GCS_MAVLink: regenerate headers

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

@@ -4,13 +4,14 @@
 
 typedef struct __mavlink_camera_feedback_t
 {
- uint64_t time_usec; ///< Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
+ uint64_t time_usec; ///< Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)
  int32_t lat; ///< Latitude in (deg * 1E7)
  int32_t lng; ///< Longitude in (deg * 1E7)
- float alt; ///< Altitude (meters, AMSL)
- float roll; ///< Vehicle Roll angle (degrees, +-180)
- float pitch; ///< Vehicle Pitch angle (degrees, +-180)
- float yaw; ///< Vehicle Heading (degrees, 0-360, true)
+ float alt_msl; ///< Altitude Absolute (meters AMSL)
+ float alt_rel; ///< Altitude Relative (meters above HOME location)
+ float roll; ///< Camera Roll angle (earth frame, degrees, +-180)
+ float pitch; ///< Camera Pitch angle (earth frame, degrees, +-180)
+ float yaw; ///< Camera Yaw (earth frame, degrees, 0-360, true)
  float foc_len; ///< Focal Length (mm)
  uint16_t img_idx; ///< Image index
  uint8_t target_system; ///< System ID
@@ -18,29 +19,30 @@ typedef struct __mavlink_camera_feedback_t
  uint8_t flags; ///< See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
 } mavlink_camera_feedback_t;
 
-#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN 41
-#define MAVLINK_MSG_ID_180_LEN 41
+#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN 45
+#define MAVLINK_MSG_ID_180_LEN 45
 
-#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC 151
-#define MAVLINK_MSG_ID_180_CRC 151
+#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC 52
+#define MAVLINK_MSG_ID_180_CRC 52
 
 
 
 #define MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK { \
 	"CAMERA_FEEDBACK", \
-	12, \
+	13, \
 	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_feedback_t, time_usec) }, \
          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_camera_feedback_t, lat) }, \
          { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_feedback_t, lng) }, \
-         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, yaw) }, \
-         { "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, foc_len) }, \
-         { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_camera_feedback_t, img_idx) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_camera_feedback_t, target_system) }, \
-         { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_camera_feedback_t, cam_idx) }, \
-         { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_camera_feedback_t, flags) }, \
+         { "alt_msl", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt_msl) }, \
+         { "alt_rel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, alt_rel) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, yaw) }, \
+         { "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_camera_feedback_t, foc_len) }, \
+         { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_camera_feedback_t, img_idx) }, \
+         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_camera_feedback_t, target_system) }, \
+         { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_camera_feedback_t, cam_idx) }, \
+         { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_camera_feedback_t, flags) }, \
          } \
 }
 
