GCS_MAVLink: re-generate with updated upstream mavlink

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 "Tue Nov 25 10:42:23 2014"
+#define MAVLINK_BUILD_DATE "Wed Dec  3 09:05:50 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 "Tue Nov 25 10:42:23 2014"
+#define MAVLINK_BUILD_DATE "Wed Dec  3 09:05:50 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

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

@@ -45,13 +45,13 @@ MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float d
     double cSq = c * c;
     double dSq = d * d;
     dcm[0][0] = aSq + bSq - cSq - dSq;
-    dcm[0][1] = 2.0 * (b * c - a * d);
+    dcm[0][1] = 2 * (b * c - a * d);
-    dcm[0][2] = 2.0 * (a * c + b * d);
+    dcm[0][2] = 2 * (a * c + b * d);
-    dcm[1][0] = 2.0 * (b * c + a * d);
+    dcm[1][0] = 2 * (b * c + a * d);
     dcm[1][1] = aSq - bSq + cSq - dSq;
-    dcm[1][2] = 2.0 * (c * d - a * b);
+    dcm[1][2] = 2 * (c * d - a * b);
-    dcm[2][0] = 2.0 * (b * d - a * c);
+    dcm[2][0] = 2 * (b * d - a * c);
-    dcm[2][1] = 2.0 * (a * b + c * d);
+    dcm[2][1] = 2 * (a * b + c * d);
     dcm[2][2] = aSq - bSq - cSq + dSq;
 }
 
@@ -116,12 +116,12 @@ MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float
  */
 MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
 {
-    double cosPhi_2 = cos((double)roll / 2.0);
+    float cosPhi_2 = cosf(roll / 2);
-    double sinPhi_2 = sin((double)roll / 2.0);
+    float sinPhi_2 = sinf(roll / 2);
-    double cosTheta_2 = cos((double)pitch / 2.0);
+    float cosTheta_2 = cosf(pitch / 2);
-    double sinTheta_2 = sin((double)pitch / 2.0);
+    float sinTheta_2 = sinf(pitch / 2);
-    double cosPsi_2 = cos((double)yaw / 2.0);
+    float cosPsi_2 = cosf(yaw / 2);
-    double sinPsi_2 = sin((double)yaw / 2.0);
+    float sinPsi_2 = sinf(yaw / 2);
     quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
             sinPhi_2 * sinTheta_2 * sinPsi_2);
     quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
@@ -141,14 +141,10 @@ MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float y
  */
 MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4])
 {
-    quaternion[0] = (0.5 * sqrt(1.0 +
+    quaternion[0] = 0.5f * sqrtf(1 + dcm[0][0] + dcm[1][1] + dcm[2][2]);
-            (double)(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[1] = (0.5 * sqrt(1.0 +
+    quaternion[2] = 0.5f * sqrtf(1 - dcm[0][0] + dcm[1][1] - dcm[2][2]);
-            (double)(dcm[0][0] - dcm[1][1] - dcm[2][2])));
+    quaternion[3] = 0.5f * sqrtf(1 - dcm[0][0] - dcm[1][1] + dcm[2][2]);
-    quaternion[2] = (0.5 * sqrt(1.0 +
-            (double)(-dcm[0][0] + dcm[1][1] - dcm[2][2])));
-    quaternion[3] = (0.5 * sqrt(1.0 +
-            (double)(-dcm[0][0] - dcm[1][1] + dcm[2][2])));
 }
 
 
@@ -162,12 +158,12 @@ MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quate
  */
 MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3])
 {
-    double cosPhi = cos(roll);
+    float cosPhi = cosf(roll);
-    double sinPhi = sin(roll);
+    float sinPhi = sinf(roll);
-    double cosThe = cos(pitch);
+    float cosThe = cosf(pitch);
-    double sinThe = sin(pitch);
+    float sinThe = sinf(pitch);
-    double cosPsi = cos(yaw);
+    float cosPsi = cosf(yaw);
-    double sinPsi = sin(yaw);
+    float sinPsi = sinf(yaw);
 
     dcm[0][0] = cosThe * cosPsi;
     dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;

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

@@ -8,6 +8,13 @@
 #include <inttypes.h>
 #endif
 
+// Macro to define packed structures
+#ifdef __GNUC__
+  #define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))
+#else
+  #define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
+#endif
+
 #ifndef MAVLINK_MAX_PAYLOAD_LEN
 // it is possible to override this, but be careful!
 #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
@@ -33,7 +40,6 @@
 
 #define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
 
-#pragma pack(push, 1)
 
 /**
  * Old-style 4 byte param union
@@ -44,6 +50,7 @@
  * and re-instanted on the receiving side using the
  * native type as well.
  */
+MAVPACKED(
 typedef struct param_union {
 	union {
 		float param_float;
@@ -56,7 +63,7 @@ typedef struct param_union {
 		uint8_t bytes[4];
 	};
 	uint8_t type;
-} mavlink_param_union_t;
+}) mavlink_param_union_t;
 
 
 /**
@@ -72,6 +79,7 @@ typedef struct param_union {
  * which should be the same as gcc on little-endian arm. When using shifts/masks the value will be treated as a 64 bit unsigned number,
  * and the bits pulled out using the shifts/masks.
 */
+MAVPACKED(
 typedef union {
     struct {
         uint8_t is_double:1;
@@ -89,17 +97,19 @@ typedef union {
         };
     };
     uint8_t data[8];
-} mavlink_param_union_double_t;
+}) mavlink_param_union_double_t;
 
 /**
  * This structure is required to make the mavlink_send_xxx convenience functions
  * work, as it tells the library what the current system and component ID are.
  */
+MAVPACKED(
 typedef struct __mavlink_system {
     uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
     uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
-} mavlink_system_t;
+}) mavlink_system_t;
 
+MAVPACKED(
 typedef struct __mavlink_message {
 	uint16_t checksum; ///< sent at end of packet
 	uint8_t magic;   ///< protocol magic marker
@@ -109,14 +119,14 @@ typedef struct __mavlink_message {
 	uint8_t compid;  ///< ID of the message sender component
 	uint8_t msgid;   ///< ID of message in payload
 	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
-} mavlink_message_t;
+}) mavlink_message_t;
 
+MAVPACKED(
 typedef struct __mavlink_extended_message {
        mavlink_message_t base_msg;
        int32_t extended_payload_len;   ///< Length of extended payload if any
        uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
-} mavlink_extended_message_t;
+}) mavlink_extended_message_t;
-#pragma pack(pop)
 
 typedef enum {
 	MAVLINK_TYPE_CHAR     = 0,