
Normal file
130
02_telemetry_bridge/lib/mavlink/standard/standard.h
Normal file
@@ -0,0 +1,130 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol generated from standard.xml
|
||||
* @see http://mavlink.org
|
||||
*/
|
||||
#pragma once
|
||||
#ifndef MAVLINK_STANDARD_H
|
||||
#define MAVLINK_STANDARD_H
|
||||
|
||||
#ifndef MAVLINK_H
|
||||
#error Wrong include order: MAVLINK_STANDARD.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_STANDARD_XML_HASH -4334145906794048255
|
||||
|
||||
#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}, {33, 104, 28, 28, 0, 0, 0}, {148, 178, 60, 78, 0, 0, 0}}
|
||||
#endif
|
||||
|
||||
#include "../protocol.h"
|
||||
|
||||
#define MAVLINK_ENABLED_STANDARD
|
||||
|
||||
// ENUM DEFINITIONS
|
||||
|
||||
|
||||
/** @brief Enum used to indicate true or false (also: success or failure, enabled or disabled, active or inactive). */
|
||||
#ifndef HAVE_ENUM_MAV_BOOL
|
||||
#define HAVE_ENUM_MAV_BOOL
|
||||
typedef enum MAV_BOOL
|
||||
{
|
||||
MAV_BOOL_FALSE=0, /* False. | */
|
||||
MAV_BOOL_TRUE=1, /* True. | */
|
||||
MAV_BOOL_ENUM_END=2, /* | */
|
||||
} MAV_BOOL;
|
||||
#endif
|
||||
|
||||
/** @brief Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability. */
|
||||
#ifndef HAVE_ENUM_MAV_PROTOCOL_CAPABILITY
|
||||
#define HAVE_ENUM_MAV_PROTOCOL_CAPABILITY
|
||||
typedef enum MAV_PROTOCOL_CAPABILITY
|
||||
{
|
||||
MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT=1, /* Autopilot supports the MISSION_ITEM float message type.
|
||||
Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_ITEM_INT instead.
|
||||
| */
|
||||
MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT=2, /* Autopilot supports the new param float message type. | */
|
||||
MAV_PROTOCOL_CAPABILITY_MISSION_INT=4, /* Autopilot supports MISSION_ITEM_INT scaled integer message type.
|
||||
Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).
|
||||
| */
|
||||
MAV_PROTOCOL_CAPABILITY_COMMAND_INT=8, /* Autopilot supports COMMAND_INT scaled integer message type. | */
|
||||
MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE=16, /* Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
|
||||
Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
|
||||
| */
|
||||
MAV_PROTOCOL_CAPABILITY_FTP=32, /* Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html. | */
|
||||
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET=64, /* Autopilot supports commanding attitude offboard. | */
|
||||
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED=128, /* Autopilot supports commanding position and velocity targets in local NED frame. | */
|
||||
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT=256, /* Autopilot supports commanding position and velocity targets in global scaled integers. | */
|
||||
MAV_PROTOCOL_CAPABILITY_TERRAIN=512, /* Autopilot supports terrain protocol / data handling. | */
|
||||
MAV_PROTOCOL_CAPABILITY_RESERVED3=1024, /* Reserved for future use. | */
|
||||
MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION=2048, /* Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination). | */
|
||||
MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION=4096, /* Autopilot supports onboard compass calibration. | */
|
||||
MAV_PROTOCOL_CAPABILITY_MAVLINK2=8192, /* Autopilot supports MAVLink version 2. | */
|
||||
MAV_PROTOCOL_CAPABILITY_MISSION_FENCE=16384, /* Autopilot supports mission fence protocol. | */
|
||||
MAV_PROTOCOL_CAPABILITY_MISSION_RALLY=32768, /* Autopilot supports mission rally point protocol. | */
|
||||
MAV_PROTOCOL_CAPABILITY_RESERVED2=65536, /* Reserved for future use. | */
|
||||
MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST=131072, /* Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
|
||||
Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
|
||||
| */
|
||||
MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER=262144, /* This component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested.