@@ -51,37 +53,39 @@ typedef struct __mavlink_camera_feedback_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
+ * @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)
  * @param target_system System ID
  * @param cam_idx Camera ID
  * @param img_idx Image index
  * @param lat Latitude in (deg * 1E7)
  * @param lng Longitude in (deg * 1E7)
- * @param alt Altitude (meters, AMSL)
- * @param roll Vehicle Roll angle (degrees, +-180)
- * @param pitch Vehicle Pitch angle (degrees, +-180)
- * @param yaw Vehicle Heading (degrees, 0-360, true)
+ * @param alt_msl Altitude Absolute (meters AMSL)
+ * @param alt_rel Altitude Relative (meters above HOME location)
+ * @param roll Camera Roll angle (earth frame, degrees, +-180)
+ * @param pitch Camera Pitch angle (earth frame, degrees, +-180)
+ * @param yaw Camera Yaw (earth frame, degrees, 0-360, true)
  * @param foc_len Focal Length (mm)
  * @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_camera_feedback_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
+						       uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
 	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_int32_t(buf, 8, lat);
 	_mav_put_int32_t(buf, 12, lng);
-	_mav_put_float(buf, 16, alt);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-	_mav_put_float(buf, 32, foc_len);
-	_mav_put_uint16_t(buf, 36, img_idx);
-	_mav_put_uint8_t(buf, 38, target_system);
-	_mav_put_uint8_t(buf, 39, cam_idx);
-	_mav_put_uint8_t(buf, 40, flags);
+	_mav_put_float(buf, 16, alt_msl);
+	_mav_put_float(buf, 20, alt_rel);
+	_mav_put_float(buf, 24, roll);
+	_mav_put_float(buf, 28, pitch);
+	_mav_put_float(buf, 32, yaw);
+	_mav_put_float(buf, 36, foc_len);
+	_mav_put_uint16_t(buf, 40, img_idx);
+	_mav_put_uint8_t(buf, 42, target_system);
+	_mav_put_uint8_t(buf, 43, cam_idx);
+	_mav_put_uint8_t(buf, 44, flags);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
 #else
@@ -89,7 +93,8 @@ static inline uint16_t mavlink_msg_camera_feedback_pack(uint8_t system_id, uint8
 	packet.time_usec = time_usec;
 	packet.lat = lat;
 	packet.lng = lng;
-	packet.alt = alt;
+	packet.alt_msl = alt_msl;
+	packet.alt_rel = alt_rel;
 	packet.roll = roll;
 	packet.pitch = pitch;
 	packet.yaw = yaw;
@@ -116,38 +121,40 @@ static inline uint16_t mavlink_msg_camera_feedback_pack(uint8_t system_id, uint8
  * @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_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
+ * @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)
  * @param target_system System ID
  * @param cam_idx Camera ID
  * @param img_idx Image index
  * @param lat Latitude in (deg * 1E7)
  * @param lng Longitude in (deg * 1E7)
- * @param alt Altitude (meters, AMSL)
- * @param roll Vehicle Roll angle (degrees, +-180)
- * @param pitch Vehicle Pitch angle (degrees, +-180)
- * @param yaw Vehicle Heading (degrees, 0-360, true)
+ * @param alt_msl Altitude Absolute (meters AMSL)
+ * @param alt_rel Altitude Relative (meters above HOME location)
+ * @param roll Camera Roll angle (earth frame, degrees, +-180)
+ * @param pitch Camera Pitch angle (earth frame, degrees, +-180)
+ * @param yaw Camera Yaw (earth frame, degrees, 0-360, true)
  * @param foc_len Focal Length (mm)
  * @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_camera_feedback_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,int32_t lat,int32_t lng,float alt,float roll,float pitch,float yaw,float foc_len,uint8_t flags)
+						           uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,int32_t lat,int32_t lng,float alt_msl,float alt_rel,float roll,float pitch,float yaw,float foc_len,uint8_t flags)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
 	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_int32_t(buf, 8, lat);
 	_mav_put_int32_t(buf, 12, lng);
-	_mav_put_float(buf, 16, alt);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-	_mav_put_float(buf, 32, foc_len);
-	_mav_put_uint16_t(buf, 36, img_idx);
-	_mav_put_uint8_t(buf, 38, target_system);
-	_mav_put_uint8_t(buf, 39, cam_idx);
-	_mav_put_uint8_t(buf, 40, flags);
+	_mav_put_float(buf, 16, alt_msl);
+	_mav_put_float(buf, 20, alt_rel);
+	_mav_put_float(buf, 24, roll);
+	_mav_put_float(buf, 28, pitch);
+	_mav_put_float(buf, 32, yaw);
+	_mav_put_float(buf, 36, foc_len);
+	_mav_put_uint16_t(buf, 40, img_idx);
+	_mav_put_uint8_t(buf, 42, target_system);
+	_mav_put_uint8_t(buf, 43, cam_idx);
+	_mav_put_uint8_t(buf, 44, flags);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
 #else
@@ -155,7 +162,8 @@ static inline uint16_t mavlink_msg_camera_feedback_pack_chan(uint8_t system_id,
 	packet.time_usec = time_usec;
 	packet.lat = lat;
 	packet.lng = lng;
-	packet.alt = alt;
+	packet.alt_msl = alt_msl;
+	packet.alt_rel = alt_rel;
 	packet.roll = roll;
 	packet.pitch = pitch;
 	packet.yaw = yaw;
@@ -186,7 +194,7 @@ static inline uint16_t mavlink_msg_camera_feedback_pack_chan(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_camera_feedback_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback)
 {
-	return mavlink_msg_camera_feedback_pack(system_id, component_id, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
+	return mavlink_msg_camera_feedback_pack(system_id, component_id, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
 }
 
 /**
@@ -200,44 +208,46 @@ static inline uint16_t mavlink_msg_camera_feedback_encode(uint8_t system_id, uin
  */
 static inline uint16_t mavlink_msg_camera_feedback_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback)
 {
-	return mavlink_msg_camera_feedback_pack_chan(system_id, component_id, chan, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
+	return mavlink_msg_camera_feedback_pack_chan(system_id, component_id, chan, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
 }
 
