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GCS_MAVLink: re-generate headers

mission-4.1.18
Andrew Tridgell 10 years ago
parent
eeacbe518b
commit
79be500e04
9 changed files with 537 additions and 19 deletions
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  1. 6
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
  2. 2
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
  3. 6
      libraries/GCS_MAVLink/include/mavlink/v1.0/checksum.h
  4. 12
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
  5. 425
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu3.h
  6. 53
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
  7. 2
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
  8. 38
      libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_conversions.h
  9. 12
      libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h

6
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
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@ -5,7 +5,7 @@ @@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Feb 27 15:48:03 2015"
#define MAVLINK_BUILD_DATE "Wed Mar 4 19:28:35 2015"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

6
libraries/GCS_MAVLink/include/mavlink/v1.0/checksum.h
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@ -5,6 +5,12 @@ extern "C" { @@ -5,6 +5,12 @@ extern "C" {
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
// Visual Studio versions before 2010 don't have stdint.h, so we just error out.
#if (defined _MSC_VER) && (_MSC_VER < 1600)
#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
#endif
#include <stdint.h>
/**
*

12
libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
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425
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu3.h
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@ -0,0 +1,425 @@ @@ -0,0 +1,425 @@
// MESSAGE SCALED_IMU3 PACKING
#define MAVLINK_MSG_ID_SCALED_IMU3 129
typedef struct __mavlink_scaled_imu3_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
int16_t xmag; ///< X Magnetic field (milli tesla)
int16_t ymag; ///< Y Magnetic field (milli tesla)
int16_t zmag; ///< Z Magnetic field (milli tesla)
} mavlink_scaled_imu3_t;
#define MAVLINK_MSG_ID_SCALED_IMU3_LEN 22
#define MAVLINK_MSG_ID_129_LEN 22
#define MAVLINK_MSG_ID_SCALED_IMU3_CRC 46
#define MAVLINK_MSG_ID_129_CRC 46
#define MAVLINK_MESSAGE_INFO_SCALED_IMU3 { \
"SCALED_IMU3", \
10, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu3_t, time_boot_ms) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu3_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu3_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu3_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu3_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu3_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu3_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu3_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu3_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu3_t, zmag) }, \
} \
}
/**
* @brief Pack a scaled_imu3 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 Timestamp (milliseconds since system boot)
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_imu3_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU3_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#else
mavlink_scaled_imu3_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU3;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
}
/**
* @brief Pack a scaled_imu3 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 Timestamp (milliseconds since system boot)
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_imu3_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU3_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#else
mavlink_scaled_imu3_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU3;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
}
/**
* @brief Encode a scaled_imu3 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 scaled_imu3 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_scaled_imu3_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu3_t* scaled_imu3)
{
return mavlink_msg_scaled_imu3_pack(system_id, component_id, msg, scaled_imu3->time_boot_ms, scaled_imu3->xacc, scaled_imu3->yacc, scaled_imu3->zacc, scaled_imu3->xgyro, scaled_imu3->ygyro, scaled_imu3->zgyro, scaled_imu3->xmag, scaled_imu3->ymag, scaled_imu3->zmag);
}
/**
* @brief Encode a scaled_imu3 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 scaled_imu3 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_scaled_imu3_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu3_t* scaled_imu3)
{
return mavlink_msg_scaled_imu3_pack_chan(system_id, component_id, chan, msg, scaled_imu3->time_boot_ms, scaled_imu3->xacc, scaled_imu3->yacc, scaled_imu3->zacc, scaled_imu3->xgyro, scaled_imu3->ygyro, scaled_imu3->zgyro, scaled_imu3->xmag, scaled_imu3->ymag, scaled_imu3->zmag);
}
/**
* @brief Send a scaled_imu3 message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_scaled_imu3_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU3_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
#else
mavlink_scaled_imu3_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_SCALED_IMU3_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_scaled_imu3_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
#else
mavlink_scaled_imu3_t *packet = (mavlink_scaled_imu3_t *)msgbuf;
packet->time_boot_ms = time_boot_ms;
packet->xacc = xacc;
packet->yacc = yacc;
packet->zacc = zacc;
packet->xgyro = xgyro;
packet->ygyro = ygyro;
packet->zgyro = zgyro;
packet->xmag = xmag;
packet->ymag = ymag;
packet->zmag = zmag;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE SCALED_IMU3 UNPACKING
/**
* @brief Get field time_boot_ms from scaled_imu3 message
*
* @return Timestamp (milliseconds since system boot)
*/
static inline uint32_t mavlink_msg_scaled_imu3_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field xacc from scaled_imu3 message
*
* @return X acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 4);
}
/**
* @brief Get field yacc from scaled_imu3 message
*
* @return Y acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 6);
}
/**
* @brief Get field zacc from scaled_imu3 message
*
* @return Z acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 8);
}
/**
* @brief Get field xgyro from scaled_imu3 message
*
* @return Angular speed around X axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 10);
}
/**
* @brief Get field ygyro from scaled_imu3 message
*
* @return Angular speed around Y axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Get field zgyro from scaled_imu3 message
*
* @return Angular speed around Z axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 14);
}
/**
* @brief Get field xmag from scaled_imu3 message
*
* @return X Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_xmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 16);
}
/**
* @brief Get field ymag from scaled_imu3 message
*
* @return Y Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_ymag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 18);
}
/**
* @brief Get field zmag from scaled_imu3 message
*
* @return Z Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu3_get_zmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 20);
}
/**
* @brief Decode a scaled_imu3 message into a struct
*
* @param msg The message to decode
* @param scaled_imu3 C-struct to decode the message contents into
*/
static inline void mavlink_msg_scaled_imu3_decode(const mavlink_message_t* msg, mavlink_scaled_imu3_t* scaled_imu3)
{
#if MAVLINK_NEED_BYTE_SWAP
scaled_imu3->time_boot_ms = mavlink_msg_scaled_imu3_get_time_boot_ms(msg);
scaled_imu3->xacc = mavlink_msg_scaled_imu3_get_xacc(msg);
scaled_imu3->yacc = mavlink_msg_scaled_imu3_get_yacc(msg);
scaled_imu3->zacc = mavlink_msg_scaled_imu3_get_zacc(msg);
scaled_imu3->xgyro = mavlink_msg_scaled_imu3_get_xgyro(msg);
scaled_imu3->ygyro = mavlink_msg_scaled_imu3_get_ygyro(msg);
scaled_imu3->zgyro = mavlink_msg_scaled_imu3_get_zgyro(msg);
scaled_imu3->xmag = mavlink_msg_scaled_imu3_get_xmag(msg);
scaled_imu3->ymag = mavlink_msg_scaled_imu3_get_ymag(msg);
scaled_imu3->zmag = mavlink_msg_scaled_imu3_get_zmag(msg);
#else
memcpy(scaled_imu3, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU3_LEN);
#endif
}

