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MAVLink: removed the need for Mavlink_compat.h 

we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
master
Andrew Tridgell 13 years ago
parent
2a7b298bbc
commit
dc47074dbd
8 changed files with 118 additions and 176 deletions
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  1. 66
      APMrover2/GCS_Mavlink.pde
  2. 64
      ArduCopter/GCS_Mavlink.pde
  3. 66
      ArduPlane/GCS_Mavlink.pde
  4. 2
      ArduPlane/commands_logic.pde
  5. 2
      ArduPlane/system.pde
  6. 18
      libraries/GCS_MAVLink/GCS_MAVLink.cpp
  7. 3
      libraries/GCS_MAVLink/GCS_MAVLink.h
  8. 73
      libraries/GCS_MAVLink/Mavlink_compat.h

66
APMrover2/GCS_Mavlink.pde
Unescape View File

@ -1,7 +1,5 @@ @@ -1,7 +1,5 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Mavlink_compat.h"
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
@ -476,7 +474,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan) @@ -476,7 +474,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan)
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_waypoint_current_send(
mavlink_msg_mission_current_send(
chan,
g.command_index);
}
@ -582,7 +580,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, @@ -582,7 +580,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
break;
@ -596,7 +594,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, @@ -596,7 +594,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else if (gcs3.initialised) {
@ -1108,16 +1106,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1108,16 +1106,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
{
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(
mavlink_msg_mission_count_send(
chan,msg->sysid,
msg->compid,
g.command_total + 1); // + home
@ -1132,15 +1130,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1132,15 +1130,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
// Check if sending waypiont
//if (!waypoint_sending) break;
// 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request. DEW
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
@ -1222,7 +1220,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1222,7 +1220,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
mavlink_msg_waypoint_send(chan,msg->sysid,
mavlink_msg_mission_item_send(chan,msg->sysid,
msg->compid,
packet.seq,
frame,
@ -1243,11 +1241,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1243,11 +1241,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
case MAVLINK_MSG_ID_WAYPOINT_ACK:
case MAVLINK_MSG_ID_MISSION_ACK:
{
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
mavlink_mission_ack_t packet;
mavlink_msg_mission_ack_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// turn off waypoint send
@ -1270,11 +1268,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1270,11 +1268,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
mavlink_mission_clear_all_t packet;
mavlink_msg_mission_clear_all_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
// clear all commands
@ -1283,29 +1281,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1283,29 +1281,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// note that we don't send multiple acks, as otherwise a
// GCS that is doing a clear followed by a set may see
// the additional ACKs as ACKs of the set operations
mavlink_msg_waypoint_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
mavlink_mission_set_current_t packet;
mavlink_msg_mission_set_current_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// set current command
change_command(packet.seq);
mavlink_msg_waypoint_current_send(chan, g.command_index);
mavlink_msg_mission_current_send(chan, g.command_index);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT:
case MAVLINK_MSG_ID_MISSION_COUNT:
{
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// start waypoint receiving
@ -1334,13 +1332,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1334,13 +1332,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
// XXX receive a WP from GCS and store in EEPROM
case MAVLINK_MSG_ID_WAYPOINT:
case MAVLINK_MSG_ID_MISSION_ITEM:
{
// decode
mavlink_waypoint_t packet;
mavlink_mission_item_t packet;
uint8_t result = MAV_MISSION_ACCEPTED;
mavlink_msg_waypoint_decode(msg, &packet);
mavlink_msg_mission_item_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// defaults
@ -1467,7 +1465,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1467,7 +1465,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
set_guided_WP();
// verify we recevied the command
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1494,7 +1492,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1494,7 +1492,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_request_i++;
if (waypoint_request_i > (uint16_t)g.command_total){
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1510,7 +1508,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1510,7 +1508,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mission_failed:
// we are rejecting the mission/waypoint
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1893,7 +1891,7 @@ GCS_MAVLINK::queued_waypoint_send() @@ -1893,7 +1891,7 @@ GCS_MAVLINK::queued_waypoint_send()
{
if (waypoint_receiving &&
waypoint_request_i <= (unsigned)g.command_total) {
mavlink_msg_waypoint_request_send(
mavlink_msg_mission_request_send(
chan,
waypoint_dest_sysid,
waypoint_dest_compid,

