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GCS_MAVLink: generate after adding LANDING_TARGET

master
Randy Mackay 10 years ago
parent
94aec19336
commit
835a203566
4 changed files with 360 additions and 6 deletions
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  1. 6
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
  2. 7
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
  3. 305
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_landing_target.h
  4. 48
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h

6
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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7
libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
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305
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_landing_target.h
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@ -0,0 +1,305 @@ @@ -0,0 +1,305 @@
// MESSAGE LANDING_TARGET PACKING
#define MAVLINK_MSG_ID_LANDING_TARGET 149
typedef struct __mavlink_landing_target_t
{
float angle_x; ///< X-axis angular offset (in radians) of the target from the center of the image
float angle_y; ///< Y-axis angular offset (in radians) of the target from the center of the image
float distance; ///< Distance to the target from the vehicle in meters
uint8_t target_num; ///< The ID of the target if multiple targets are present
uint8_t frame; ///< MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
} mavlink_landing_target_t;
#define MAVLINK_MSG_ID_LANDING_TARGET_LEN 14
#define MAVLINK_MSG_ID_149_LEN 14
#define MAVLINK_MSG_ID_LANDING_TARGET_CRC 255
#define MAVLINK_MSG_ID_149_CRC 255
#define MAVLINK_MESSAGE_INFO_LANDING_TARGET { \
"LANDING_TARGET", \
5, \
{ { "angle_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_landing_target_t, angle_x) }, \
{ "angle_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_landing_target_t, angle_y) }, \
{ "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_landing_target_t, distance) }, \
{ "target_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_landing_target_t, target_num) }, \
{ "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_landing_target_t, frame) }, \
} \
}
/**
* @brief Pack a landing_target 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 target_num The ID of the target if multiple targets are present
* @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
* @param angle_x X-axis angular offset (in radians) of the target from the center of the image
* @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
* @param distance Distance to the target from the vehicle in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_landing_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
_mav_put_float(buf, 0, angle_x);
_mav_put_float(buf, 4, angle_y);
_mav_put_float(buf, 8, distance);
_mav_put_uint8_t(buf, 12, target_num);
_mav_put_uint8_t(buf, 13, frame);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#else
mavlink_landing_target_t packet;
packet.angle_x = angle_x;
packet.angle_y = angle_y;
packet.distance = distance;
packet.target_num = target_num;
packet.frame = frame;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
}
/**
* @brief Pack a landing_target 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 target_num The ID of the target if multiple targets are present
* @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
* @param angle_x X-axis angular offset (in radians) of the target from the center of the image
* @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
* @param distance Distance to the target from the vehicle in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_landing_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_num,uint8_t frame,float angle_x,float angle_y,float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
_mav_put_float(buf, 0, angle_x);
_mav_put_float(buf, 4, angle_y);
_mav_put_float(buf, 8, distance);
_mav_put_uint8_t(buf, 12, target_num);
_mav_put_uint8_t(buf, 13, frame);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#else
mavlink_landing_target_t packet;
packet.angle_x = angle_x;
packet.angle_y = angle_y;
packet.distance = distance;
packet.target_num = target_num;
packet.frame = frame;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
}
/**
* @brief Encode a landing_target 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 landing_target C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_landing_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target)
{
return mavlink_msg_landing_target_pack(system_id, component_id, msg, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance);
}
/**
* @brief Encode a landing_target 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 landing_target C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_landing_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target)
{
return mavlink_msg_landing_target_pack_chan(system_id, component_id, chan, msg, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance);
}
/**
* @brief Send a landing_target message
* @param chan MAVLink channel to send the message
*
* @param target_num The ID of the target if multiple targets are present
* @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
* @param angle_x X-axis angular offset (in radians) of the target from the center of the image
* @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
* @param distance Distance to the target from the vehicle in meters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_landing_target_send(mavlink_channel_t chan, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
_mav_put_float(buf, 0, angle_x);
_mav_put_float(buf, 4, angle_y);
_mav_put_float(buf, 8, distance);
_mav_put_uint8_t(buf, 12, target_num);
_mav_put_uint8_t(buf, 13, frame);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
#else
mavlink_landing_target_t packet;
packet.angle_x = angle_x;
packet.angle_y = angle_y;
packet.distance = distance;
packet.target_num = target_num;
packet.frame = frame;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)&packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)&packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_LANDING_TARGET_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_landing_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, angle_x);
_mav_put_float(buf, 4, angle_y);
_mav_put_float(buf, 8, distance);
_mav_put_uint8_t(buf, 12, target_num);
_mav_put_uint8_t(buf, 13, frame);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
#else
mavlink_landing_target_t *packet = (mavlink_landing_target_t *)msgbuf;
packet->angle_x = angle_x;
packet->angle_y = angle_y;
packet->distance = distance;
packet->target_num = target_num;
packet->frame = frame;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE LANDING_TARGET UNPACKING
/**
* @brief Get field target_num from landing_target message
*
* @return The ID of the target if multiple targets are present
*/
static inline uint8_t mavlink_msg_landing_target_get_target_num(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 12);
}
/**
* @brief Get field frame from landing_target message
*
* @return MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
*/
static inline uint8_t mavlink_msg_landing_target_get_frame(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 13);
}
/**
* @brief Get field angle_x from landing_target message
*
* @return X-axis angular offset (in radians) of the target from the center of the image
*/
static inline float mavlink_msg_landing_target_get_angle_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field angle_y from landing_target message
*
* @return Y-axis angular offset (in radians) of the target from the center of the image
*/
static inline float mavlink_msg_landing_target_get_angle_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field distance from landing_target message
*
* @return Distance to the target from the vehicle in meters
*/
static inline float mavlink_msg_landing_target_get_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Decode a landing_target message into a struct
*
* @param msg The message to decode
* @param landing_target C-struct to decode the message contents into
*/
static inline void mavlink_msg_landing_target_decode(const mavlink_message_t* msg, mavlink_landing_target_t* landing_target)
{
#if MAVLINK_NEED_BYTE_SWAP
landing_target->angle_x = mavlink_msg_landing_target_get_angle_x(msg);
landing_target->angle_y = mavlink_msg_landing_target_get_angle_y(msg);
landing_target->distance = mavlink_msg_landing_target_get_distance(msg);
landing_target->target_num = mavlink_msg_landing_target_get_target_num(msg);
landing_target->frame = mavlink_msg_landing_target_get_frame(msg);
#else
memcpy(landing_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LANDING_TARGET_LEN);
#endif
}