 /**
  * @brief Send a camera_feedback message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
+ * @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)
  * @param target_system System ID
  * @param cam_idx Camera ID
  * @param img_idx Image index
  * @param lat Latitude in (deg * 1E7)
  * @param lng Longitude in (deg * 1E7)
- * @param alt Altitude (meters, AMSL)
- * @param roll Vehicle Roll angle (degrees, +-180)
- * @param pitch Vehicle Pitch angle (degrees, +-180)
- * @param yaw Vehicle Heading (degrees, 0-360, true)
+ * @param alt_msl Altitude Absolute (meters AMSL)
+ * @param alt_rel Altitude Relative (meters above HOME location)
+ * @param roll Camera Roll angle (earth frame, degrees, +-180)
+ * @param pitch Camera Pitch angle (earth frame, degrees, +-180)
+ * @param yaw Camera Yaw (earth frame, degrees, 0-360, true)
  * @param foc_len Focal Length (mm)
  * @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
+static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
 	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_int32_t(buf, 8, lat);
 	_mav_put_int32_t(buf, 12, lng);
-	_mav_put_float(buf, 16, alt);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-	_mav_put_float(buf, 32, foc_len);
-	_mav_put_uint16_t(buf, 36, img_idx);
-	_mav_put_uint8_t(buf, 38, target_system);
-	_mav_put_uint8_t(buf, 39, cam_idx);
-	_mav_put_uint8_t(buf, 40, flags);
+	_mav_put_float(buf, 16, alt_msl);
+	_mav_put_float(buf, 20, alt_rel);
+	_mav_put_float(buf, 24, roll);
+	_mav_put_float(buf, 28, pitch);
+	_mav_put_float(buf, 32, yaw);
+	_mav_put_float(buf, 36, foc_len);
+	_mav_put_uint16_t(buf, 40, img_idx);
+	_mav_put_uint8_t(buf, 42, target_system);
+	_mav_put_uint8_t(buf, 43, cam_idx);
+	_mav_put_uint8_t(buf, 44, flags);
 
 #if MAVLINK_CRC_EXTRA
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
@@ -249,7 +259,8 @@ static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint
 	packet.time_usec = time_usec;
 	packet.lat = lat;
 	packet.lng = lng;
-	packet.alt = alt;
+	packet.alt_msl = alt_msl;
+	packet.alt_rel = alt_rel;
 	packet.roll = roll;
 	packet.pitch = pitch;
 	packet.yaw = yaw;
@@ -275,22 +286,23 @@ static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint
   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_camera_feedback_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
+static inline void mavlink_msg_camera_feedback_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char *buf = (char *)msgbuf;
 	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_int32_t(buf, 8, lat);
 	_mav_put_int32_t(buf, 12, lng);
-	_mav_put_float(buf, 16, alt);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-	_mav_put_float(buf, 32, foc_len);
-	_mav_put_uint16_t(buf, 36, img_idx);
-	_mav_put_uint8_t(buf, 38, target_system);
-	_mav_put_uint8_t(buf, 39, cam_idx);
-	_mav_put_uint8_t(buf, 40, flags);
+	_mav_put_float(buf, 16, alt_msl);
+	_mav_put_float(buf, 20, alt_rel);
+	_mav_put_float(buf, 24, roll);
+	_mav_put_float(buf, 28, pitch);
+	_mav_put_float(buf, 32, yaw);
+	_mav_put_float(buf, 36, foc_len);
+	_mav_put_uint16_t(buf, 40, img_idx);
+	_mav_put_uint8_t(buf, 42, target_system);
+	_mav_put_uint8_t(buf, 43, cam_idx);
+	_mav_put_uint8_t(buf, 44, flags);
 