64
ArduCopter/GCS_Mavlink.pde
Unescape View File

@ -1,7 +1,5 @@ @@ -1,7 +1,5 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Mavlink_compat.h"
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
@ -450,7 +448,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan) @@ -450,7 +448,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan)
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_waypoint_current_send(
mavlink_msg_mission_current_send(
chan,
(uint16_t)g.command_index);
}
@ -552,7 +550,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, @@ -552,7 +550,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
break;
@ -566,7 +564,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, @@ -566,7 +564,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else {
@ -1107,18 +1105,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1107,18 +1105,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
*/
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: //43
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: //43
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint request list"));
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(
mavlink_msg_mission_count_send(
chan,msg->sysid,
msg->compid,
g.command_total); // includes home
@ -1132,7 +1130,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1132,7 +1130,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_WAYPOINT_REQUEST: // 40
case MAVLINK_MSG_ID_MISSION_REQUEST: // 40
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint request"));
@ -1141,8 +1139,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1141,8 +1139,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request. DEW
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
@ -1238,7 +1236,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1238,7 +1236,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
mavlink_msg_waypoint_send(chan,msg->sysid,
mavlink_msg_mission_item_send(chan,msg->sysid,
msg->compid,
packet.seq,
frame,
@ -1258,13 +1256,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1258,13 +1256,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_ACK: //47
case MAVLINK_MSG_ID_MISSION_ACK: //47
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint ack"));
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
mavlink_mission_ack_t packet;
mavlink_msg_mission_ack_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// turn off waypoint send
@ -1289,13 +1287,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1289,13 +1287,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: // 45
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: // 45
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint clear all"));
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
mavlink_mission_clear_all_t packet;
mavlink_msg_mission_clear_all_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
// clear all waypoints
@ -1304,34 +1302,34 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1304,34 +1302,34 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// send acknowledgement 3 times to makes sure it is received
for (int i=0;i<3;i++)
mavlink_msg_waypoint_ack_send(chan, msg->sysid, msg->compid, type);
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, type);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: // 41
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // 41
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint set current"));
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
mavlink_mission_set_current_t packet;
mavlink_msg_mission_set_current_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// set current command
change_command(packet.seq);
mavlink_msg_waypoint_current_send(chan, g.command_index);
mavlink_msg_mission_current_send(chan, g.command_index);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT: // 44
case MAVLINK_MSG_ID_MISSION_COUNT: // 44
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint count"));
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// start waypoint receiving
@ -1360,11 +1358,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1360,11 +1358,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
// XXX receive a WP from GCS and store in EEPROM
case MAVLINK_MSG_ID_WAYPOINT: //39
case MAVLINK_MSG_ID_MISSION_ITEM: //39
{
// decode
mavlink_waypoint_t packet;
mavlink_msg_waypoint_decode(msg, &packet);
mavlink_mission_item_t packet;
mavlink_msg_mission_item_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// defaults
@ -1484,7 +1482,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1484,7 +1482,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
set_next_WP(&guided_WP);
// verify we recevied the command
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1512,7 +1510,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1512,7 +1510,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (waypoint_request_i == (uint16_t)g.command_total){
uint8_t type = 0; // ok (0), error(1)
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1910,7 +1908,7 @@ GCS_MAVLINK::queued_waypoint_send() @@ -1910,7 +1908,7 @@ GCS_MAVLINK::queued_waypoint_send()
{
if (waypoint_receiving &&
waypoint_request_i < (unsigned)g.command_total) {
mavlink_msg_waypoint_request_send(
mavlink_msg_mission_request_send(
chan,
waypoint_dest_sysid,
waypoint_dest_compid,