48
libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
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@ -5364,6 +5364,53 @@ static void mavlink_test_autopilot_version(uint8_t system_id, uint8_t component_ @@ -5364,6 +5364,53 @@ static void mavlink_test_autopilot_version(uint8_t system_id, uint8_t component_
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_landing_target(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_landing_target_t packet_in = {
17.0,45.0,73.0,41,108
};
mavlink_landing_target_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.angle_x = packet_in.angle_x;
packet1.angle_y = packet_in.angle_y;
packet1.distance = packet_in.distance;
packet1.target_num = packet_in.target_num;
packet1.frame = packet_in.frame;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_landing_target_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_landing_target_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_landing_target_pack(system_id, component_id, &msg , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance );
mavlink_msg_landing_target_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_landing_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance );
mavlink_msg_landing_target_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_landing_target_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_landing_target_send(MAVLINK_COMM_1 , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance );
mavlink_msg_landing_target_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_vibration(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
@ -5842,6 +5889,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink @@ -5842,6 +5889,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
mavlink_test_actuator_control_target(system_id, component_id, last_msg);
mavlink_test_battery_status(system_id, component_id, last_msg);
mavlink_test_autopilot_version(system_id, component_id, last_msg);
mavlink_test_landing_target(system_id, component_id, last_msg);
mavlink_test_vibration(system_id, component_id, last_msg);
mavlink_test_v2_extension(system_id, component_id, last_msg);
mavlink_test_memory_vect(system_id, component_id, last_msg);

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