zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

GCS_MAVLink: generate after adding EKF_STATUS_REPORT

mission-4.1.18
Randy Mackay 10 years ago
parent
d464344c34
commit
5aef7e6d1a
3 changed files with 401 additions and 3 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 26
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
  2. 329
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ekf_status_report.h
  3. 49
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h

26
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
View File

File diff suppressed because one or more lines are too long

329
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ekf_status_report.h
Unescape View File

@ -0,0 +1,329 @@ @@ -0,0 +1,329 @@
// MESSAGE EKF_STATUS_REPORT PACKING
#define MAVLINK_MSG_ID_EKF_STATUS_REPORT 193
typedef struct __mavlink_ekf_status_report_t
{
float velocity_variance; ///< Velocity variance
float pos_horiz_variance; ///< Horizontal Position variance
float pos_vert_variance; ///< Vertical Position variance
float compass_variance; ///< Compass variance
float terrain_alt_variance; ///< Terrain Altitude variance
uint16_t flags; ///< Flags
} mavlink_ekf_status_report_t;
#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN 22
#define MAVLINK_MSG_ID_193_LEN 22
#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC 71
#define MAVLINK_MSG_ID_193_CRC 71
#define MAVLINK_MESSAGE_INFO_EKF_STATUS_REPORT { \
"EKF_STATUS_REPORT", \
6, \
{ { "velocity_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ekf_status_report_t, velocity_variance) }, \
{ "pos_horiz_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ekf_status_report_t, pos_horiz_variance) }, \
{ "pos_vert_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_status_report_t, pos_vert_variance) }, \
{ "compass_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_status_report_t, compass_variance) }, \
{ "terrain_alt_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ekf_status_report_t, terrain_alt_variance) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_ekf_status_report_t, flags) }, \
} \
}
/**
* @brief Pack a ekf_status_report 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 flags Flags
* @param velocity_variance Velocity variance
* @param pos_horiz_variance Horizontal Position variance
* @param pos_vert_variance Vertical Position variance
* @param compass_variance Compass variance
* @param terrain_alt_variance Terrain Altitude variance
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ekf_status_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN];
_mav_put_float(buf, 0, velocity_variance);
_mav_put_float(buf, 4, pos_horiz_variance);
_mav_put_float(buf, 8, pos_vert_variance);
_mav_put_float(buf, 12, compass_variance);
_mav_put_float(buf, 16, terrain_alt_variance);
_mav_put_uint16_t(buf, 20, flags);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#else
mavlink_ekf_status_report_t packet;
packet.velocity_variance = velocity_variance;
packet.pos_horiz_variance = pos_horiz_variance;
packet.pos_vert_variance = pos_vert_variance;
packet.compass_variance = compass_variance;
packet.terrain_alt_variance = terrain_alt_variance;
packet.flags = flags;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_EKF_STATUS_REPORT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
}
/**
* @brief Pack a ekf_status_report 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 flags Flags
* @param velocity_variance Velocity variance
* @param pos_horiz_variance Horizontal Position variance
* @param pos_vert_variance Vertical Position variance
* @param compass_variance Compass variance
* @param terrain_alt_variance Terrain Altitude variance
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ekf_status_report_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t flags,float velocity_variance,float pos_horiz_variance,float pos_vert_variance,float compass_variance,float terrain_alt_variance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN];
_mav_put_float(buf, 0, velocity_variance);
_mav_put_float(buf, 4, pos_horiz_variance);
_mav_put_float(buf, 8, pos_vert_variance);
_mav_put_float(buf, 12, compass_variance);
_mav_put_float(buf, 16, terrain_alt_variance);
_mav_put_uint16_t(buf, 20, flags);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#else
mavlink_ekf_status_report_t packet;
packet.velocity_variance = velocity_variance;
packet.pos_horiz_variance = pos_horiz_variance;
packet.pos_vert_variance = pos_vert_variance;
packet.compass_variance = compass_variance;
packet.terrain_alt_variance = terrain_alt_variance;
packet.flags = flags;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_EKF_STATUS_REPORT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
}
/**
* @brief Encode a ekf_status_report 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 ekf_status_report C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ekf_status_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ekf_status_report_t* ekf_status_report)
{
return mavlink_msg_ekf_status_report_pack(system_id, component_id, msg, ekf_status_report->flags, ekf_status_report->velocity_variance, ekf_status_report->pos_horiz_variance, ekf_status_report->pos_vert_variance, ekf_status_report->compass_variance, ekf_status_report->terrain_alt_variance);
}
/**
* @brief Encode a ekf_status_report 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 ekf_status_report C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ekf_status_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ekf_status_report_t* ekf_status_report)
{
return mavlink_msg_ekf_status_report_pack_chan(system_id, component_id, chan, msg, ekf_status_report->flags, ekf_status_report->velocity_variance, ekf_status_report->pos_horiz_variance, ekf_status_report->pos_vert_variance, ekf_status_report->compass_variance, ekf_status_report->terrain_alt_variance);
}
/**
* @brief Send a ekf_status_report message
* @param chan MAVLink channel to send the message
*
* @param flags Flags
* @param velocity_variance Velocity variance
* @param pos_horiz_variance Horizontal Position variance
* @param pos_vert_variance Vertical Position variance
* @param compass_variance Compass variance
* @param terrain_alt_variance Terrain Altitude variance
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ekf_status_report_send(mavlink_channel_t chan, uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN];
_mav_put_float(buf, 0, velocity_variance);
_mav_put_float(buf, 4, pos_horiz_variance);
_mav_put_float(buf, 8, pos_vert_variance);
_mav_put_float(buf, 12, compass_variance);
_mav_put_float(buf, 16, terrain_alt_variance);
_mav_put_uint16_t(buf, 20, flags);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
#else
mavlink_ekf_status_report_t packet;
packet.velocity_variance = velocity_variance;
packet.pos_horiz_variance = pos_horiz_variance;
packet.pos_vert_variance = pos_vert_variance;
packet.compass_variance = compass_variance;
packet.terrain_alt_variance = terrain_alt_variance;
packet.flags = flags;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)&packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)&packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_EKF_STATUS_REPORT_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_ekf_status_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, velocity_variance);
_mav_put_float(buf, 4, pos_horiz_variance);
_mav_put_float(buf, 8, pos_vert_variance);
_mav_put_float(buf, 12, compass_variance);
_mav_put_float(buf, 16, terrain_alt_variance);
_mav_put_uint16_t(buf, 20, flags);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
#else
mavlink_ekf_status_report_t *packet = (mavlink_ekf_status_report_t *)msgbuf;
packet->velocity_variance = velocity_variance;
packet->pos_horiz_variance = pos_horiz_variance;
packet->pos_vert_variance = pos_vert_variance;
packet->compass_variance = compass_variance;
packet->terrain_alt_variance = terrain_alt_variance;
packet->flags = flags;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE EKF_STATUS_REPORT UNPACKING
/**
* @brief Get field flags from ekf_status_report message
*
* @return Flags
*/
static inline uint16_t mavlink_msg_ekf_status_report_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 20);
}
/**
* @brief Get field velocity_variance from ekf_status_report message
*
* @return Velocity variance
*/
static inline float mavlink_msg_ekf_status_report_get_velocity_variance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field pos_horiz_variance from ekf_status_report message
*
* @return Horizontal Position variance
*/
static inline float mavlink_msg_ekf_status_report_get_pos_horiz_variance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field pos_vert_variance from ekf_status_report message
*
* @return Vertical Position variance
*/
static inline float mavlink_msg_ekf_status_report_get_pos_vert_variance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field compass_variance from ekf_status_report message
*
* @return Compass variance
*/
static inline float mavlink_msg_ekf_status_report_get_compass_variance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field terrain_alt_variance from ekf_status_report message
*
* @return Terrain Altitude variance
*/
static inline float mavlink_msg_ekf_status_report_get_terrain_alt_variance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Decode a ekf_status_report message into a struct
*
* @param msg The message to decode
* @param ekf_status_report C-struct to decode the message contents into
*/
static inline void mavlink_msg_ekf_status_report_decode(const mavlink_message_t* msg, mavlink_ekf_status_report_t* ekf_status_report)
{
#if MAVLINK_NEED_BYTE_SWAP
ekf_status_report->velocity_variance = mavlink_msg_ekf_status_report_get_velocity_variance(msg);
ekf_status_report->pos_horiz_variance = mavlink_msg_ekf_status_report_get_pos_horiz_variance(msg);
ekf_status_report->pos_vert_variance = mavlink_msg_ekf_status_report_get_pos_vert_variance(msg);
ekf_status_report->compass_variance = mavlink_msg_ekf_status_report_get_compass_variance(msg);
ekf_status_report->terrain_alt_variance = mavlink_msg_ekf_status_report_get_terrain_alt_variance(msg);
ekf_status_report->flags = mavlink_msg_ekf_status_report_get_flags(msg);
#else
memcpy(ekf_status_report, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
#endif
}