66
ArduPlane/GCS_Mavlink.pde
Unescape View File

@ -1,7 +1,5 @@ @@ -1,7 +1,5 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Mavlink_compat.h"
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
@ -446,7 +444,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan) @@ -446,7 +444,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan)
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_waypoint_current_send(
mavlink_msg_mission_current_send(
chan,
g.command_index);
}
@ -552,7 +550,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, @@ -552,7 +550,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
break;
@ -566,7 +564,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, @@ -566,7 +564,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else if (gcs3.initialised) {
@ -1078,16 +1076,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1078,16 +1076,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
{
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(
mavlink_msg_mission_count_send(
chan,msg->sysid,
msg->compid,
g.command_total + 1); // + home
@ -1102,15 +1100,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1102,15 +1100,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
// Check if sending waypiont
//if (!waypoint_sending) break;
// 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request. DEW
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
@ -1192,7 +1190,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1192,7 +1190,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
mavlink_msg_waypoint_send(chan,msg->sysid,
mavlink_msg_mission_item_send(chan,msg->sysid,
msg->compid,
packet.seq,
frame,
@ -1213,11 +1211,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1213,11 +1211,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
case MAVLINK_MSG_ID_WAYPOINT_ACK:
case MAVLINK_MSG_ID_MISSION_ACK:
{
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
mavlink_mission_ack_t packet;
mavlink_msg_mission_ack_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// turn off waypoint send
@ -1240,11 +1238,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1240,11 +1238,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
mavlink_mission_clear_all_t packet;
mavlink_msg_mission_clear_all_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
// clear all commands
@ -1253,29 +1251,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1253,29 +1251,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// note that we don't send multiple acks, as otherwise a
// GCS that is doing a clear followed by a set may see
// the additional ACKs as ACKs of the set operations
mavlink_msg_waypoint_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
mavlink_mission_set_current_t packet;
mavlink_msg_mission_set_current_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// set current command
change_command(packet.seq);
mavlink_msg_waypoint_current_send(chan, g.command_index);
mavlink_msg_mission_current_send(chan, g.command_index);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT:
case MAVLINK_MSG_ID_MISSION_COUNT:
{
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// start waypoint receiving
@ -1304,13 +1302,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1304,13 +1302,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
// XXX receive a WP from GCS and store in EEPROM
case MAVLINK_MSG_ID_WAYPOINT:
case MAVLINK_MSG_ID_MISSION_ITEM:
{
// decode
mavlink_waypoint_t packet;
mavlink_mission_item_t packet;
uint8_t result = MAV_MISSION_ACCEPTED;
mavlink_msg_waypoint_decode(msg, &packet);
mavlink_msg_mission_item_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// defaults
@ -1437,7 +1435,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1437,7 +1435,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
set_guided_WP();
// verify we recevied the command
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1464,7 +1462,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1464,7 +1462,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_request_i++;
if (waypoint_request_i > (uint16_t)g.command_total){
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1480,7 +1478,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1480,7 +1478,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mission_failed:
// we are rejecting the mission/waypoint
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1878,7 +1876,7 @@ GCS_MAVLINK::queued_waypoint_send() @@ -1878,7 +1876,7 @@ GCS_MAVLINK::queued_waypoint_send()
{
if (waypoint_receiving &&
waypoint_request_i <= (unsigned)g.command_total) {
mavlink_msg_waypoint_request_send(
mavlink_msg_mission_request_send(
chan,
waypoint_dest_sysid,
waypoint_dest_compid,

2
ArduPlane/commands_logic.pde
Unescape View File

@ -119,7 +119,7 @@ static void handle_process_do_command() @@ -119,7 +119,7 @@ static void handle_process_do_command()
// system to control the vehicle attitude and the attitude of various
// devices such as cameras.
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_NAV_ROI:
#if 0
// send the command to the camera mount
camera_mount.set_roi_cmd(&command_nav_queue);

2
ArduPlane/system.pde
Unescape View File

@ -191,7 +191,7 @@ static void init_ardupilot() @@ -191,7 +191,7 @@ static void init_ardupilot()
//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_FIXED_WING;
mavlink_system.type = MAV_TYPE_FIXED_WING;
rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override

18
libraries/GCS_MAVLink/GCS_MAVLink.cpp
Unescape View File

@ -29,3 +29,21 @@ uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid) @@ -29,3 +29,21 @@ uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t)
{
if (t == AP_PARAM_INT8) {
return MAVLINK_TYPE_INT8_T;
}
if (t == AP_PARAM_INT16) {
return MAVLINK_TYPE_INT16_T;
}
if (t == AP_PARAM_INT32) {
return MAVLINK_TYPE_INT32_T;
}
// treat any others as float
return MAVLINK_TYPE_FLOAT;
}