 #if MAVLINK_CRC_EXTRA
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
@@ -302,7 +314,8 @@ static inline void mavlink_msg_camera_feedback_send_buf(mavlink_message_t *msgbu
 	packet->time_usec = time_usec;
 	packet->lat = lat;
 	packet->lng = lng;
-	packet->alt = alt;
+	packet->alt_msl = alt_msl;
+	packet->alt_rel = alt_rel;
 	packet->roll = roll;
 	packet->pitch = pitch;
 	packet->yaw = yaw;
@@ -329,7 +342,7 @@ static inline void mavlink_msg_camera_feedback_send_buf(mavlink_message_t *msgbu
 /**
  * @brief Get field time_usec from camera_feedback message
  *
- * @return Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
+ * @return Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)
  */
 static inline uint64_t mavlink_msg_camera_feedback_get_time_usec(const mavlink_message_t* msg)
 {
@@ -343,7 +356,7 @@ static inline uint64_t mavlink_msg_camera_feedback_get_time_usec(const mavlink_m
  */
 static inline uint8_t mavlink_msg_camera_feedback_get_target_system(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  38);
+	return _MAV_RETURN_uint8_t(msg,  42);
 }
 
 /**
@@ -353,7 +366,7 @@ static inline uint8_t mavlink_msg_camera_feedback_get_target_system(const mavlin
  */
 static inline uint8_t mavlink_msg_camera_feedback_get_cam_idx(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  39);
+	return _MAV_RETURN_uint8_t(msg,  43);
 }
 
 /**
@@ -363,7 +376,7 @@ static inline uint8_t mavlink_msg_camera_feedback_get_cam_idx(const mavlink_mess
  */
 static inline uint16_t mavlink_msg_camera_feedback_get_img_idx(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint16_t(msg,  36);
+	return _MAV_RETURN_uint16_t(msg,  40);
 }
 
 /**
@@ -387,43 +400,53 @@ static inline int32_t mavlink_msg_camera_feedback_get_lng(const mavlink_message_
 }
 
 /**
- * @brief Get field alt from camera_feedback message
+ * @brief Get field alt_msl from camera_feedback message
  *
- * @return Altitude (meters, AMSL)
+ * @return Altitude Absolute (meters AMSL)
  */
-static inline float mavlink_msg_camera_feedback_get_alt(const mavlink_message_t* msg)
+static inline float mavlink_msg_camera_feedback_get_alt_msl(const mavlink_message_t* msg)
 {
 	return _MAV_RETURN_float(msg,  16);
 }
 
+/**
+ * @brief Get field alt_rel from camera_feedback message
+ *
+ * @return Altitude Relative (meters above HOME location)
+ */
+static inline float mavlink_msg_camera_feedback_get_alt_rel(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
 /**
  * @brief Get field roll from camera_feedback message
  *
- * @return Vehicle Roll angle (degrees, +-180)
+ * @return Camera Roll angle (earth frame, degrees, +-180)
  */
 static inline float mavlink_msg_camera_feedback_get_roll(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  20);
+	return _MAV_RETURN_float(msg,  24);
 }
 
 /**
  * @brief Get field pitch from camera_feedback message
  *
- * @return Vehicle Pitch angle (degrees, +-180)
+ * @return Camera Pitch angle (earth frame, degrees, +-180)
  */
 static inline float mavlink_msg_camera_feedback_get_pitch(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  24);
+	return _MAV_RETURN_float(msg,  28);
 }
 
 /**
  * @brief Get field yaw from camera_feedback message
  *
- * @return Vehicle Heading (degrees, 0-360, true)
+ * @return Camera Yaw (earth frame, degrees, 0-360, true)
  */
 static inline float mavlink_msg_camera_feedback_get_yaw(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  28);
+	return _MAV_RETURN_float(msg,  32);
 }
 
 /**
@@ -433,7 +456,7 @@ static inline float mavlink_msg_camera_feedback_get_yaw(const mavlink_message_t*
  */
 static inline float mavlink_msg_camera_feedback_get_foc_len(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  32);
+	return _MAV_RETURN_float(msg,  36);
 }
 
 /**
@@ -443,7 +466,7 @@ static inline float mavlink_msg_camera_feedback_get_foc_len(const mavlink_messag
  */
 static inline uint8_t mavlink_msg_camera_feedback_get_flags(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  40);
+	return _MAV_RETURN_uint8_t(msg,  44);
 }
 
 /**
@@ -458,7 +481,8 @@ static inline void mavlink_msg_camera_feedback_decode(const mavlink_message_t* m
 	camera_feedback->time_usec = mavlink_msg_camera_feedback_get_time_usec(msg);
 	camera_feedback->lat = mavlink_msg_camera_feedback_get_lat(msg);
 	camera_feedback->lng = mavlink_msg_camera_feedback_get_lng(msg);
-	camera_feedback->alt = mavlink_msg_camera_feedback_get_alt(msg);
+	camera_feedback->alt_msl = mavlink_msg_camera_feedback_get_alt_msl(msg);
+	camera_feedback->alt_rel = mavlink_msg_camera_feedback_get_alt_rel(msg);
 	camera_feedback->roll = mavlink_msg_camera_feedback_get_roll(msg);
 	camera_feedback->pitch = mavlink_msg_camera_feedback_get_pitch(msg);
 	camera_feedback->yaw = mavlink_msg_camera_feedback_get_yaw(msg);