|
||||
| */
|
||||
MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL=524288, /* Component supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL). | */
|
||||
MAV_PROTOCOL_CAPABILITY_GRIPPER=1048576, /* Autopilot has a connected gripper. MAVLink Grippers would set MAV_TYPE_GRIPPER instead. | */
|
||||
MAV_PROTOCOL_CAPABILITY_ENUM_END=1048577, /* | */
|
||||
} MAV_PROTOCOL_CAPABILITY;
|
||||
#endif
|
||||
|
||||
/** @brief These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65. */
|
||||
#ifndef HAVE_ENUM_FIRMWARE_VERSION_TYPE
|
||||
#define HAVE_ENUM_FIRMWARE_VERSION_TYPE
|
||||
typedef enum FIRMWARE_VERSION_TYPE
|
||||
{
|
||||
FIRMWARE_VERSION_TYPE_DEV=0, /* development release | */
|
||||
FIRMWARE_VERSION_TYPE_ALPHA=64, /* alpha release | */
|
||||
FIRMWARE_VERSION_TYPE_BETA=128, /* beta release | */
|
||||
FIRMWARE_VERSION_TYPE_RC=192, /* release candidate | */
|
||||
FIRMWARE_VERSION_TYPE_OFFICIAL=255, /* official stable release | */
|
||||
FIRMWARE_VERSION_TYPE_ENUM_END=256, /* | */
|
||||
} FIRMWARE_VERSION_TYPE;
|
||||
#endif
|
||||
|
||||
// MAVLINK VERSION
|
||||
|
||||
#ifndef MAVLINK_VERSION
|
||||
#define MAVLINK_VERSION 2
|
||||
#endif
|
||||
|
||||
#if (MAVLINK_VERSION == 0)
|
||||
#undef MAVLINK_VERSION
|
||||
#define MAVLINK_VERSION 2
|
||||
#endif
|
||||
|
||||
// MESSAGE DEFINITIONS
|
||||
#include "./mavlink_msg_global_position_int.h"
|
||||
#include "./mavlink_msg_autopilot_version.h"
|
||||
|
||||
// base include
|
||||
#include "../minimal/minimal.h"
|
||||
|
||||
|
||||
#if MAVLINK_STANDARD_XML_HASH == MAVLINK_PRIMARY_XML_HASH
|
||||
# define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_AUTOPILOT_VERSION}
|
||||
# define MAVLINK_MESSAGE_NAMES {{ "AUTOPILOT_VERSION", 148 }, { "GLOBAL_POSITION_INT", 33 }, { "HEARTBEAT", 0 }}
|
||||
# if MAVLINK_COMMAND_24BIT
|
||||
# include "../mavlink_get_info.h"
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif // __cplusplus
|
||||
#endif // MAVLINK_STANDARD_H
|
||||
174
02_telemetry_bridge/lib/mavlink/standard/testsuite.h
Normal file
174
02_telemetry_bridge/lib/mavlink/standard/testsuite.h
Normal file
@@ -0,0 +1,174 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol testsuite generated from standard.xml
|
||||
* @see https://mavlink.io/en/
|
||||
*/
|
||||
#pragma once
|
||||
#ifndef STANDARD_TESTSUITE_H
|
||||
#define STANDARD_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_standard(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);
|
||||
mavlink_test_standard(system_id, component_id, last_msg);
|
||||
}
|
||||
#endif
|
||||
|
||||
#include "../minimal/testsuite.h"
|
||||
|
||||
|
||||
static void mavlink_test_global_position_int(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_GLOBAL_POSITION_INT >= 256) {
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_global_position_int_t packet_in = {
|
||||
963497464,963497672,963497880,963498088,963498296,18275,18379,18483,18587
|
||||
};
|
||||
mavlink_global_position_int_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.time_boot_ms = packet_in.time_boot_ms;
|
||||
packet1.lat = packet_in.lat;
|
||||
packet1.lon = packet_in.lon;
|
||||
packet1.alt = packet_in.alt;
|
||||
packet1.relative_alt = packet_in.relative_alt;
|
||||
packet1.vx = packet_in.vx;
|
||||
packet1.vy = packet_in.vy;
|
||||
packet1.vz = packet_in.vz;
|
||||
packet1.hdg = packet_in.hdg;
|
||||
|
||||
|
||||
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
|
||||
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
|
||||
// cope with extensions
|
||||
memset(MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN);
|
||||
}
|
||||
#endif
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_global_position_int_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_global_position_int_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_global_position_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
|
||||
mavlink_msg_global_position_int_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_global_position_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