3
libraries/GCS_MAVLink/GCS_MAVLink.h
Unescape View File

@ -115,4 +115,7 @@ static inline int comm_get_txspace(mavlink_channel_t chan) @@ -115,4 +115,7 @@ static inline int comm_get_txspace(mavlink_channel_t chan)
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t);
#endif // GCS_MAVLink_h

73
libraries/GCS_MAVLink/Mavlink_compat.h
Unescape View File

@ -1,73 +0,0 @@ @@ -1,73 +0,0 @@
/*
compatibility header during transition to MAVLink 1.0
*/
// in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these
// mappings once we are not trying to support both protocols
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT MAVLINK_MSG_ID_MISSION_CURRENT
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN MAVLINK_MSG_ID_MISSION_CURRENT_LEN
#define mavlink_msg_waypoint_current_send mavlink_msg_mission_current_send
#define mavlink_msg_waypoint_current_decode mavlink_msg_mission_current_decode
#define MAVLINK_MSG_ID_WAYPOINT_COUNT MAVLINK_MSG_ID_MISSION_COUNT
#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN MAVLINK_MSG_ID_MISSION_COUNT_LEN
#define mavlink_msg_waypoint_count_send mavlink_msg_mission_count_send
#define mavlink_msg_waypoint_count_decode mavlink_msg_mission_count_decode
#define mavlink_waypoint_count_t mavlink_mission_count_t
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST MAVLINK_MSG_ID_MISSION_REQUEST
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LEN
#define mavlink_msg_waypoint_request_send mavlink_msg_mission_request_send
#define mavlink_msg_waypoint_request_decode mavlink_msg_mission_request_decode
#define mavlink_waypoint_request_t mavlink_mission_request_t
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST MAVLINK_MSG_ID_MISSION_REQUEST_LIST
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN
#define mavlink_msg_waypoint_request_list_send mavlink_msg_mission_request_list_send
#define mavlink_msg_waypoint_request_list_decode mavlink_msg_mission_request_list_decode
#define mavlink_waypoint_request_list_t mavlink_mission_request_list_t
#define MAVLINK_MSG_ID_WAYPOINT MAVLINK_MSG_ID_MISSION_ITEM
#define MAVLINK_MSG_ID_WAYPOINT_LEN MAVLINK_MSG_ID_MISSION_ITEM_LEN
#define mavlink_msg_waypoint_send mavlink_msg_mission_item_send
#define mavlink_msg_waypoint_decode mavlink_msg_mission_item_decode
#define mavlink_waypoint_t mavlink_mission_item_t
#define MAVLINK_MSG_ID_WAYPOINT_ACK MAVLINK_MSG_ID_MISSION_ACK
#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN MAVLINK_MSG_ID_MISSION_ACK_LEN
#define mavlink_msg_waypoint_ack_send mavlink_msg_mission_ack_send
#define mavlink_msg_waypoint_ack_decode mavlink_msg_mission_ack_decode
#define mavlink_waypoint_ack_t mavlink_mission_ack_t
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL MAVLINK_MSG_ID_MISSION_CLEAR_ALL
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN
#define mavlink_msg_waypoint_clear_all_send mavlink_msg_mission_clear_all_send
#define mavlink_msg_waypoint_clear_all_decode mavlink_msg_mission_clear_all_decode
#define mavlink_waypoint_clear_all_t mavlink_mission_clear_all_t
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT MAVLINK_MSG_ID_MISSION_SET_CURRENT
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN
#define mavlink_msg_waypoint_set_current_send mavlink_msg_mission_set_current_send
#define mavlink_msg_waypoint_set_current_decode mavlink_msg_mission_set_current_decode
#define mavlink_waypoint_set_current_t mavlink_mission_set_current_t
#define MAV_CMD_DO_SET_ROI MAV_CMD_NAV_ROI
static uint8_t mav_var_type(enum ap_var_type t)
{
if (t == AP_PARAM_INT8) {
return MAVLINK_TYPE_INT8_T;
}
if (t == AP_PARAM_INT16) {
return MAVLINK_TYPE_INT16_T;
}
if (t == AP_PARAM_INT32) {
return MAVLINK_TYPE_INT32_T;
}
// treat any others as float
return MAVLINK_TYPE_FLOAT;
}
#define MAV_FIXED_WING MAV_TYPE_FIXED_WING
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