53
libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
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@ -4694,6 +4694,58 @@ static void mavlink_test_gps2_rtk(uint8_t system_id, uint8_t component_id, mavli @@ -4694,6 +4694,58 @@ static void mavlink_test_gps2_rtk(uint8_t system_id, uint8_t component_id, mavli
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_scaled_imu3(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_scaled_imu3_t packet_in = {
963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275
};
mavlink_scaled_imu3_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_boot_ms = packet_in.time_boot_ms;
packet1.xacc = packet_in.xacc;
packet1.yacc = packet_in.yacc;
packet1.zacc = packet_in.zacc;
packet1.xgyro = packet_in.xgyro;
packet1.ygyro = packet_in.ygyro;
packet1.zgyro = packet_in.zgyro;
packet1.xmag = packet_in.xmag;
packet1.ymag = packet_in.ymag;
packet1.zmag = packet_in.zmag;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_scaled_imu3_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_scaled_imu3_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_scaled_imu3_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
mavlink_msg_scaled_imu3_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_scaled_imu3_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
mavlink_msg_scaled_imu3_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_scaled_imu3_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_scaled_imu3_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
mavlink_msg_scaled_imu3_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
@ -5727,6 +5779,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink @@ -5727,6 +5779,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
mavlink_test_serial_control(system_id, component_id, last_msg);
mavlink_test_gps_rtk(system_id, component_id, last_msg);
mavlink_test_gps2_rtk(system_id, component_id, last_msg);
mavlink_test_scaled_imu3(system_id, component_id, last_msg);
mavlink_test_data_transmission_handshake(system_id, component_id, last_msg);
mavlink_test_encapsulated_data(system_id, component_id, last_msg);
mavlink_test_distance_sensor(system_id, component_id, last_msg);