49
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
Unescape View File

@ -1764,6 +1764,54 @@ static void mavlink_test_led_control(uint8_t system_id, uint8_t component_id, ma @@ -1764,6 +1764,54 @@ static void mavlink_test_led_control(uint8_t system_id, uint8_t component_id, ma
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ekf_status_report(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_ekf_status_report_t packet_in = {
17.0,45.0,73.0,101.0,129.0,18275
};
mavlink_ekf_status_report_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.velocity_variance = packet_in.velocity_variance;
packet1.pos_horiz_variance = packet_in.pos_horiz_variance;
packet1.pos_vert_variance = packet_in.pos_vert_variance;
packet1.compass_variance = packet_in.compass_variance;
packet1.terrain_alt_variance = packet_in.terrain_alt_variance;
packet1.flags = packet_in.flags;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ekf_status_report_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_ekf_status_report_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ekf_status_report_pack(system_id, component_id, &msg , packet1.flags , packet1.velocity_variance , packet1.pos_horiz_variance , packet1.pos_vert_variance , packet1.compass_variance , packet1.terrain_alt_variance );
mavlink_msg_ekf_status_report_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ekf_status_report_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.flags , packet1.velocity_variance , packet1.pos_horiz_variance , packet1.pos_vert_variance , packet1.compass_variance , packet1.terrain_alt_variance );
mavlink_msg_ekf_status_report_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_ekf_status_report_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ekf_status_report_send(MAVLINK_COMM_1 , packet1.flags , packet1.velocity_variance , packet1.pos_horiz_variance , packet1.pos_vert_variance , packet1.compass_variance , packet1.terrain_alt_variance );
mavlink_msg_ekf_status_report_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);
@ -1802,6 +1850,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, @@ -1802,6 +1850,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_gimbal_report(system_id, component_id, last_msg);
mavlink_test_gimbal_control(system_id, component_id, last_msg);
mavlink_test_led_control(system_id, component_id, last_msg);
mavlink_test_ekf_status_report(system_id, component_id, last_msg);
}
#ifdef __cplusplus

Write Preview
Loading…
Cancel
Save