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53 lines
1.4 KiB
53 lines
1.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/// @file GCS_MAVLink.cpp |
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/* |
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This provides some support code and variables for MAVLink enabled sketches |
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This firmware is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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*/ |
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#include <AP_HAL.h> |
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#include <AP_Common.h> |
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#include <GCS_MAVLink.h> |
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#ifdef MAVLINK_SEPARATE_HELPERS |
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#include "include/mavlink/v1.0/mavlink_helpers.h" |
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#endif |
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AP_HAL::BetterStream *mavlink_comm_0_port; |
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AP_HAL::BetterStream *mavlink_comm_1_port; |
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mavlink_system_t mavlink_system = {7,1,0,0}; |
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uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid) |
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{ |
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if (sysid != mavlink_system.sysid) |
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return 1; |
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// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem |
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// If it is addressed to our system ID we assume it is for us |
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return 0; // no error |
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} |
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// return a MAVLink variable type given a AP_Param type |
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uint8_t mav_var_type(enum ap_var_type t) |
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{ |
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if (t == AP_PARAM_INT8) { |
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return MAVLINK_TYPE_INT8_T; |
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} |
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if (t == AP_PARAM_INT16) { |
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return MAVLINK_TYPE_INT16_T; |
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} |
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if (t == AP_PARAM_INT32) { |
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return MAVLINK_TYPE_INT32_T; |
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} |
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// treat any others as float |
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return MAVLINK_TYPE_FLOAT; |
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} |
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