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
Unescape View File

@ -5,7 +5,7 @@ @@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Feb 27 15:48:05 2015"
#define MAVLINK_BUILD_DATE "Wed Mar 4 19:28:37 2015"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

38
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_conversions.h
Unescape View File

@ -25,6 +25,7 @@ @@ -25,6 +25,7 @@
* protocol as widely as possible.
*
* @author James Goppert
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
@ -135,16 +136,45 @@ MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float y @@ -135,16 +136,45 @@ MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float y
/**
* Converts a rotation matrix to a quaternion
* Reference:
* - Shoemake, Quaternions,
* http://www.cs.ucr.edu/~vbz/resources/quatut.pdf
*
* @param dcm a 3x3 rotation matrix
* @param quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0)
*/
MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4])
{
quaternion[0] = 0.5f * sqrtf(1 + dcm[0][0] + dcm[1][1] + dcm[2][2]);
quaternion[1] = 0.5f * sqrtf(1 + dcm[0][0] - dcm[1][1] - dcm[2][2]);
quaternion[2] = 0.5f * sqrtf(1 - dcm[0][0] + dcm[1][1] - dcm[2][2]);
quaternion[3] = 0.5f * sqrtf(1 - dcm[0][0] - dcm[1][1] + dcm[2][2]);
float tr = dcm[0][0] + dcm[1][1] + dcm[2][2];
if (tr > 0.0f) {
float s = sqrtf(tr + 1.0f);
quaternion[0] = s * 0.5f;
s = 0.5f / s;
quaternion[1] = (dcm[2][1] - dcm[1][2]) * s;
quaternion[2] = (dcm[0][2] - dcm[2][0]) * s;
quaternion[3] = (dcm[1][0] - dcm[0][1]) * s;
} else {
/* Find maximum diagonal element in dcm
* store index in dcm_i */
int dcm_i = 0;
int i;
for (i = 1; i < 3; i++) {
if (dcm[i][i] > dcm[dcm_i][dcm_i]) {
dcm_i = i;
}
}
int dcm_j = (dcm_i + 1) % 3;
int dcm_k = (dcm_i + 2) % 3;
float s = sqrtf((dcm[dcm_i][dcm_i] - dcm[dcm_j][dcm_j] -
dcm[dcm_k][dcm_k]) + 1.0f);
quaternion[dcm_i + 1] = s * 0.5f;
s = 0.5f / s;
quaternion[dcm_j + 1] = (dcm[dcm_i][dcm_j] + dcm[dcm_j][dcm_i]) * s;
quaternion[dcm_k + 1] = (dcm[dcm_k][dcm_i] + dcm[dcm_i][dcm_k]) * s;
quaternion[0] = (dcm[dcm_k][dcm_j] - dcm[dcm_j][dcm_k]) * s;
}
}

12
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
Unescape View File

@ -77,7 +77,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui @@ -77,7 +77,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
msg->len = length;
msg->sysid = system_id;
msg->compid = component_id;
// One sequence number per component
// One sequence number per channel
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
msg->checksum = crc_calculate(((const uint8_t*)(msg)) + 3, MAVLINK_CORE_HEADER_LEN);
@ -338,12 +338,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa @@ -338,12 +338,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
status->parse_error++;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
break;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
mavlink_start_checksum(rxmsg);
}
}
}
#endif
rxmsg->msgid = c;
mavlink_update_checksum(rxmsg, c);
@ -429,6 +424,9 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa @@ -429,6 +424,9 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
status->packet_rx_success_count++;
}
r_message->len = rxmsg->len; // Provide visibility on how far we are into current msg
r_mavlink_status->parse_state = status->parse_state;
r_mavlink_status->packet_idx = status->packet_idx;
r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
r_mavlink_status->packet_rx_drop_count = status->parse_error;

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