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

@@ -1504,12 +1504,12 @@ static void mavlink_test_ahrs2(uint8_t system_id, uint8_t component_id, mavlink_
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
-static void mavlink_test_camera_event(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+static void mavlink_test_camera_status(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_camera_event_t packet_in = {
+	mavlink_camera_status_t packet_in = {
 		93372036854775807ULL,
 	}73.0,
 	}101.0,
@@ -1520,7 +1520,7 @@ static void mavlink_test_camera_event(uint8_t system_id, uint8_t component_id, m
 	}22,
 	}89,
 	};
-	mavlink_camera_event_t packet1, packet2;
+	mavlink_camera_status_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
         	packet1.time_usec = packet_in.time_usec;
         	packet1.p1 = packet_in.p1;
@@ -1535,18 +1535,18 @@ static void mavlink_test_camera_event(uint8_t system_id, uint8_t component_id, m
         
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_camera_event_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_camera_event_decode(&msg, &packet2);
+	mavlink_msg_camera_status_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_camera_status_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_camera_event_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
-	mavlink_msg_camera_event_decode(&msg, &packet2);
+	mavlink_msg_camera_status_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
+	mavlink_msg_camera_status_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_camera_event_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
-	mavlink_msg_camera_event_decode(&msg, &packet2);
+	mavlink_msg_camera_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
+	mavlink_msg_camera_status_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
@@ -1554,12 +1554,12 @@ static void mavlink_test_camera_event(uint8_t system_id, uint8_t component_id, m
         for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
         	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
         }
-	mavlink_msg_camera_event_decode(last_msg, &packet2);
+	mavlink_msg_camera_status_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_camera_event_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
-	mavlink_msg_camera_event_decode(last_msg, &packet2);
+	mavlink_msg_camera_status_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
+	mavlink_msg_camera_status_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
@@ -1577,17 +1577,19 @@ static void mavlink_test_camera_feedback(uint8_t system_id, uint8_t component_id
 	}185.0,
 	}213.0,
 	}241.0,
-	}19107,
-	}247,
-	}58,
-	}125,
+	}269.0,
+	}19315,
+	}3,
+	}70,
+	}137,
 	};
 	mavlink_camera_feedback_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
         	packet1.time_usec = packet_in.time_usec;
         	packet1.lat = packet_in.lat;
         	packet1.lng = packet_in.lng;
-        	packet1.alt = packet_in.alt;
+        	packet1.alt_msl = packet_in.alt_msl;
+        	packet1.alt_rel = packet_in.alt_rel;
         	packet1.roll = packet_in.roll;
         	packet1.pitch = packet_in.pitch;
         	packet1.yaw = packet_in.yaw;
@@ -1605,12 +1607,12 @@ static void mavlink_test_camera_feedback(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_camera_feedback_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
+	mavlink_msg_camera_feedback_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt_msl , packet1.alt_rel , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
 	mavlink_msg_camera_feedback_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_camera_feedback_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
+	mavlink_msg_camera_feedback_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt_msl , packet1.alt_rel , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
 	mavlink_msg_camera_feedback_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -1623,7 +1625,7 @@ static void mavlink_test_camera_feedback(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_camera_feedback_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
+	mavlink_msg_camera_feedback_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt_msl , packet1.alt_rel , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
 	mavlink_msg_camera_feedback_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
@@ -1658,7 +1660,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
 	mavlink_test_rally_fetch_point(system_id, component_id, last_msg);
 	mavlink_test_compassmot_status(system_id, component_id, last_msg);
 	mavlink_test_ahrs2(system_id, component_id, last_msg);
-	mavlink_test_camera_event(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);
 }
 

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 "Mon Jun 30 10:30:24 2014"
+#define MAVLINK_BUILD_DATE "Tue Jul  1 14:26:27 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 "Mon Jun 30 10:30:24 2014"
+#define MAVLINK_BUILD_DATE "Tue Jul  1 14:26:27 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255