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MAVLink: Update to version 2 compaat API

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This commit is contained in:
Lorenz Meier
2016-05-14 14:17:30 +02:00
parent c6aa1b1efb
commit 0a597d0d62
9 changed files with 144 additions and 133 deletions
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76
src/modules/mavlink/mavlink_messages.cpp
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -409,7 +409,7 @@ protected:
strncpy(msg.text, (const char *)mavlink_log.text, sizeof(msg.text));
msg.text[sizeof(msg.text) - 1] = '\0';
_mavlink->send_message(MAVLINK_MSG_ID_STATUSTEXT, &msg);
mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
// TODO: the logging doesn't work on Snapdragon yet because of file paths.
#ifndef __PX4_POSIX_EAGLE
@@ -537,7 +537,7 @@ protected:
msg.param6 = cmd.param6;
msg.param7 = cmd.param7;
_mavlink->send_message(MAVLINK_MSG_ID_COMMAND_LONG, &msg);
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg);
}
}
}
@@ -623,7 +623,7 @@ protected:
msg.errors_count3 = 0;
msg.errors_count4 = 0;
_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);
mavlink_msg_sys_status_send_struct(_mavlink->get_channel(), &msg);
/* battery status message with higher resolution */
mavlink_battery_status_t bat_msg = {};
@@ -643,7 +643,7 @@ protected:
}
}
_mavlink->send_message(MAVLINK_MSG_ID_BATTERY_STATUS, &bat_msg);
mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg);
}
}
};
@@ -749,7 +749,7 @@ protected:
msg.temperature = sensor.baro_temp_celcius[0];
msg.fields_updated = fields_updated;
_mavlink->send_message(MAVLINK_MSG_ID_HIGHRES_IMU, &msg);
mavlink_msg_highres_imu_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -813,7 +813,7 @@ protected:
msg.pitchspeed = att.pitchspeed;
msg.yawspeed = att.yawspeed;
_mavlink->send_message(MAVLINK_MSG_ID_ATTITUDE, &msg);
mavlink_msg_attitude_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -877,7 +877,7 @@ protected:
msg.pitchspeed = att.pitchspeed;
msg.yawspeed = att.yawspeed;
_mavlink->send_message(MAVLINK_MSG_ID_ATTITUDE_QUATERNION, &msg);
mavlink_msg_attitude_quaternion_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -983,7 +983,7 @@ protected:
}
msg.climb = -pos.vel_d;
_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
mavlink_msg_vfr_hud_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1049,7 +1049,7 @@ protected:
msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
msg.satellites_visible = gps.satellites_used;
_mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg);
mavlink_msg_gps_raw_int_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1095,7 +1095,7 @@ protected:
msg.time_boot_ms = hrt_absolute_time() / 1000;
msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
_mavlink->send_message(MAVLINK_MSG_ID_SYSTEM_TIME, &msg);
mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg);
}
};
@@ -1137,7 +1137,7 @@ protected:
msg.tc1 = 0;
msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds
_mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &msg);
mavlink_msg_timesync_send_struct(_mavlink->get_channel(), &msg);
}
};
@@ -1204,7 +1204,7 @@ protected:
msg.flags = pos.flags;
msg.squawk = pos.squawk;
_mavlink->send_message(MAVLINK_MSG_ID_ADSB_VEHICLE, &msg);
mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1263,7 +1263,7 @@ protected:
/* ensure that only active trigger events are sent */
if (trigger.timestamp > 0) {
_mavlink->send_message(MAVLINK_MSG_ID_CAMERA_TRIGGER, &msg);
mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
}
}
}
@@ -1337,7 +1337,7 @@ protected:
msg.vz = pos.vel_d * 100.0f;
msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
_mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, &msg);
mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1401,7 +1401,7 @@ protected:
vmsg.pitch = rpy(1);
vmsg.yaw = rpy(2);
_mavlink->send_message(MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, &vmsg);
mavlink_msg_vision_position_estimate_send_struct(_mavlink->get_channel(), &vmsg);
}
}
};
@@ -1463,7 +1463,7 @@ protected:
msg.vy = pos.vy;
msg.vz = pos.vz;
_mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED, &msg);
mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1536,7 +1536,7 @@ protected:
msg.covariance[11] = est.timeout_flags;
memcpy(msg.covariance, est.covariances, sizeof(est.covariances));
_mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, &msg);
mavlink_msg_local_position_ned_cov_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1591,7 +1591,7 @@ protected:
// To be added and filled
// mavlink_estimator_status_t msg = {};
//_mavlink->send_message(MAVLINK_MSG_ID_ESTIMATOR_STATUS, &msg);
//mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
mavlink_vibration_t msg = {};
@@ -1599,7 +1599,7 @@ protected:
msg.vibration_y = est.vibe[1];
msg.vibration_z = est.vibe[2];
_mavlink->send_message(MAVLINK_MSG_ID_VIBRATION, &msg);
mavlink_msg_vibration_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1662,7 +1662,7 @@ protected:
msg.y = mocap.y;
msg.z = mocap.z;
_mavlink->send_message(MAVLINK_MSG_ID_ATT_POS_MOCAP, &msg);
mavlink_msg_att_pos_mocap_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1735,7 +1735,7 @@ protected:
msg.approach_y = 0.0f;
msg.approach_z = 0.0f;
_mavlink->send_message(MAVLINK_MSG_ID_HOME_POSITION, &msg);
mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg);
}
}
}
@@ -1817,7 +1817,7 @@ protected:
msg.servo7_raw = act.output[6];
msg.servo8_raw = act.output[7];
_mavlink->send_message(MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, &msg);
mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -1910,7 +1910,7 @@ protected:
msg.controls[i] = att_ctrl.control[i];
}
_mavlink->send_message(MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, &msg);
mavlink_msg_actuator_control_target_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2076,7 +2076,7 @@ protected:
msg.mode = mavlink_base_mode;
msg.nav_mode = 0;
_mavlink->send_message(MAVLINK_MSG_ID_HIL_CONTROLS, &msg);
mavlink_msg_hil_controls_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2135,7 +2135,7 @@ protected:
msg.lon_int = pos_sp_triplet.current.lon * 1e7;
msg.alt = pos_sp_triplet.current.alt;
_mavlink->send_message(MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, &msg);
mavlink_msg_position_target_global_int_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2203,7 +2203,7 @@ protected:
msg.afy = pos_sp.acc_y;
msg.afz = pos_sp.acc_z;
_mavlink->send_message(MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, &msg);
mavlink_msg_position_target_local_ned_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2275,7 +2275,7 @@ protected:
msg.thrust = att_sp.thrust;
_mavlink->send_message(MAVLINK_MSG_ID_ATTITUDE_TARGET, &msg);
mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2355,7 +2355,7 @@ protected:
msg.rssi = (rc.channel_count > 0) ? rc.rssi : 0;
_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS, &msg);
mavlink_msg_rc_channels_send_struct(_mavlink->get_channel(), &msg);
/* send override message - harmless if connected to GCS, allows to connect a board to a Linux system */
/* http://mavlink.org/messages/common#RC_CHANNELS_OVERRIDE */
@@ -2371,7 +2371,7 @@ protected:
over.chan7_raw = msg.chan7_raw;
over.chan8_raw = msg.chan8_raw;
_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, &over);
mavlink_msg_rc_channels_override_send_struct(_mavlink->get_channel(), &over);
}
}
};
@@ -2440,7 +2440,7 @@ protected:
msg.buttons |= (manual.acro_switch << (shift * 4));
msg.buttons |= (manual.offboard_switch << (shift * 5));
_mavlink->send_message(MAVLINK_MSG_ID_MANUAL_CONTROL, &msg);
mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2508,7 +2508,7 @@ protected:
msg.time_delta_distance_us = flow.time_since_last_sonar_update;
msg.temperature = flow.gyro_temperature;
_mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, &msg);
mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2568,7 +2568,7 @@ protected:
msg.name[sizeof(msg.name) - 1] = '\0';
msg.value = debug.value;
_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
mavlink_msg_named_value_float_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2635,7 +2635,7 @@ protected:
msg.alt_error = _tecs_status.altitude_filtered - _tecs_status.altitudeSp;
msg.aspd_error = _tecs_status.airspeed_filtered - _tecs_status.airspeedSp;
_mavlink->send_message(MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, &msg);
mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2700,7 +2700,7 @@ protected:
msg.param6 = 0;
msg.param7 = 0;
_mavlink->send_message(MAVLINK_MSG_ID_COMMAND_LONG, &msg);
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg);
}
};
@@ -2783,7 +2783,7 @@ protected:
msg.current_distance = dist_sensor.current_distance * 100.0f; /* m to cm */
msg.covariance = dist_sensor.covariance;
_mavlink->send_message(MAVLINK_MSG_ID_DISTANCE_SENSOR, &msg);
mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -2877,7 +2877,7 @@ protected:
}
if (updated) {
_mavlink->send_message(MAVLINK_MSG_ID_EXTENDED_SYS_STATE, &_msg);
mavlink_msg_extended_sys_state_send_struct(_mavlink->get_channel(), &_msg);
}
}
};
@@ -2971,7 +2971,7 @@ protected:
msg.bottom_clearance = NAN;
}
_mavlink->send_message(MAVLINK_MSG_ID_ALTITUDE, &msg);
mavlink_msg_altitude_send_struct(_mavlink->get_channel(), &msg);
}
}
};