|
||||
mavlink_msg_global_position_int_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_global_position_int_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_global_position_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
|
||||
mavlink_msg_global_position_int_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("GLOBAL_POSITION_INT") != NULL);
|
||||
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_GLOBAL_POSITION_INT) != NULL);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void mavlink_test_autopilot_version(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_AUTOPILOT_VERSION >= 256) {
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_autopilot_version_t packet_in = {
|
||||
93372036854775807ULL,93372036854776311ULL,963498296,963498504,963498712,963498920,18899,19003,{ 113, 114, 115, 116, 117, 118, 119, 120 },{ 137, 138, 139, 140, 141, 142, 143, 144 },{ 161, 162, 163, 164, 165, 166, 167, 168 },{ 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202 }
|
||||
};
|
||||
mavlink_autopilot_version_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.capabilities = packet_in.capabilities;
|
||||
packet1.uid = packet_in.uid;
|
||||
packet1.flight_sw_version = packet_in.flight_sw_version;
|
||||
packet1.middleware_sw_version = packet_in.middleware_sw_version;
|
||||
packet1.os_sw_version = packet_in.os_sw_version;
|
||||
packet1.board_version = packet_in.board_version;
|
||||
packet1.vendor_id = packet_in.vendor_id;
|
||||
packet1.product_id = packet_in.product_id;
|
||||
|
||||
mav_array_memcpy(packet1.flight_custom_version, packet_in.flight_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet1.middleware_custom_version, packet_in.middleware_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet1.os_custom_version, packet_in.os_custom_version, sizeof(uint8_t)*8);
|
||||
mav_array_memcpy(packet1.uid2, packet_in.uid2, sizeof(uint8_t)*18);
|
||||
|
||||
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
|
||||
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
|
||||
// cope with extensions
|
||||
memset(MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_AUTOPILOT_VERSION_MIN_LEN);
|
||||
}
|
||||
#endif
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_autopilot_version_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_autopilot_version_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_autopilot_version_pack(system_id, component_id, &msg , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid , packet1.uid2 );
|
||||
mavlink_msg_autopilot_version_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_autopilot_version_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid , packet1.uid2 );
|
||||
mavlink_msg_autopilot_version_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_autopilot_version_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_autopilot_version_send(MAVLINK_COMM_1 , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid , packet1.uid2 );
|
||||
mavlink_msg_autopilot_version_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("AUTOPILOT_VERSION") != NULL);
|
||||
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_AUTOPILOT_VERSION) != NULL);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void mavlink_test_standard(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_test_global_position_int(system_id, component_id, last_msg);
|
||||
mavlink_test_autopilot_version(system_id, component_id, last_msg);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif // __cplusplus
|
||||
#endif // STANDARD_TESTSUITE_H
|
||||
14
02_telemetry_bridge/lib/mavlink/standard/version.h
Normal file
14
02_telemetry_bridge/lib/mavlink/standard/version.h
Normal file
@@ -0,0 +1,14 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol built from standard.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 78
|
||||
|
||||
#endif // MAVLINK_VERSION_H
|
||||
Reference in New Issue
Block a user