GCS_MAVLink: rebuild MAVLink headers

libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_battery2.h

@@ -0,0 +1,233 @@
+// MESSAGE BATTERY2 PACKING
+
+#define MAVLINK_MSG_ID_BATTERY2 181
+
+typedef struct __mavlink_battery2_t
+{
+ uint16_t voltage; ///< voltage in millivolts
+ int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+} mavlink_battery2_t;
+
+#define MAVLINK_MSG_ID_BATTERY2_LEN 4
+#define MAVLINK_MSG_ID_181_LEN 4
+
+#define MAVLINK_MSG_ID_BATTERY2_CRC 174
+#define MAVLINK_MSG_ID_181_CRC 174
+
+
+
+#define MAVLINK_MESSAGE_INFO_BATTERY2 { \
+	"BATTERY2", \
+	2, \
+	{  { "voltage", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery2_t, voltage) }, \
+         { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_battery2_t, current_battery) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a battery2 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 voltage voltage in millivolts
+ * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_battery2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint16_t voltage, int16_t current_battery)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
+	_mav_put_uint16_t(buf, 0, voltage);
+	_mav_put_int16_t(buf, 2, current_battery);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
+#else
+	mavlink_battery2_t packet;
+	packet.voltage = voltage;
+	packet.current_battery = current_battery;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_BATTERY2;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a battery2 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 voltage voltage in millivolts
+ * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_battery2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint16_t voltage,int16_t current_battery)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
+	_mav_put_uint16_t(buf, 0, voltage);
+	_mav_put_int16_t(buf, 2, current_battery);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
+#else
+	mavlink_battery2_t packet;
+	packet.voltage = voltage;
+	packet.current_battery = current_battery;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_BATTERY2;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+}
+
+/**
+ * @brief Encode a battery2 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 battery2 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_battery2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
+{
+	return mavlink_msg_battery2_pack(system_id, component_id, msg, battery2->voltage, battery2->current_battery);
+}
+
+/**
+ * @brief Encode a battery2 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 battery2 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_battery2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
+{
+	return mavlink_msg_battery2_pack_chan(system_id, component_id, chan, msg, battery2->voltage, battery2->current_battery);
+}
+
+/**
+ * @brief Send a battery2 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param voltage voltage in millivolts
+ * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_battery2_send(mavlink_channel_t chan, uint16_t voltage, int16_t current_battery)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
+	_mav_put_uint16_t(buf, 0, voltage);
+	_mav_put_int16_t(buf, 2, current_battery);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+#else
+	mavlink_battery2_t packet;
+	packet.voltage = voltage;
+	packet.current_battery = current_battery;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)&packet, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)&packet, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+#endif
+}
+
+#if MAVLINK_MSG_ID_BATTERY2_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This varient of _send() can be used to save stack space by re-using
+  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_battery2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t voltage, int16_t current_battery)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char *buf = (char *)msgbuf;
+	_mav_put_uint16_t(buf, 0, voltage);
+	_mav_put_int16_t(buf, 2, current_battery);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+#else
+	mavlink_battery2_t *packet = (mavlink_battery2_t *)msgbuf;
+	packet->voltage = voltage;
+	packet->current_battery = current_battery;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)packet, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)packet, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE BATTERY2 UNPACKING
+
+
+/**
+ * @brief Get field voltage from battery2 message
+ *
+ * @return voltage in millivolts
+ */
+static inline uint16_t mavlink_msg_battery2_get_voltage(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field current_battery from battery2 message
+ *
+ * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ */
+static inline int16_t mavlink_msg_battery2_get_current_battery(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  2);
+}
+
+/**
+ * @brief Decode a battery2 message into a struct
+ *
+ * @param msg The message to decode
+ * @param battery2 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_battery2_decode(const mavlink_message_t* msg, mavlink_battery2_t* battery2)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	battery2->voltage = mavlink_msg_battery2_get_voltage(msg);
+	battery2->current_battery = mavlink_msg_battery2_get_current_battery(msg);
+#else
+	memcpy(battery2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+}

libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h

@@ -1630,6 +1630,51 @@ static void mavlink_test_camera_feedback(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_battery2(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_battery2_t packet_in = {
+		17235,
+	}17339,
+	};
+	mavlink_battery2_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.voltage = packet_in.voltage;
+        	packet1.current_battery = packet_in.current_battery;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_battery2_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_battery2_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_battery2_pack(system_id, component_id, &msg , packet1.voltage , packet1.current_battery );
+	mavlink_msg_battery2_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_battery2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.voltage , packet1.current_battery );
+	mavlink_msg_battery2_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_battery2_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_battery2_send(MAVLINK_COMM_1 , packet1.voltage , packet1.current_battery );
+	mavlink_msg_battery2_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@@ -1662,6 +1707,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
 	mavlink_test_ahrs2(system_id, component_id, last_msg);
 	mavlink_test_camera_status(system_id, component_id, last_msg);
 	mavlink_test_camera_feedback(system_id, component_id, last_msg);
+	mavlink_test_battery2(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Aug  7 12:21:20 2014"
+#define MAVLINK_BUILD_DATE "Sat Aug  9 12:12:21 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Aug  7 12:21:20 2014"
+#define MAVLINK_BUILD_DATE "Sat Aug  9 12:12:21 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h

@@ -209,13 +209,18 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
  * it could be successfully decoded. Checksum and other failures will be silently
  * ignored.
  *
+ * Messages are parsed into an internal buffer (one for each channel). When a complete
+ * message is received it is copies into *returnMsg and the channel's status is
+ * copied into *returnStats.
+ *
  * @param chan     ID of the current channel. This allows to parse different channels with this function.
  *                 a channel is not a physical message channel like a serial port, but a logic partition of
  *                 the communication streams in this case. COMM_NB is the limit for the number of channels
  *                 on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
- * @param c        The char to barse
+ * @param c        The char to parse
  *
  * @param returnMsg NULL if no message could be decoded, the message data else
+ * @param returnStats if a message was decoded, this is filled with the channel's stats
  * @return 0 if no message could be decoded, 1 else
  *
  * A typical use scenario of this function call is: