release 2489

[Taranis / sky9x] Specific volume for beeps/wav/vario/background
[Taranis] New alarm when TELEMETRY lost/back
2013-06-18 05:15:39 +00:00 · 2013-06-17 17:21:36 +00:00 · 2013-06-17 11:17:50 +00:00 · 2013-06-17 06:42:31 +00:00 · 2013-06-16 22:40:22 +00:00 · 2013-06-16 19:26:48 +00:00
786 changed files with 193489 additions and 59561 deletions
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.ltk.core.refactoring.enable.project.refactoring.history=false
@@ -0,0 +1,222 @@
+/**
+ *******************************************************************************
+ * @file       CoOS.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      API header file of CooCox CoOS.
+ * @details    This file including all API functions's declare of CooCox CoOS.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+#ifndef _CCRTOS_H
+#define _CCRTOS_H
+#include "OsConfig.h"
+/*---------------------------- Type Define  ----------------------------------*/
+typedef signed   char      S8;              
+typedef unsigned char      U8;	
+typedef short              S16;
+typedef unsigned short     U16;
+typedef int                S32;
+typedef unsigned int       U32;
+typedef long long          S64;
+typedef unsigned long long U64;
+typedef unsigned char      BIT;
+typedef unsigned char      BOOL;
+typedef unsigned int       OS_STK;
+typedef U8                 OS_TID;
+typedef U8                 OS_TCID;
+typedef U8                 OS_MutexID;
+typedef U8                 OS_EventID;
+typedef U8                 OS_FlagID;
+typedef U8                 OS_MMID;
+typedef U8                 StatusType;
+typedef U16                OS_VER;
+typedef void               (*FUNCPtr)(void*);
+typedef void               (*vFUNCPtr)(void);
+
+
+/*---------------------------- Constant Define -------------------------------*/
+#ifndef Co_NULL
+#define Co_NULL          ((void *)0)
+#endif
+
+#ifndef Co_FALSE
+#define Co_FALSE         (0)
+#endif
+
+#ifndef Co_TRUE
+#define Co_TRUE          (1)
+#endif
+
+
+/*---------------------------- Error Codes   ---------------------------------*/
+#define E_CREATE_FAIL         (StatusType)-1
+#define E_OK                  (StatusType)0
+#define E_INVALID_ID          (StatusType)1
+#define E_INVALID_PARAMETER   (StatusType)2
+#define E_CALL                (StatusType)3
+#define E_TASK_WAITING        (StatusType)4
+#define E_TIMEOUT             (StatusType)5
+#define E_SEM_FULL            (StatusType)6
+#define E_MBOX_FULL           (StatusType)7
+#define E_QUEUE_FULL          (StatusType)8
+#define E_SEM_EMPTY           (StatusType)9
+#define E_MBOX_EMPTY          (StatusType)10
+#define E_QUEUE_EMPTY         (StatusType)11
+#define E_FLAG_NOT_READY      (StatusType)12
+#define E_ALREADY_IN_WAITING  (StatusType)13
+#define E_TASK_NOT_WAITING    (StatusType)14
+#define E_TASK_WAIT_OTHER     (StatusType)15
+#define E_EXCEED_MAX_NUM      (StatusType)16
+#define E_NOT_IN_DELAY_LIST   (StatusType)17
+#define E_SEV_REQ_FULL        (StatusType)18	
+#define E_NOT_FREE_ALL        (StatusType)19	
+#define E_PROTECTED_TASK      (StatusType)20 
+#define E_OS_IN_LOCK          (StatusType)21												
+
+
+/*---------------------------- Wait Opreation type  --------------------------*/
+#define OPT_WAIT_ALL          0         /*!< Wait for all flags.              */
+#define OPT_WAIT_ANY          1         /*!< Wait for any one of flags.       */
+#define OPT_WAIT_ONE          2         /*!< Waot for one flag.               */	
+
+
+/*---------------------------- Delete Opreation type  ------------------------*/
+#define OPT_DEL_NO_PEND       0         /*!< Delete when no task waitting for */
+#define OPT_DEL_ANYWAY        1         /*!< Delete always.                   */
+
+
+/*---------------------------- Timer Types  ----------------------------------*/
+#if CFG_TMR_EN >0
+#define TMR_TYPE_ONE_SHOT     0         /*!< Timer counter type: One-shot     */
+#define TMR_TYPE_PERIODIC     1         /*!< Timer counter type: Periodic     */
+#endif
+
+
+/*---------------------------- Event Control ---------------------------------*/
+#if CFG_EVENT_EN >0
+#define EVENT_SORT_TYPE_FIFO  (U8)0x01  /*!< Insert a event by FIFO           */
+#define EVENT_SORT_TYPE_PRIO  (U8)0x02  /*!< Insert a event by prio           */
+#endif
+
+
+/*---------------------------- Function declare-------------------------------*/
+
+/* Implement in file "core.c"      */
+extern void    CoInitOS(void);          /*!< Initialize OS                    */
+extern void    CoStartOS(void);         /*!< Start multitask                  */
+extern void    CoEnterISR(void);        /*!< Enter a ISR                      */
+extern void    CoExitISR(void);         /*!< Exit a ISR                       */
+extern void    CoSchedLock(void);
+extern void    CoSchedUnlock(void);
+extern OS_VER  CoGetOSVersion(void);    /*!< Get OS version value             */
+
+
+/* Implement in file "task.c"      */
+#define CoCreateTask(task,argv,prio,stk,stkSz)              \
+            CreateTask(task,argv,(prio)|(((stkSz)<<8) &0x000FFF00 ),stk)
+
+
+#define CoCreateTaskEx(task,argv,prio,stk,stkSz,timeSlice,isWaitting)  \
+           CreateTask(task,argv,(prio)|(((stkSz)<<8)&0x000FFF00)|(((timeSlice)<<20)&0x7FF00000)|((isWaitting<<31)&0x80000000),stk)
+
+extern void        CoExitTask(void);
+extern OS_TID      CoGetCurTaskID(void);
+extern StatusType  CoDelTask(OS_TID taskID);
+extern StatusType  CoActivateTask(OS_TID taskID,void *argv);
+extern StatusType  CoAwakeTask(OS_TID taskID);
+extern StatusType  CoSuspendTask(OS_TID taskID);
+extern StatusType  CoSetPriority(OS_TID taskID,U8 priority);
+extern OS_TID      CreateTask(FUNCPtr task,void *argv,U32 parameter,OS_STK *stk);
+
+/* Implement in file "time.c"      */
+extern U64         CoGetOSTime(void);
+extern StatusType  CoTickDelay(U32 ticks);
+extern StatusType  CoResetTaskDelayTick(OS_TID taskID,U32 ticks);
+extern StatusType  CoTimeDelay(U8 hour,U8 minute,U8 sec,U16 millsec);
+
+
+/* Implement in file "timer.c"     */ 
+extern StatusType  CoDelTmr(OS_TCID tmrID);
+extern StatusType  CoStopTmr(OS_TCID tmrID);
+extern StatusType  CoStartTmr(OS_TCID tmrID);
+extern U32         CoGetCurTmrCnt(OS_TCID tmrID,StatusType* perr);
+extern StatusType  CoSetTmrCnt(OS_TCID tmrID,U32 tmrCnt,U32 tmrReload);
+extern OS_TCID     CoCreateTmr(U8 tmrType, U32 tmrCnt, U32 tmrReload, vFUNCPtr func);
+
+
+/* Implement in file "kernelHeap.c"*/
+extern void*       CoKmalloc(U32 size);
+extern void        CoKfree(void* memBuf);
+
+
+/* Implement in file "mm.c"        */
+extern void*       CoGetMemoryBuffer(OS_MMID mmID);
+extern StatusType  CoDelMemoryPartition(OS_MMID mmID);
+extern StatusType  CoFreeMemoryBuffer(OS_MMID mmID,void* buf);
+extern U32         CoGetFreeBlockNum(OS_MMID mmID,StatusType* perr);
+extern OS_MMID     CoCreateMemPartition(U8* memBuf,U32 blockSize,U32 blockNum);
+
+/* Implement in file "mutex.c"     */
+extern OS_MutexID  CoCreateMutex(void);
+extern StatusType  CoEnterMutexSection(OS_MutexID mutexID);
+extern StatusType  CoLeaveMutexSection(OS_MutexID mutexID);
+
+
+/* Implement in file "sem.c"       */
+extern StatusType  CoPostSem(OS_EventID id);
+extern StatusType  CoAcceptSem(OS_EventID id);
+extern StatusType  isr_PostSem(OS_EventID id);
+extern StatusType  CoDelSem(OS_EventID id,U8 opt);
+extern StatusType  CoPendSem(OS_EventID id,U32 timeout);
+extern OS_EventID  CoCreateSem(U16 initCnt,U16 maxCnt,U8 sortType);
+
+
+/* Implement in file "mbox.c"      */
+extern OS_EventID  CoCreateMbox(U8 sortType);
+extern StatusType  CoDelMbox(OS_EventID id,U8 opt);
+extern StatusType  CoPostMail(OS_EventID id,void* pmail);
+extern StatusType  isr_PostMail(OS_EventID id,void* pmail);
+extern void*       CoAcceptMail(OS_EventID id,StatusType* perr);
+extern void*       CoPendMail(OS_EventID id,U32 timeout,StatusType* perr);
+
+
+/* Implement in file "queue.c"     */
+extern StatusType  CoDelQueue(OS_EventID id,U8 opt);
+extern StatusType  CoPostQueueMail(OS_EventID id,void* pmail);
+extern StatusType  isr_PostQueueMail(OS_EventID id,void* pmail);
+extern void*       CoAcceptQueueMail(OS_EventID id,StatusType* perr);
+extern OS_EventID  CoCreateQueue(void **qStart, U16 size ,U8 sortType);
+extern void*       CoPendQueueMail(OS_EventID id,U32 timeout,StatusType* perr);
+
+
+
+/* Implement in file "flag.c"      */
+extern StatusType  CoSetFlag (OS_FlagID id);
+extern StatusType  CoClearFlag (OS_FlagID id);
+extern StatusType  isr_SetFlag (OS_FlagID id);
+extern StatusType  CoDelFlag (OS_FlagID id,U8 opt);
+extern StatusType  CoAcceptSingleFlag (OS_FlagID id);
+extern StatusType  CoWaitForSingleFlag (OS_FlagID id,U32 timeout);
+extern OS_FlagID   CoCreateFlag (BOOL bAutoReset,BOOL bInitialState);
+extern U32         CoAcceptMultipleFlags (U32 flags,U8 waitType,StatusType *perr);
+extern U32         CoWaitForMultipleFlags (U32 flags,U8 waitType,U32 timeout,StatusType *perr);
+
+
+/* Implement in file "utility.c"   */
+extern StatusType  CoTimeToTick(U8 hour,U8 minute,U8 sec,U16 millsec,U32* ticks);
+extern void        CoTickToTime(U32 ticks,U8* hour,U8* minute,U8* sec,U16* millsec);
+
+
+/* Implement in file "hook.c"      */
+extern void        CoIdleTask(void* pdata);
+extern void        CoStkOverflowHook(OS_TID taskID);
+
+
+#endif
@@ -0,0 +1,280 @@
+/**
+ *******************************************************************************
+ * @file       OsConfig.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      This file use by user to configuration CooCox CoOS.
+ * @note       Ensure you have knew every item before modify this file. 
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef  _CONFIG_H
+#define  _CONFIG_H
+
+
+/*!< 
+Defines chip type,cortex-m3(1),cortex-m0(2)      
+*/
+#define CFG_CHIP_TYPE           (1)
+
+/*!< 
+Defines the lowest priority that be assigned.       
+*/
+#define CFG_LOWEST_PRIO         (64)
+
+/*!< 
+Max number of tasks that can be running.		     
+*/			
+#define CFG_MAX_USER_TASKS      (5)
+
+/*!< 
+Idle task stack size(word).		                         
+*/	
+#define CFG_IDLE_STACK_SIZE     (25)
+
+/*!< 
+System frequency (Hz).	                 	         
+*/    
+#if defined(PCBTARANIS)
+#define CFG_CPU_FREQ            (60000000)
+#else
+#define CFG_CPU_FREQ            (36000000)  // TODO check if really correct for sky9x?
+#endif
+
+/*!< 
+systick frequency (Hz).	                         
+*/
+#define CFG_SYSTICK_FREQ        (500)
+
+/*!< 
+max systerm api call num in ISR.	                         
+*/
+#define CFG_MAX_SERVICE_REQUEST (5)
+
+/*!< 
+Enable(1) or disable(0) order list schedule.
+If disable(0),CoOS use Binary-Scheduling Algorithm. 
+*/
+#if (CFG_MAX_USER_TASKS) <15
+#define CFG_ORDER_LIST_SCHEDULE_EN  (1)
+#else 
+#define CFG_ORDER_LIST_SCHEDULE_EN  (0)
+#endif	
+
+
+/*!< 
+Enable(1) or disable(0) Round-Robin Task switching. 
+*/
+#define CFG_ROBIN_EN            (1)         
+
+/*!< 
+Default slice of task.   	                          
+*/
+#if	CFG_ROBIN_EN > 0
+#define CFG_TIME_SLICE          (10)	  		
+#endif
+
+
+/*----------------------- Schedule model Config -----------------------------*/
+/*!< 
+Enable(1) or disable(0) all waiting function.
+Include sem,mailbox,queue,flag,mutex,delay modules.	
+If CFG_TASK_WAITTING_EN=0,all these modules are disable.	      
+*/
+#define CFG_TASK_WAITTING_EN     (1)
+
+/*!< 
+Dynamic task scheduling(1) or Static Task Scheduling(0) model.
+If in Static Task Scheduling model(0),cannot creat task and change task priority
+after coocox os start running. In Dynamic Task Scheduling model(1), all these can.
+When task terminated, if in Static Task Scheduling model(0), 
+CoOS do not recovered task resources, and you can activate it again.
+But in Dynamic Task Scheduling model(1),task resources will be recovered.
+If in Static Task Scheduling model(0),mutex module can not be used, as this model don't
+support to change task priority while CoOS running. 
+*/
+#define CFG_TASK_SCHEDULE_EN     (1)
+
+
+/*---------------------- Task Management Config -----------------------------*/
+/*!< 
+Enable(1) or disable(0) CoSetPriority() API.		      
+*/
+#if CFG_TASK_SCHEDULE_EN >0
+#define CFG_PRIORITY_SET_EN       (1)	
+#endif
+
+/*!< 
+Enable(1) or disable(0) CoAwakeTask() and CoSuspendTask() API.		      
+*/
+#define CFG_TASK_SUSPEND_EN       (0)
+
+
+/*---------------------- Debug Management Config ----------------------------*/
+/*!< 
+Enable(1) or disable(0) parameter checkout .		  
+*/
+#define CFG_PAR_CHECKOUT_EN     (0)	
+
+/*!< 
+Enable(1) or disable(0) stack overflow checkout .  	  
+*/		
+#define CFG_STK_CHECKOUT_EN     (0)		
+
+
+
+/*---------------------- Memory Management Config ----------------------------*/
+/*!< 
+Enable(1) or disable(0) memory management.	      
+*/
+#define CFG_MM_EN               (0)   
+
+/*!< 
+Max number of memory.(must be less than 32).      
+*/ 
+#if CFG_MM_EN >0
+#define CFG_MAX_MM              (2)
+#endif 
+
+
+
+/*-------------------- Kernel heap Management Config -------------------------*/
+/*!< 
+Enable(1) or disable(0) kernel heap management.	      
+*/
+#define CFG_KHEAP_EN            (0)  		
+
+/*!< 
+Kernel heap size(word).      
+*/ 
+#if CFG_KHEAP_EN >0
+#define KHEAP_SIZE              (50)
+#endif   
+
+
+		
+/*---------------------- Time Management Config -----------------------------*/
+/*!< 
+Enable(1) or disable(0) TimeDelay() API.		      
+*/
+#if CFG_TASK_WAITTING_EN >0
+#define CFG_TIME_DELAY_EN       (0)	
+#endif
+
+
+/*---------------------- Timer Management Config ----------------------------*/
+/*!< 
+Enable(1) or disable(0) timer management.		      
+*/
+#define CFG_TMR_EN              (1)		
+
+/*!< 
+Specify max number timer.(must be less than 32)      
+*/	
+#if CFG_TMR_EN >0
+#define CFG_MAX_TMR             (2)			
+#endif
+
+
+/*---------------------- Event Management Config ----------------------------*/
+/*!< 
+Enable(1) or disable(0) events management,			 
+events including semaphore,mailbox,queue.             
+*/
+#if CFG_TASK_WAITTING_EN > 0
+#define  CFG_EVENT_EN           (1) 
+#endif
+	   	
+#if CFG_EVENT_EN > 0
+/*!< 
+Event sort type.(1)FIFO (2)PRI (3)FIFO+PRI           
+*/
+#define CFG_EVENT_SORT          (3)		
+
+/*!< 
+Max number of event.(must be less than 255) 	      
+Event = semaphore + mailbox + queue;			      
+*/
+#define CFG_MAX_EVENT           (10)
+
+/*!< 
+Enable(1) or disable(0) semaphore management.	      
+*/
+#define CFG_SEM_EN              (0)	
+
+/*!< 
+Enable(1) or disable(0) mailbox management.	      
+*/		
+#define CFG_MAILBOX_EN          (0)	
+
+/*!< 
+Enable(1) or disable(0) queue management.		      
+*/		
+#define CFG_QUEUE_EN            (0)	
+
+/*!< 
+Max number of queue.(less than CFG_MAX_EVENT).       
+*/
+#if	CFG_QUEUE_EN >0	
+#define CFG_MAX_QUEUE           (2)
+#endif   // CFG_QUEUE_EN
+	
+#endif   // CFG_EVENT_EN
+	
+
+
+/*----------------------- Flag Management Config ----------------------------*/
+/*!< 
+Enable(1) or disable(0) flag management.		     
+Max number of flag is 32.					    	  
+*/
+#if CFG_TASK_WAITTING_EN > 0
+#define  CFG_FLAG_EN            (1)
+#endif		
+
+
+/*---------------------- Mutex Management Config ----------------------------*/
+/*!< 
+Enable(1) or disable(0) mutex management.	      
+*/
+#if CFG_TASK_WAITTING_EN > 0
+#if CFG_TASK_SCHEDULE_EN > 0
+#define  CFG_MUTEX_EN           (1)
+#endif
+#endif
+
+ 
+/*!< 
+Max number of mutex.(must be less than 255).      
+*/ 
+#if CFG_MUTEX_EN >0
+#define CFG_MAX_MUTEX           (10)			
+#endif
+
+/*---------------------- Utility Management Config --------------------------*/
+/*!< 
+Enable(1) or disable(0) utility management.    	  
+*/
+#define CFG_UTILITY_EN          (0)      
+   
+#if CFG_UTILITY_EN >0
+
+/*!< 
+Enable(1) or disable(0) TickToTime() utility	
+*/
+#define	CFG_TICK_TO_TIME_EN     (1)		
+/*!< 
+Enable(1) or disable(0) TimeToTick() utility	
+*/	
+#define	CFG_TIME_TO_TICK_EN     (1)		
+#endif
+
+
+#endif	 // _CONFIG_H
@@ -0,0 +1,27 @@
+/**
+ *******************************************************************************
+ * @file       OsCore.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Header file	related to kernel	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef _CORE_H
+#define _CORE_H
+
+#include <CoOS.h>
+
+
+#define  OsSchedLock()  OSSchedLock++;      /*!< Lock schedule                */
+extern   void OsSchedUnlock(void);
+
+#endif
+
@@ -0,0 +1,84 @@
+/**
+ *******************************************************************************
+ * @file       OsError.h	
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      rror dispose header file	
+ * @details    This file use to dispose error which from error configure for OS.
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef _ERROR_H
+#define _ERROR_H
+
+#if (CFG_SYSTICK_FREQ > 1000) ||(CFG_SYSTICK_FREQ < 1) 
+    #error " OsConfig.h System Tick time must between 1ms and 1s!"
+#endif
+
+#if CFG_MAX_USER_TASKS > 253
+    #error " OsConfig.h, CFG_MAX_USER_TASKS must be <= 253! "
+#endif
+
+#if CFG_LOWEST_PRIO > 254
+    #error " OsConfig.h, CFG_LOWEST_PRIO must be <= 254! "
+#endif
+
+#if CFG_IDLE_STACK_SIZE <25
+	#error " OsConfig.h, CFG_IDLE_STACK_SIZE must be >= 25! "
+#endif
+
+
+#if CFG_ROBIN_EN > 0
+    #if CFG_TIME_SLICE > 4095
+    #error " OsConfig.h, CFG_TIME_SLICE must be <= 4095! "
+    #endif
+#endif
+
+#if CFG_TMR_EN > 0
+    #if CFG_MAX_TMR > 32
+    #error " OsConfig.h, CFG_MAX_TMR must be <= 32! "
+    #endif
+#endif
+
+
+#if CFG_MM_EN > 0
+    #if CFG_MAX_MM > 32
+    #error " config.h, CFG_MAX_MM must be <= 32! "
+    #endif
+#endif
+
+
+#if CFG_KHEAP_EN > 0
+    #if KHEAP_SIZE < 0x20
+    #error " config.h, CFG_MAX_MM must be >= 0x20! "
+    #endif
+#endif
+
+#if CFG_MUTEX_EN > 0
+    #if CFG_MAX_MUTEX > 254
+    #error " config.h, CFG_MAX_MUTEX must be <= 254! "
+    #endif
+#endif
+
+
+#if CFG_EVENT_EN > 0
+    #if (CFG_MAX_EVENT > 254 || CFG_MAX_EVENT <= 0)
+    #error " config.h, CFG_MAX_EVENT must be <= 254 && > 0! "
+    #endif
+
+
+    #if CFG_QUEUE_EN > 0 
+        #if CFG_MAX_QUEUE > CFG_MAX_EVENT
+        #error " config.h, CFG_MAX_QUEUE must be <= CFG_MAX_EVENT! "	
+        #endif
+    #endif	
+#endif      /* CFG_EVENT_EN  */
+
+#endif      /* _ERROR_H      */
@@ -0,0 +1,58 @@
+/**
+ *******************************************************************************
+ * @file       OsEvent.h	
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Event management header file
+ * @details    This file including some defines and declares related to event 
+ *             (semaphore,mailbox,queque) management.
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef _EVENT_H
+#define _EVENT_H
+
+#define EVENT_TYPE_SEM        (U8)0x01      /*!< Event type:Semaphore.        */
+#define EVENT_TYPE_MBOX       (U8)0x02      /*!< Event type:Mailbox.          */
+#define EVENT_TYPE_QUEUE      (U8)0x03      /*!< Event type:Queue.            */
+#define EVENT_TYPE_INVALID    (U8)0x04      /*!< Invalid event type.          */
+
+
+/**
+ * @struct  EventCtrBlk  event.h	  	
+ * @brief   Event control block
+ * @details This struct is use to manage event,
+ *          e.g. semaphore,mailbox,queue.	
+ */
+typedef struct EventCtrBlk
+{
+    void*   eventPtr;                   /*!< Point to mailbox or queue struct */
+    U8      id;                         /*!< ECB id                           */
+    U8      eventType:4;                /*!< Type of event                    */
+    U8      eventSortType:4;            /*!< 0:FIFO 1: Preemptive by prio     */
+    U16     eventCounter;               /*!< Counter of semaphore.            */
+    U16     initialEventCounter;        /*!< Initial counter of semaphore.    */
+    P_OSTCB eventTCBList;               /*!< Task waitting list.              */
+}ECB,*P_ECB;
+
+/*---------------------------- Variable declare ------------------------------*/
+extern ECB  EventTbl[CFG_MAX_EVENT];    /*!< Table use to save TCB.           */
+
+/*---------------------------- Function declare ------------------------------*/
+/*!< Create a event   */
+extern P_ECB      CreatEvent(U8 eventType,U8 eventSortType,void* eventPtr);
+
+/*!< Remove a task from wait list */	
+extern void       EventTaskToWait(P_ECB pecb,P_OSTCB ptcb);
+extern StatusType DeleteEvent(P_ECB pecb,U8 opt);   /*!< Delete a event.      */
+extern void       EventTaskToRdy(P_ECB pecb); /*!< Insert a task to ready list*/
+extern void       CreateEventList(void);    /*!< Create a event list.         */			
+extern void       RemoveEventWaittingList(P_OSTCB ptcb);
+#endif  
@@ -0,0 +1,57 @@
+/**
+ *******************************************************************************
+ * @file       OsFlag.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Evnet flag management header file
+ * @details    This file including some defines and declares about flag management.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef _FLAG_H
+#define _FLAG_H
+
+/**
+ * @struct  FlagNode  flag.h 	
+ * @brief   Flag node struct
+ * @details 	 	
+ */
+typedef struct FlagNode
+{
+    struct FlagNode*  nextNode;         /*!< A pointer to next flag node      */
+    struct FlagNode*  prevNode;         /*!< A pointer to prev flag node      */
+    U32               waitFlags;        /*!< Flag value                       */
+    P_OSTCB           waitTask;         /*!< A pointer to task waitting flag  */
+    U8                waitType;         /*!< Wait type                        */
+}FLAG_NODE,*P_FLAG_NODE;
+
+
+/**
+ * @struct  Flag    flag.h  	
+ * @brief   Flag control block
+ * @details This struct use to mange event flag.	
+ */
+typedef struct Flag
+{
+    U32           flagRdy;              /*!< Ready flag                       */
+    U32           resetOpt;             /*!< Reset option                     */
+    U32           flagActive;           /*!< Active flag                      */
+    P_FLAG_NODE   headNode;             /*!< Head node                        */
+    P_FLAG_NODE   tailNode;             /*!< Tail node                        */
+}FCB,*P_FCB;
+
+
+/*---------------------------- Variable declare ------------------------------*/
+extern FCB FlagCrl;					
+
+/*---------------------------- Function declare ------------------------------*/
+extern void        RemoveLinkNode(P_FLAG_NODE pnode);
+#endif
+
@@ -0,0 +1,48 @@
+/**
+ *******************************************************************************
+ * @file       OsKernelHeap.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Header file related to memory management	
+ * @details    This file including some defines and function declare related to 
+ *             kernel heap management. 
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef  _KERNELHEAP_H
+#define  _KERNELHEAP_H
+
+
+typedef struct KennelHeap
+{
+  U32   startAddr;
+  U32   endAddr;
+}KHeap,*P_KHeap;
+
+
+typedef struct UsedMemBlk
+{
+  void* nextMB;
+  void* preMB;	
+}UMB,*P_UMB;
+
+
+typedef struct FreeMemBlk
+{
+  struct FreeMemBlk* nextFMB;
+  struct UsedMemBlk* nextUMB;
+  struct UsedMemBlk* preUMB;
+}FMB,*P_FMB;
+
+/*---------------------------- Function Declare ------------------------------*/
+extern void   CoCreateKheap(void);
+
+#endif  /* _KERNELHEAP_H */
+
@@ -0,0 +1,41 @@
+/**
+ *******************************************************************************
+ * @file       OsMm.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Header file	related to memory management 
+ * @details    This file including some defines and function declare related to 
+ *             memory management. 	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef  _MM_H
+#define  _MM_H
+
+
+typedef struct Memory
+{
+    U8*   memAddr;
+    U8*   freeBlock;
+    U32   blockSize;
+    U32   blockNum;			
+}MM,*P_MM;
+
+
+typedef struct MemoryBlock
+{
+    struct MemoryBlock* nextBlock;
+}MemBlk,*P_MemBlk;
+
+
+extern U32  MemoryIDVessel;
+
+#endif   /* _MM_H */
+
@@ -0,0 +1,57 @@
+/**
+ *******************************************************************************
+ * @file       OsMutex.h	
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Mutex management header file
+ * @details    This file including some defines and declare related to mutex
+ *             management.
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef _MUTEX_H
+#define _MUTEX_H
+
+#include <coocox.h>
+
+#if CFG_MUTEX_EN > 0
+
+/*---------------------------- Resource status -------------------------------*/
+#define   MUTEX_FREE        0           /*!< Mutex is free                    */
+#define   MUTEX_OCCUPY      1           /*!< Mutex is occupy                  */
+#define   WAITING_MUTEX     0x80
+
+/**
+ * @struct   Mutex  mutex.h 	
+ * @brief    Mutex control block
+ * @details  This struct is use to mutex management.	
+ */
+typedef struct Mutex
+{
+    U8       originalPrio;              /*!< Mutex priority.                  */
+    U8       mutexFlag;                 /*!< Mutex flag.                      */
+    OS_TID   taskID;                    /*!< Task ID.                         */	
+    OS_TID   hipriTaskID;               /*!< Mutex ID.                        */
+    P_OSTCB  waittingList;              /*!< waitting the Mutex.              */
+}MUTEX,*P_MUTEX;
+
+
+/*---------------------------- Variable declare ------------------------------*/
+/*!< Table use to save mutex control block.                                   */
+extern MUTEX      MutexTbl[CFG_MAX_MUTEX];
+extern OS_MutexID MutexFreeID;      /*!< A pointer to next vliad resource ID. */
+
+
+/*---------------------------- Function declare ------------------------------*/
+extern void   RemoveMutexList(P_OSTCB ptcb);
+
+#endif    /* CFG_MUTEX_EN  */
+
+#endif    /* _MUTEX_H      */
@@ -0,0 +1,39 @@
+/**
+ *******************************************************************************
+ * @file       OsQueue.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Queue management header file	
+ * @details    This file including some defines and declares about queue management.
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef _QUEUE_H
+#define _QUEUE_H
+
+
+/**
+ * @struct   Queue  queue.h	
+ * @brief    Queue struct
+ * @details  This struct use to manage queue.
+ *	
+ */
+typedef struct Queue
+{
+    void    **qStart;                   /*!<                                  */
+    U8      id;                         /*!<                                  */
+    U16     head;                       /*!< The header of queue              */
+    U16     tail;                       /*!< The end of queue                 */
+    U16     qMaxSize;                   /*!< The max size of queue            */
+    U16     qSize;                      /*!< Current size of queue            */
+}QCB,*P_QCB;
+
+
+#endif
@@ -0,0 +1,53 @@
+
+/**
+ *******************************************************************************
+ * @file       OsServiceReq.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Header file	related to service request	
+ * @details    This file including some defines and function declare related to
+ *             service request.
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef _SERVICEREQ_H
+#define _SERVICEREQ_H
+
+#if CFG_MAX_SERVICE_REQUEST > 0
+#define   SEM_REQ       (U8)0x1
+#define   MBOX_REQ      (U8)0x2
+#define   FLAG_REQ      (U8)0x3
+#define   QUEUE_REQ     (U8)0x4
+
+
+typedef struct ServiceReqCell
+{
+    U8      type;
+    U8      id;
+    void*   arg;
+}SQC,*P_SQC;
+
+typedef struct ServiceReqQueue
+{
+    U8    cnt;
+    U8    head;    
+    SQC   cell[CFG_MAX_SERVICE_REQUEST];
+}SRQ,*P_SRQ;
+
+
+extern SRQ  ServiceReq;
+extern BOOL InsertInSRQ(U8 type,U8 id,void* arg);
+#endif
+
+extern void RespondSRQ(void);
+extern BOOL TimeReq;
+extern BOOL TimerReq;
+extern BOOL IsrReq;
+#endif
@@ -0,0 +1,112 @@
+/**
+ *******************************************************************************
+ * @file       OsTask.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Header file	related to task.
+ * @details    This file including some defines and function declare related to task.  	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+#ifndef _TASK_H
+#define _TASK_H
+
+#define  SYS_TASK_NUM   (1)             /*!< System task number.              */
+
+/*---------------------------- Task Status -----------------------------------*/
+#define  TASK_READY     0               /*!< Ready status of task.            */	 				
+#define  TASK_RUNNING   1               /*!< Running status of task.          */
+#define  TASK_WAITING   2               /*!< Waitting status of task.         */
+#define  TASK_DORMANT   3               /*!< Dormant status of task.          */ 
+
+
+#define  INVALID_ID     (U8)0xff
+#define  INVALID_VALUE  (U32)0xffffffff
+#define  MAGIC_WORD     (U32)0x5a5aa5a5
+
+
+/**
+ * @struct  TCB  task.h  	
+ * @brief   Task control blcok.
+ * @details This struct use to manage task.	 	
+ */
+typedef  struct TCB
+{
+    OS_STK      *stkPtr;                /*!< The current point of task.       */
+    U8          prio;                   /*!< Task priority.                   */
+    U8          state;                  /*!< TaSk status.                     */
+    OS_TID      taskID;                 /*!< Task ID.                         */
+
+#if CFG_MUTEX_EN > 0
+    OS_MutexID  mutexID;                /*!< Mutex ID.                        */
+#endif
+   
+#if CFG_EVENT_EN > 0
+    OS_EventID  eventID;                /*!< Event ID.                        */
+#endif
+    
+#if CFG_ROBIN_EN >0
+    U16         timeSlice;              /*!< Task time slice                  */
+#endif
+    
+#if CFG_STK_CHECKOUT_EN >0
+    OS_STK      *stack;                 /*!< The top point of task.           */
+#endif
+    
+#if CFG_EVENT_EN > 0
+    void*       pmail;                  /*!< Mail to task.                    */
+    struct TCB  *waitNext;  /*!< Point to next TCB in the Event waitting list.*/
+    struct TCB  *waitPrev;  /*!< Point to prev TCB in the Event waitting list.*/
+#endif
+
+#if CFG_TASK_SCHEDULE_EN == 0
+	FUNCPtr     taskFuc;
+	OS_STK      *taskStk;
+#endif  
+
+    
+#if CFG_FLAG_EN > 0
+    void*       pnode;                  /*!< Pointer to node of event flag.   */
+#endif   
+
+#if CFG_TASK_WAITTING_EN >0
+    U32         delayTick;              /*!< The number of ticks which delay. */
+#endif    
+    struct TCB  *TCBnext;               /*!< The pointer to next TCB.         */
+    struct TCB  *TCBprev;               /*!< The pointer to prev TCB.         */
+
+}OSTCB,*P_OSTCB;
+
+
+/*---------------------------- Variable declare ------------------------------*/
+// save tcb ptr that created
+extern P_OSTCB  FreeTCB;      /*!< A pointer to free TCB.                     */
+extern OSTCB    TCBTbl[CFG_MAX_USER_TASKS+SYS_TASK_NUM];
+extern P_OSTCB  TCBRdy;       /*!< A pointer to TCB that is ready status      */
+extern P_OSTCB  TCBNext;      /*!< A pointer to TCB next be scheduled.        */	
+extern P_OSTCB  TCBRunning;   /*!< A pointer to TCB that is running.          */
+
+extern U64      OSCheckTime;
+extern volatile U8   OSIntNesting; /*!< Use to indicate interrupt nesting level.*/   				
+extern volatile U8   OSSchedLock;  /*!< Schedule is lock(LOCK) or unlock(UN_LOCK).*/  	
+extern volatile BOOL TaskSchedReq;
+extern OS_STK   idle_stk[CFG_IDLE_STACK_SIZE];
+
+
+void  Schedule(void);         /*!< Schedule function                          */
+void  IdleTask(void* pdata);  /*!< IDLE task code                             */
+void  InsertToTCBRdyList  (P_OSTCB tcbInser);	
+void  RemoveFromTCBRdyList(P_OSTCB ptcb);
+void  CreateTCBList(void);
+#if CFG_ORDER_LIST_SCHEDULE_EN ==0
+void  ActiveTaskPri(U8 pri);
+void  DeleteTaskPri(U8 pri);
+#endif
+
+#endif
@@ -0,0 +1,28 @@
+/**
+ *******************************************************************************
+ * @file       OsTime.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Header file related to time management
+ * @details    Thie file including some data declare related to time managment. 	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+  
+#ifndef _TIME_H
+#define _TIME_H
+
+/*---------------------------- Variable declare ------------------------------*/
+extern P_OSTCB  DlyList;            /*!< A pointer to ther delay list.        */
+
+/*---------------------------- Function declare ------------------------------*/
+extern void  TimeDispose(void);     /*!< Time dispose function.               */
+extern void  isr_TimeDispose(void);
+extern void  RemoveDelayList(P_OSTCB ptcb);
+extern void  InsertDelayList(P_OSTCB ptcb,U32 ticks);
+#endif
@@ -0,0 +1,49 @@
+/**
+ *******************************************************************************
+ * @file       OsTimer.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Timer manage header file	
+ * @details    This file including some declares and defines related to timer 
+ *             management.
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+#ifndef _TIMER_H
+#define _TIMER_H
+
+#define   TMR_STATE_RUNNING     0       /*!< Timer State: Running             */
+#define   TMR_STATE_STOPPED     1       /*!< Timer State: Stopped             */
+
+/**
+ * @struct   tmrCtrl  timer.h  	
+ * @brief    Timer control block 
+ * @details  This struct is use to manage user timer. 
+ *	
+ */
+typedef struct tmrCtrl                  /* Timer Control Block Define.        */
+{
+    OS_TCID          tmrID;             /*!< Timer ID.                        */
+    U8               tmrType;           /*!< Timer Type.                      */
+    U8               tmrState;          /*!< Timer State.                     */
+    U32              tmrCnt;            /*!< Timer Counter.                   */
+    U32              tmrReload;         /*!< Timer Reload Counter Value.      */	
+    vFUNCPtr         tmrCallBack; /*!< Call-back Function When Timer overrun. */	
+    struct tmrCtrl*  tmrNext;       /*!< Point to Next Timer Control Block.   */
+    struct tmrCtrl*  tmrPrev;       /*!< Point to Previous Timer Control Block*/
+
+}TmrCtrl,*P_TmrCtrl;
+
+/*---------------------------- Variable declare ------------------------------*/
+extern P_TmrCtrl  TmrList;              /*!< A pointer to the timer list.     */ 
+extern U32        TmrIDVessel;
+/*---------------------------- Function declare ------------------------------*/
+extern void  TmrDispose(void);          /*!< Timer counter function.          */
+extern void  isr_TmrDispose(void);
+#endif
@@ -0,0 +1,60 @@
+/**
+ *******************************************************************************
+ * @file       coocox.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Gather for all header file of CooCox CoOS.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef _COOCOX_H
+#define _COOCOX_H
+
+#define  OS_VERSION       (U16)0x0113   /*!< OS version.(format: Vx.xx), 	
+                                            e.g. value 0x0113 is version V1.13*/
+/*---------------------------- Include ---------------------------------------*/
+#include "CoOS.h"
+#include "OsArch.h"
+#include "OsCore.h"
+#include "OsTask.h"
+#include "OsServiceReq.h"
+#include "OsError.h"
+#include "OsTime.h"
+
+
+#if CFG_TMR_EN > 0
+	#include "OsTimer.h"
+#endif
+
+#if CFG_KHEAP_EN > 0
+	#include "OsKernelHeap.h"
+#endif
+
+#if CFG_MM_EN >0
+	#include "OsMM.h"
+#endif
+
+#if CFG_EVENT_EN > 0
+	#include "OsEvent.h"
+#endif
+
+#if CFG_MUTEX_EN > 0
+	#include "OsMutex.h"
+#endif
+
+#if CFG_QUEUE_EN > 0
+	#include "OsQueue.h"
+#endif
+
+#if CFG_FLAG_EN	 > 0
+	#include "OsFlag.h"
+#endif
+
+#endif    /* _COOCOX_H    */  
@@ -0,0 +1,238 @@
+ /**
+ *******************************************************************************
+ * @file       core.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Core implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+/*---------------------------- Variable Define -------------------------------*/
+volatile U8     OSIntNesting  = 0;         /*!< Use to indicate interrupt nesting level*/
+volatile U8     OSSchedLock   = 0;         /*!< Task Switch lock.                      */
+volatile BOOL   TaskSchedReq  = Co_FALSE;
+
+
+/**
+ *******************************************************************************
+ * @brief      Enter a ISR.						   
+ * @param[in]  None	 
+ * @param[out] None   
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is called to notify OS when enter to an ISR.
+ *
+ * @note       When you call API in ISR,you must call CoEnterISR() before your
+ *             interrupt handler code,and call CoExitISR() after your handler
+ *             code and before exiting from ISR.	 
+ *******************************************************************************
+ */
+void CoEnterISR(void)
+{
+    Inc8(&OSIntNesting);                /* OSIntNesting increment             */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Exit a ISR.	 
+ * @param[in]  None	 
+ * @param[out] None   
+ * @retval     None		 
+ *
+ * @par Description
+ * @details    This function is called when exit from a ISR.	  	
+ *
+ * @note 
+ *******************************************************************************
+ */
+void CoExitISR(void)
+{
+    Dec8(&OSIntNesting);                /* OSIntNesting decrease              */
+    if( OSIntNesting == 0)              /* Is OSIntNesting == 0?              */
+    {
+        if(TaskSchedReq == Co_TRUE)
+        {
+			OSSchedLock++;
+            Schedule();                 /* Call task schedule                 */
+			OSSchedLock--;
+        }
+    }
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Unlock schedule 	  
+ * @param[in]  None		 
+ * @param[out] None   
+ * @retval     None		 
+ *
+ * @par Description
+ * @details   This function is called to unlock schedule(i.e.enable schedule again) 		 
+ *
+ * @note 
+ *******************************************************************************
+ */
+void OsSchedUnlock(void)
+{
+    if(OSSchedLock == 1)                /* Is OSSchedLock == 0?               */
+    {
+#if CFG_TASK_WAITTING_EN > 0
+        if(IsrReq == Co_TRUE)
+        {
+            RespondSRQ();               /* Respond service request            */	
+        }
+#endif
+        /* Judge task state change or higher PRI task coming in               */
+        if(TaskSchedReq == Co_TRUE)
+        {
+            Schedule();                 /* Call task schedule                 */
+        }
+		OSSchedLock = 0;
+    }
+	else
+	{
+		OSSchedLock--; 	
+	}
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Lock schedule 	 
+ * @param[in]  None		 
+ * @param[out] None   
+ * @retval     None		 
+ *
+ * @par Description
+ * @details    This function is called in application code to lock schedule.		 
+ *
+ * @note 
+ *******************************************************************************
+ */
+void CoSchedLock(void)
+{									    
+    OsSchedLock();                      /* Lock schedule                      */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Unlock schedule 	  
+ * @param[in]  None		 
+ * @param[out] None   
+ * @retval     None		 
+ *
+ * @par Description
+ * @details    This function is called in APP to unlock schedule.		 
+ *
+ * @note 
+ *******************************************************************************
+ */
+void CoSchedUnlock(void)
+{
+    OsSchedUnlock();                    /* Unlock schedule                    */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Initialize OS	  
+ * @param[in]  None 	 
+ * @param[out] None 
+ * @retval     None 
+ *
+ * @par Description
+ * @details   This function is called to initialize OS.
+ *
+ * @note      You must call this function first,before any other OS API function
+ *					
+ * @code      There is a example for useage of this function,as follows: 
+ *        e.g.															 
+ *            ...                   // Your target initial code. 
+ *				
+ *            OsInit();             // Initial OS. 				
+ *            CreateTask(...);      // Create tasks.				
+ *            ...
+ *            OsStart();            // Start multitask.
+ * @endcode	
+ *******************************************************************************		
+ */
+void CoInitOS(void)
+{
+    InitSysTick();                /* Initialize system tick.                  */
+    InitInt();                    /* Initialize PendSV,SVC,SysTick interrupt  */	
+    CreateTCBList();              /* Create TCB list.                         */   
+#if CFG_EVENT_EN > 0				    
+    CreateEventList();            /* Create event control list.               */
+#endif  
+#if CFG_KHEAP_EN > 0
+    CoCreateKheap();              /* Create kernel heap within user define    */
+#endif   
+    OsSchedLock();                /* Lock Schedule                            */ 
+                                  /* Create first task -- IDLE task.          */ 
+    CoCreateTask(                      CoIdleTask,
+                                             Co_NULL,
+                                  CFG_LOWEST_PRIO,
+                 &idle_stk[CFG_IDLE_STACK_SIZE-1],
+                              CFG_IDLE_STACK_SIZE
+                 );
+				                  /* Set PSP for CoIdleTask coming in */ 
+	SetEnvironment(&idle_stk[CFG_IDLE_STACK_SIZE-1]);
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Start multitask	 
+ * @param[in]  None 	 
+ * @param[out] None 	 
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is called to start multitask.After it is called,
+ *             OS start schedule task by priority or/and time slice.	
+ * @note       This function must be called to start OS when you use CoOS,and must
+ *             call after CoOsInit().
+ *******************************************************************************
+ */
+void CoStartOS(void)
+{
+    TCBRunning  = &TCBTbl[0];           /* Get running task                     */
+    TCBNext     = TCBRunning;           /* Set next scheduled task as running task */
+    TCBRunning->state = TASK_RUNNING;   /* Set running task status to RUNNING   */
+    RemoveFromTCBRdyList(TCBRunning);   /* Remove running task from READY list  */
+    OsSchedUnlock();					/* Enable Schedule,call task schedule   */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Get OS version	   
+ * @param[in]  None	 
+ * @param[out] None  
+ * @retval     The value is version of OS mutipled by 100.		 
+ *
+ * @par Description
+ * @details    This function is used to return the version number of CooCox OS.
+ *             the return value corresponds to CooCox's version number multiplied
+ *             by 100. In other words, version 1.02 would be returned as 102.         
+ *******************************************************************************
+ */
+OS_VER CoGetOSVersion(void)
+{
+    return OS_VERSION;                  /* Get CooCox CoOS version            */
+}
+
@@ -0,0 +1,410 @@
+/**
+ *******************************************************************************
+ * @file       event.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      event management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+
+/*---------------------------- Variable Define -------------------------------*/
+#if CFG_EVENT_EN > 0
+
+ECB    EventTbl[CFG_MAX_EVENT]= {{0}};/*!< Table which save event control block.*/
+P_ECB  FreeEventList = Co_NULL;        /*!< Pointer to free event control block. */
+
+
+/**
+ *******************************************************************************
+ * @brief      Create a empty list of event control block 	   
+ * @param[in]  None 	 
+ * @param[out] None  	 
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is called by OSInit() API to create a ECB list,supply
+ *             a  pointer to next event control block that not used.	 				
+ *******************************************************************************
+ */
+void CreateEventList(void)
+{	
+    U8  i;
+    P_ECB pecb1;
+#if CFG_MAX_EVENT > 1
+    P_ECB pecb2;
+#endif
+    i=0;
+    pecb1 = &EventTbl[0];               /* Get first item                     */
+#if CFG_MAX_EVENT == 1                  /* Build event list for only one item */									   
+    pecb1->eventPtr  = Co_NULL;
+    pecb1->id        = i;               /* Assign ID.                         */
+    pecb1->eventType = EVENT_TYPE_INVALID;  /* Sign that not to use.          */
+#endif
+    
+#if CFG_MAX_EVENT > 1             /* Build event list for more than one item  */								   
+    pecb2 = &EventTbl[1];
+    for(;i< (CFG_MAX_EVENT-1);i++ )
+    {
+        pecb1->eventPtr  = (void*)pecb2;      /* Set link for list            */
+        pecb1->id        = i;                 /* Assign ID.                   */
+        pecb1->eventType = EVENT_TYPE_INVALID;/* Sign that not to use.        */
+        pecb1++;                              /* Get next item                */
+        pecb2++;	
+    }
+	pecb1->eventType = EVENT_TYPE_INVALID;    /* Sign that not to use.        */
+    pecb1->eventPtr  = Co_NULL;                  /* Set link for last item       */
+    pecb1->id        = i;	
+#endif
+    
+    FreeEventList    = &EventTbl[0];          /* Set free event item          */	
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Release a ECB	 
+ * @param[in]  pecb     A pointer to event control block which be released.	 
+ * @param[out] None 
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is called to release a event control block when a 
+ *             event be deleted.
+ *******************************************************************************
+ */
+static void ReleaseECB(P_ECB pecb)
+{
+    pecb->eventType = EVENT_TYPE_INVALID;     /* Sign that not to use.        */ 
+    OsSchedLock();                            /* Lock schedule                */
+    pecb->eventPtr  = FreeEventList;          /* Release ECB that event hold  */
+    FreeEventList   = pecb;                   /* Reset free event item        */
+    OsSchedUnlock();                          /* Unlock schedule              */
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Create a event	  
+ * @param[in]  eventType       The type of event which	being created.
+ * @param[in]  eventSortType   Event sort type.
+ * @param[in]  eventCounter    Event counter,ONLY for EVENT_TYPE_SEM.
+ * @param[in]  eventPtr        Event struct pointer,ONLY for Queue.Co_NULL for other
+ *                             event type.		
+ * @param[out] None  
+ * @retval     Co_NULL     Invalid pointer,create event fail.
+ * @retval     others   Pointer to event control block which had assigned right now.
+ *
+ * @par Description
+ * @details    This function is called by CreateSem(),...
+ *             to get a event control block and initial the event content. 
+ *
+ * @note       This is a internal function of CooCox CoOS,User can't call.
+ *******************************************************************************
+ */
+P_ECB CreatEvent(U8 eventType,U8 eventSortType,void* eventPtr)
+{
+    P_ECB pecb;
+    
+    OsSchedLock();                      /* Lock schedule                      */
+    if(FreeEventList == Co_NULL)           /* Is there no free evnet item        */
+    {
+        OsSchedUnlock();                /* Yes,unlock schedule                */
+        return Co_NULL;                    /* Return error                       */
+    }
+    pecb          = FreeEventList;/* Assign the free event item to this event */
+    FreeEventList = FreeEventList->eventPtr;  /* Reset free event item        */
+    OsSchedUnlock();                    /* Unlock schedul                     */
+    
+    pecb->eventType     = eventType;    /* Initialize event item as user set  */
+    pecb->eventSortType = eventSortType;
+    pecb->eventPtr      = eventPtr;
+    pecb->eventTCBList  = Co_NULL;
+    return pecb;                        /* Return event item pointer          */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Delete a event	  
+ * @param[in]  pecb     Pointer to event control block which will be deleted. 
+ * @param[in]  opt      Delete option.
+ * @arg        == OPT_DEL_ANYWAY     Delete event always   
+ * @arg        == OPT_DEL_NO_PEND	 Delete event only when no task pending on.
+ * @param[out] None  	 
+ * @retval     E_INVALID_PARAMETER   Parameter passed is invalid,deleted fail.
+ * @retval     E_TASK_WAITTING       These are one more tasks waitting event.  
+ * @retval     E_OK                  Delete event control block successful.
+ *		  	
+ * @par Description
+ * @details    This function is called to delete a event from the event wait list
+ *             use specify option.
+ *
+ * @note       This is a internal function of Coocox CoOS,user can't call.		
+ *******************************************************************************
+ */
+StatusType DeleteEvent(P_ECB pecb,U8 opt)
+{
+    P_OSTCB ptcb;
+    if(opt == OPT_DEL_NO_PEND)          /* Do delete event when no task pend? */
+    {
+        if(pecb->eventTCBList != Co_NULL)  /* Yes,is there task pend this event? */
+        {
+            return E_TASK_WAITING;      /* Yes,error return                   */
+        }
+        else
+        {
+            ReleaseECB(pecb);           /* No,release resource that event hold*/
+        }
+    }
+    else if(opt == OPT_DEL_ANYWAY)      /* Do delete event anyway?            */
+    {
+        OsSchedLock();                      /* Lock schedule                  */
+        while(pecb->eventTCBList != Co_NULL)   /* Is there task pend this event? */
+        {                                   /* Yes,remove it                  */
+            ptcb = pecb->eventTCBList;/* Get first task in event waiting list */
+            if(ptcb->delayTick != INVALID_VALUE) /* Is task in delay list?    */
+            {
+                RemoveDelayList(ptcb);    /* Yes,remove task from delay list  */
+            }
+
+            /* Set next item as event waiting list head */
+            pecb->eventTCBList = ptcb->waitNext; 
+            ptcb->waitNext     = Co_NULL;  /* Clear link for event waiting list  */
+            ptcb->eventID      = INVALID_ID;  /* Sign that not to use.        */
+
+			InsertToTCBRdyList(ptcb);         /* Insert task into ready list  */
+        }
+        OsSchedUnlock();                  /* Unlock schedule                  */
+        ReleaseECB(pecb);                 /* Release resource that event hold */
+    }
+    return E_OK;                          /* Return OK                        */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Insert a task to event wait list 	  						  
+ * @param[in]  pecb    Pointer to event control block corresponding to the event. 	
+ * @param[in]  ptcb    Pointer to task that will be insert to event wait list.	 
+ * @param[out] None   
+ * @retval     None	 
+ *
+ * @par Description
+ * @details   This function is called to insert a task by fllowing manner:
+ *            opt == EVENT_SORT_TYPE_FIFO   By FIFO.
+ *            opt == EVENT_SORT_TYPE_PRIO   By priority order,hghest priority 
+ *                                          as head,lowest priority as end.
+ *                                          (Highest-->...-->Lowest-->Co_NULL)
+ *******************************************************************************
+ */
+void EventTaskToWait(P_ECB pecb,P_OSTCB ptcb)
+{
+    P_OSTCB ptcb1;
+#if (CFG_EVENT_SORT == 2) || (CFG_EVENT_SORT == 3)
+    P_OSTCB ptcb2;
+#endif
+    
+    OsSchedLock();                  /* Lock schedule                          */
+    ptcb1 = pecb->eventTCBList;     /* Get first task in event waiting list   */
+    ptcb->eventID = pecb->id;       /* Set event ID for task                  */
+    
+#if CFG_EVENT_SORT == 3             /* Does event waiting list sort as FIFO?  */
+                              
+    if(pecb->eventSortType == EVENT_SORT_TYPE_FIFO)	
+#endif
+    
+#if (CFG_EVENT_SORT == 1) || (CFG_EVENT_SORT == 3)
+    {
+        if(ptcb1 == Co_NULL)                 /* Is no item in event waiting list?*/
+        {
+            pecb->eventTCBList = ptcb;    /* Yes,set task as first item       */
+        }
+        else
+        {								
+            while(ptcb1->waitNext != Co_NULL)/* No,insert task in last           */
+            {
+                ptcb1 = ptcb1->waitNext;	
+            }	
+            ptcb1->waitNext = ptcb;       /* Set link for list                */
+            ptcb->waitPrev  = ptcb1;	
+        }
+    }
+#endif
+    
+#if CFG_EVENT_SORT ==3 /* Does event waiting list sort as preemptive priority?*/                           
+    else if(pecb->eventSortType == EVENT_SORT_TYPE_PRIO)
+#endif  
+#if (CFG_EVENT_SORT == 2) || (CFG_EVENT_SORT == 3)
+    {
+        if(ptcb1 == Co_NULL)               /* Is no item in event waiting list?  */
+        {
+            pecb->eventTCBList = ptcb;  /* Yes,set task as first item         */
+        }
+        /* Is PRI of task higher than list first item?                        */
+        else if(ptcb1->prio > ptcb->prio) 
+        {
+            pecb->eventTCBList = ptcb;  /* Reset task as first item           */
+            ptcb->waitNext     = ptcb1; /* Set link for list                  */
+            ptcb1->waitPrev    = ptcb;	
+        }
+        else                            /* No,find correct place to insert    */
+        {								
+            ptcb2 = ptcb1->waitNext;
+            while(ptcb2 != Co_NULL)        /* Is last item?                      */
+            {	                          
+                if(ptcb2->prio > ptcb->prio)  /* No,is correct place?         */
+                { 
+                    break;                    /* Yes,break Circulation        */
+                }
+                ptcb1 = ptcb2;                /* Save current item            */
+                ptcb2 = ptcb2->waitNext;      /* Get next item                */
+            }
+            ptcb1->waitNext = ptcb;           /* Set link for list            */
+            ptcb->waitPrev  = ptcb1;
+            ptcb->waitNext  = ptcb2;
+            if(ptcb2 != Co_NULL)
+            {
+                ptcb2->waitPrev = ptcb;	
+            }
+        }		
+    }
+#endif
+    ptcb->state = TASK_WAITING;     /* Set task status to TASK_WAITING state  */
+    TaskSchedReq = Co_TRUE;
+    OsSchedUnlock();                /* Unlock schedule,and call task schedule */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Move a task from event WAITING list to the DELAY list	  
+ * @param[in]  pecb    Pointer to event control block corresponding to the event. 		 	  
+ * @param[out] None  
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is called to remove a task from event wait list,and	 
+ *             then insert it into the READY list.
+ *******************************************************************************
+ */
+void EventTaskToRdy(P_ECB pecb)
+{
+    P_OSTCB ptcb;
+#if CFG_QUEUE_EN >0
+    P_QCB   pqcb;
+#endif
+    ptcb = pecb->eventTCBList;
+    if(ptcb == Co_NULL)
+        return;
+    
+    pecb->eventTCBList = ptcb->waitNext;/* Get first task in event waiting list*/
+    if(pecb->eventTCBList != Co_NULL)      /* Is no item in event waiting list?  */
+    {
+        pecb->eventTCBList->waitPrev = Co_NULL; /* No,clear link for first item  */
+    }
+    
+    ptcb->waitNext = Co_NULL;                /* Clear event waiting link for task*/
+    ptcb->eventID  = INVALID_ID;          /* Sign that not to use.            */
+    
+    if(ptcb->delayTick != INVALID_VALUE)  /* Is task in delay list?           */		         
+    {
+        RemoveDelayList(ptcb);            /* Yes,remove task from DELAY list  */
+    }
+    if(pecb->eventType == EVENT_TYPE_MBOX)/* Is it a mailbox event?           */
+    {
+        ptcb->pmail    = pecb->eventPtr;  /* Yes,send mail to task            */
+        pecb->eventPtr = Co_NULL;            /* Clear event sign                 */
+        pecb->eventCounter--;
+    }
+#if CFG_QUEUE_EN >0
+    else if(pecb->eventType == EVENT_TYPE_QUEUE)  /* Is it a queue event?     */
+    {										   
+        pqcb        = (P_QCB)pecb->eventPtr;      /* Yes,get queue pointer    */
+        ptcb->pmail = *(pqcb->qStart + pqcb->head);   /* Send mail to task    */
+        pqcb->head++;                             /* Clear event sign         */
+        pqcb->qSize--;
+        if(pqcb->head == pqcb->qMaxSize)
+        {
+            pqcb->head = 0;	
+        }
+    }
+#endif
+
+#if CFG_MAILBOX_EN >0
+    else if(pecb->eventType == EVENT_TYPE_SEM)/* Is it a semaphore event?     */
+    {
+        pecb->eventCounter--;                 /* Yes,clear event sign         */
+        ptcb->pmail = (void*)0xffffffff;      /* Indicate task woke by event  */
+    }
+#endif
+	if(ptcb == TCBRunning)
+	{
+		ptcb->state = TASK_RUNNING;
+	} 
+	else
+	{
+		InsertToTCBRdyList(ptcb);            /* Insert task into ready list  */
+	}
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Move a task from event wait list to the ready list	  
+ * @param[in]  pecb    Pointer to event control block corresponding to the event. 		 	  
+ * @param[out] None  
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is called to remove a task from event wait list,and	 
+ *             then insert it to the ready list.
+ *******************************************************************************
+ */
+void RemoveEventWaittingList(P_OSTCB ptcb)
+{
+    P_ECB pecb;
+    pecb = &EventTbl[ptcb->eventID];    /* Get event control block            */
+    
+    /* Is there only one item in event waiting list?                          */
+    if((ptcb->waitNext == Co_NULL) && (ptcb->waitPrev == Co_NULL))
+    {
+        pecb->eventTCBList = Co_NULL;      /* Yes,set event waiting list as Co_NULL */
+    }
+    else if(ptcb->waitPrev == Co_NULL)/* Is the first item in event waiting list?*/
+    {
+        /* Yes,remove task from list,and reset event waiting list             */
+        ptcb->waitNext->waitPrev = Co_NULL;
+		pecb->eventTCBList = ptcb->waitNext;	
+        ptcb->waitNext = Co_NULL;
+    }
+    else if(ptcb->waitNext == Co_NULL)/* Is the last item in event waiting list? */
+    {
+        ptcb->waitPrev->waitNext = Co_NULL;  /* Yes,remove task form list        */
+        ptcb->waitPrev = Co_NULL;
+    }
+    else                                  /* No, remove task from list        */
+    {										
+        ptcb->waitPrev->waitNext = ptcb->waitNext;
+        ptcb->waitNext->waitPrev = ptcb->waitPrev;
+        ptcb->waitPrev = Co_NULL;
+        ptcb->waitNext = Co_NULL;
+    }
+    ptcb->eventID  = INVALID_ID;          /* Sign that not to use.            */
+}
+
+#endif	 //CFG_EVENT_EN
+
@@ -0,0 +1,712 @@
+/**
+ *******************************************************************************
+ * @file       flag.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Flag management implementation code of coocox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+#if CFG_FLAG_EN > 0
+/*---------------------------- Variable Define -------------------------------*/
+#define FLAG_MAX_NUM  32                /*!< Define max flag number.          */
+FCB     FlagCrl = {0};                  /*!< Flags list struct                */
+
+
+/*---------------------------- Function Declare ------------------------------*/
+static  void FlagBlock(P_FLAG_NODE pnode,U32 flags,U8 waitType);
+static  P_FLAG_NODE RemoveFromLink(P_FLAG_NODE pnode);
+
+/**
+ *******************************************************************************
+ * @brief      Create a flag	 
+ * @param[in]  bAutoReset      Reset mode,Co_TRUE(Auto Reset)  FLASE(Manual Reset).
+ * @param[in]  bInitialState   Initial state.	 
+ * @param[out] None  
+ * @retval     E_CREATE_FAIL   Create flag fail.
+ * @retval     others          Create flag successful.			 
+ *
+ * @par Description
+ * @details    This function use to create a event flag.	 
+ * @note 
+ *******************************************************************************
+ */
+OS_FlagID CoCreateFlag(BOOL bAutoReset,BOOL bInitialState)
+{
+    U8  i;
+    OsSchedLock();
+    
+    for(i=0;i<FLAG_MAX_NUM;i++)
+    {
+        /* Assign a free flag control block                                   */
+        if((FlagCrl.flagActive&(1<<i)) == 0 )
+        {
+            FlagCrl.flagActive |= (1<<i);         /* Initialize active flag   */
+            FlagCrl.flagRdy    |= (bInitialState<<i);/* Initialize ready flag */
+            FlagCrl.resetOpt   |= (bAutoReset<<i);/* Initialize reset option  */
+            OsSchedUnlock();
+            return i ;                  /* Return Flag ID                     */
+        }	
+    }
+    OsSchedUnlock();
+    
+    return E_CREATE_FAIL;               /* There is no free flag control block*/	
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Delete a flag
+ * @param[in]  id      Flag ID. 	
+ * @param[in]  opt     Delete option. 
+ * @param[out] None          
+ * @retval     E_CALL            Error call in ISR.
+ * @retval     E_INVALID_ID      Invalid event ID.
+ * @retval     E_TASK_WAITTING   Tasks waitting for the event,delete fail.
+ * @retval     E_OK              Event deleted successful.   
+ *
+ * @par Description
+ * @details    This function is called to delete a event flag.
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoDelFlag(OS_FlagID id,U8 opt)
+{
+    P_FLAG_NODE pnode;
+    P_FCB pfcb;
+    pfcb  = &FlagCrl;
+    if(OSIntNesting > 0)                /* If be called from ISR              */
+    {
+        return E_CALL;
+    }
+#if CFG_PAR_CHECKOUT_EN >0
+    if((pfcb->flagActive&(1<<id)) == 0) /* Flag is valid or not               */
+    {
+        return E_INVALID_ID;	
+    }
+#endif
+    OsSchedLock();
+    pnode = pfcb->headNode;
+    
+    while(pnode != Co_NULL)                /* Ready all tasks waiting for flags  */
+    {
+        if((pnode->waitFlags&(1<<id)) != 0) /* If no task is waiting on flags */
+    	  {
+            if(opt == OPT_DEL_NO_PEND)      /* Delete flag if no task waiting */
+            {
+              	OsSchedUnlock();
+               	return E_TASK_WAITING;
+            }
+            else if (opt == OPT_DEL_ANYWAY) /* Always delete the flag         */
+            {
+                if(pnode->waitType == OPT_WAIT_ALL)
+                {
+                    /* If the flag is only required by NODE                   */
+                    if( pnode->waitFlags == (1<<id) )	
+                    {
+                        /* Remove the NODE from waiting list                  */
+                        pnode = RemoveFromLink(pnode); 	
+                        continue;	
+                    }	
+                    else
+                    {
+                        pnode->waitFlags &= ~(1<<id);   /* Update waitflags   */
+                    }		
+                }
+                else   							
+                {
+                    pnode = RemoveFromLink(pnode);
+                    continue;	
+                }	
+            }
+        }	
+        pnode = pnode->nextNode;		
+    }
+    
+    /* Remove the flag from the flags list */
+    pfcb->flagActive &= ~(1<<id);			
+    pfcb->flagRdy    &= ~(1<<id);
+    pfcb->resetOpt   &= ~(1<<id);
+    OsSchedUnlock();
+    return E_OK;
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      AcceptSingleFlag  
+ * @param[in]  id     Flag ID.
+ * @param[out] None
+ * @retval     E_INVALID_ID      Invalid event ID.
+ * @retval     E_FLAG_NOT_READY  Flag is not in ready state.
+ * @retval     E_OK              The call was successful and your task owns the Flag.
+ *
+ * @par Description
+ * @details    This fucntion is called to accept single flag
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoAcceptSingleFlag(OS_FlagID id)
+{
+    P_FCB pfcb;
+    pfcb  = &FlagCrl;
+#if CFG_PAR_CHECKOUT_EN >0	
+    if(id >= FLAG_MAX_NUM)              
+    {
+        return E_INVALID_ID;            /* Invalid 'id',return error          */
+    }
+    if((pfcb->flagActive&(1<<id)) == 0) 
+    {
+        return E_INVALID_ID;            /* Flag is deactive,return error      */
+    }	
+#endif
+    if((pfcb->flagRdy&(1<<id)) != 0)    /* If the required flag is set        */
+    {
+        OsSchedLock()
+        pfcb->flagRdy &= ~((FlagCrl.resetOpt)&(1<<id)); /* Clear the flag     */
+        OsSchedUnlock();
+        return E_OK;
+    }
+    else                                /* If the required flag is not set    */
+    {
+        return E_FLAG_NOT_READY;
+    }
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      AcceptMultipleFlags 
+ * @param[in]  flags      Flags that waiting to active task.
+ * @param[in]  waitType   Flags wait type.
+ * @param[out] perr       A pointer to error code.
+ * @retval     0
+ * @retval     springFlag
+ *
+ * @par Description
+ * @details    This fucntion is called to accept multiple flags. 
+ * @note 
+ *******************************************************************************
+ */
+U32 CoAcceptMultipleFlags(U32 flags,U8 waitType,StatusType *perr)
+{
+    U32  springFlag;
+    P_FCB pfcb;
+    pfcb  = &FlagCrl;
+    
+#if CFG_PAR_CHECKOUT_EN >0	
+    if((flags&pfcb->flagActive) != flags )  /* Judge flag is active or not?   */    
+    {
+        *perr = E_INVALID_PARAMETER;        /* Invalid flags                  */
+        return 0;
+    }
+#endif
+    
+    springFlag = flags & pfcb->flagRdy;
+    
+    OsSchedLock();
+    /* If any required flags are set */
+    if( (springFlag != 0) && (waitType == OPT_WAIT_ANY) )	
+    {
+        
+        pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt);  /* Clear the flags  */
+        OsSchedUnlock();
+        *perr = E_OK;
+        return springFlag;
+    }
+    
+    /* If all required flags are set */
+    if((springFlag == flags) && (waitType == OPT_WAIT_ALL))
+    {
+        pfcb->flagRdy &= ~(springFlag&pfcb->resetOpt);    /* Clear the flags  */
+        OsSchedUnlock();	
+        *perr = E_OK;					
+        return springFlag;		 	
+    }
+    OsSchedUnlock();
+    *perr = E_FLAG_NOT_READY;		
+    return 0;
+}
+
+
+
+
+/**
+ *******************************************************************************
+ * @brief      WaitForSingleFlag 
+ * @param[in]  id        Flag ID.
+ * @param[in]  timeout   The longest time for writting flag.
+ * @param[out] None   
+ * @retval     E_CALL         Error call in ISR.   
+ * @retval     E_INVALID_ID   Invalid event ID.	
+ * @retval     E_TIMEOUT      Flag wasn't received within 'timeout' time.
+ * @retval     E_OK           The call was successful and your task owns the Flag,
+ *                            or the event you are waiting for occurred.	 
+ *
+ * @par Description
+ * @details    This function is called to wait for only one flag,
+ *             (1) if parameter "timeout" == 0,waiting until flag be set;
+ *             (2) when "timeout" != 0,if flag was set or wasn't set but timeout 
+ *                 occured,the task will exit the waiting list,convert to READY 
+ *                 or RUNNING state.  
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoWaitForSingleFlag(OS_FlagID id,U32 timeout)
+{
+    FLAG_NODE flagNode;
+    P_FCB     pfcb;
+    P_OSTCB   curTCB;
+    
+    if(OSIntNesting > 0)                /* See if the caller is ISR           */
+    {
+        return E_CALL;
+    }
+    if(OSSchedLock != 0)                /* Schedule is lock?                  */
+    {								 
+        return E_OS_IN_LOCK;            /* Yes,error return                   */
+    }	
+    
+#if CFG_PAR_CHECKOUT_EN >0	
+    if(id >= FLAG_MAX_NUM)              /* Judge id is valid or not?          */  
+    {
+        return E_INVALID_ID;            /* Invalid 'id'                       */      	
+    }
+    if((FlagCrl.flagActive&(1<<id)) == 0 )/* Judge flag is active or not?       */
+    {
+        return E_INVALID_ID;            /* Flag is deactive ,return error     */
+    }	
+#endif
+
+   	OsSchedLock();
+	pfcb = &FlagCrl;
+    /* See if the required flag is set */
+    if((pfcb->flagRdy&(1<<id)) != 0)    /* If the required flag is set        */
+    {
+        pfcb->flagRdy &= ~((pfcb->resetOpt&(1<<id))); /* Clear the flag       */
+        OsSchedUnlock();
+    }
+    else                                /* If the required flag is not set    */
+    {
+        curTCB = TCBRunning;
+        if(timeout == 0)                /* If time-out is not configured      */
+        {
+            /* Block task until the required flag is set                      */
+            FlagBlock (&flagNode,(1<<id),OPT_WAIT_ONE);  
+            curTCB->state  = TASK_WAITING;	
+			TaskSchedReq   = Co_TRUE;
+            OsSchedUnlock();
+            
+            /* The required flag is set and the task is in running state      */
+            curTCB->pnode  = Co_NULL;
+            OsSchedLock();
+            
+            /* Clear the required flag or not                                 */	
+            pfcb->flagRdy &= ~((1<<id)&(pfcb->resetOpt)); 
+            OsSchedUnlock();
+        }
+        else                            /* If time-out is configured          */
+        {
+            /* Block task until the required flag is set or time-out occurs   */
+            FlagBlock(&flagNode,(1<<id),OPT_WAIT_ONE);
+            InsertDelayList(curTCB,timeout);
+            
+            OsSchedUnlock();
+            if(curTCB->pnode == Co_NULL)     /* If time-out occurred             */
+            {
+                return E_TIMEOUT;		
+            }
+            else                          /* If flag is set                   */
+            {
+                curTCB->pnode = Co_NULL;
+                OsSchedLock();
+                
+                /* Clear the required flag or not                             */
+                pfcb->flagRdy &= ~((1<<id)&(pfcb->resetOpt));	 
+                OsSchedUnlock();
+            }	
+        }
+    }
+    return E_OK;	
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      WaitForMultipleFlags 
+ * @param[in]  flags      Flags that waiting to active task.
+ * @param[in]  waitType   Flags wait type.
+ * @param[in]  timeout    The longest time for writting flag.
+ * @param[out] perr       A pointer to error code.
+ * @retval     0
+ * @retval     springFlag	 
+ *
+ * @par Description
+ * @details    This function is called to pend a task for waitting multiple flag. 
+ * @note 
+ *******************************************************************************
+ */
+U32 CoWaitForMultipleFlags(U32 flags,U8 waitType,U32 timeout,StatusType *perr)
+{
+    U32       springFlag;  	
+    P_FCB     pfcb;
+    FLAG_NODE flagNode;
+    P_OSTCB   curTCB;
+    
+   
+    if(OSIntNesting > 0)                /* If the caller is ISR               */
+    {
+        *perr = E_CALL;
+        return 0;
+    }
+    if(OSSchedLock != 0)                /* Schedule is lock?                  */
+    {	
+        *perr = E_OS_IN_LOCK;							 
+        return 0;                       /* Yes,error return                   */
+    }
+#if CFG_PAR_CHECKOUT_EN >0  
+    if( (flags&FlagCrl.flagActive) != flags )
+    {
+        *perr = E_INVALID_PARAMETER;    /* Invalid 'flags'                    */
+        return 0;
+    }
+#endif
+    OsSchedLock();
+	pfcb = &FlagCrl;
+    springFlag = flags & pfcb->flagRdy;
+    
+    /* If any required flags are set  */
+    if((springFlag != 0) && (waitType == OPT_WAIT_ANY))
+    {
+        pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt);  /* Clear the flag   */
+        OsSchedUnlock();
+        *perr = E_OK;
+        return springFlag;
+    }
+    
+    /* If all required flags are set */
+    if( (springFlag == flags) && (waitType == OPT_WAIT_ALL) )  
+    {
+        pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt);  /* Clear the flags  */
+        OsSchedUnlock();	
+        *perr = E_OK;
+        return springFlag;		 	
+    }
+    
+    curTCB = TCBRunning;
+    if(timeout == 0)                    /* If time-out is not configured      */
+    {
+        /* Block task until the required flag are set                         */
+        FlagBlock(&flagNode,flags,waitType);
+        curTCB->state  = TASK_WAITING;	
+		TaskSchedReq   = Co_TRUE;
+		OsSchedUnlock();
+        
+        curTCB->pnode  = Co_NULL;
+        OsSchedLock();			 	
+        springFlag     = flags & pfcb->flagRdy;		
+        pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt);/* Clear the flags    */	
+        OsSchedUnlock();
+        *perr = E_OK;
+        return springFlag;
+    }
+    else                                /* If time-out is configured          */
+    {
+        /* Block task until the required flag are set or time-out occurred    */
+        FlagBlock(&flagNode,flags,waitType);
+        InsertDelayList(curTCB,timeout);
+        
+        OsSchedUnlock();
+        if(curTCB->pnode == Co_NULL)       /* If time-out occurred               */
+        {
+            *perr = E_TIMEOUT;
+            return 0;	
+        }
+        else                            /* If the required flags are set      */
+        {
+            curTCB->pnode = Co_NULL;
+            OsSchedLock();
+            springFlag    = flags & FlagCrl.flagRdy;
+            
+            /* Clear the required ready flags or not */
+            pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt);	
+            OsSchedUnlock();
+            *perr = E_OK;
+            return springFlag;	
+        }	
+    }	
+}
+
+
+/**
+ *******************************************************************************
+ * @brief       Clear a Flag	 
+ * @param[in]   id     Flag ID.
+ * @param[out]  None
+ * @retval      E_OK           Event deleted successful. 	 
+ * @retval      E_INVALID_ID   Invalid event ID. 	 
+ *
+ * @par Description
+ * @details     This function is called to clear a flag. 
+ *
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoClearFlag(OS_FlagID id)
+{
+    P_FCB pfcb;
+    pfcb = &FlagCrl;
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= FLAG_MAX_NUM)                  
+    {
+        return E_INVALID_ID;                /* Invalid id                     */	
+    }
+    if((pfcb->flagActive&(1<<id)) == 0)     
+    {
+        return E_INVALID_ID;                /* Invalid flag                   */
+    }
+#endif
+
+    pfcb->flagRdy &= ~(1<<id);              /* Clear the flag                 */
+    return E_OK;
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Set a flag	   
+ * @param[in]  id     Flag ID.
+ * @param[out] None
+ * @retval     E_INVALID_ID   Invalid event ID.
+ * @retval     E_OK           Event deleted successful. 	 
+ *
+ * @par Description
+ * @details    This function is called to set a flag. 
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoSetFlag(OS_FlagID id)
+{
+    P_FLAG_NODE pnode;
+    P_FCB pfcb;
+    pfcb  = &FlagCrl;
+    
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= FLAG_MAX_NUM)              /* Flag is valid or not               */							
+    {
+        return E_INVALID_ID;            /* Invalid flag id                    */      	
+    }
+    if((pfcb->flagActive&(1<<id)) == 0)  
+    {
+        return E_INVALID_ID;            /* Flag is not exist                  */
+    }
+#endif
+    
+    if((pfcb->flagRdy&(1<<id)) != 0)    /* Flag had already been set          */
+    {
+    	return E_OK;
+    }
+    
+    pfcb->flagRdy |= (1<<id);           /* Update the flags ready list        */
+    
+    OsSchedLock();
+    pnode = pfcb->headNode;	  		
+    while(pnode != Co_NULL)
+    {
+        if(pnode->waitType == OPT_WAIT_ALL)   /* Extract all the bits we want */
+      	{			
+            if((pnode->waitFlags&pfcb->flagRdy) == pnode->waitFlags)
+            {
+               /* Remove the flag node from the wait list                    */
+                pnode = RemoveFromLink(pnode);		
+                if((pfcb->resetOpt&(1<<id)) != 0)/* If the flags is auto-reset*/	
+                {
+                    break;							
+                }
+                continue;	
+            }	
+      	}
+        else                           /* Extract only the bits we want       */	
+      	{
+            if( (pnode->waitFlags & pfcb->flagRdy) != 0)
+            {
+                /* Remove the flag node from the wait list                    */
+                pnode = RemoveFromLink(pnode);	 	
+                if((pfcb->resetOpt&(1<<id)) != 0)
+                {
+                    break;              /* The flags is auto-reset            */	
+                }
+                continue;
+            }	
+      	}
+      	pnode = pnode->nextNode;					
+    }
+    OsSchedUnlock();
+    return E_OK;
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Set a flag	in ISR 
+ * @param[in]  id     Flag ID.
+ * @param[out] None 
+ * @retval     E_INVALID_ID   Invalid event ID.
+ * @retval     E_OK           Event deleted successful. 	 
+ *
+ * @par Description
+ * @details    This function is called in ISR to set a flag. 
+ * @note 
+ *******************************************************************************
+ */
+#if CFG_MAX_SERVICE_REQUEST > 0
+StatusType isr_SetFlag(OS_FlagID id)
+{
+    if(OSSchedLock > 0)         /* If scheduler is locked,(the caller is ISR) */
+    {
+        /* Insert the request into service request queue                      */
+        if(InsertInSRQ(FLAG_REQ,id,Co_NULL) == Co_FALSE)
+        {
+            return E_SEV_REQ_FULL;      /* The service requst queue is full   */
+        }			
+        else
+        {
+            return E_OK;   							
+        }
+    }
+    else
+    {
+        return(CoSetFlag(id));          /* The caller is not ISR, set the flag*/
+    }
+}
+#endif
+
+/**
+ *******************************************************************************
+ * @brief      Block a task to wait a flag event  
+ * @param[in]  pnode       A node that will link into flag waiting list.
+ * @param[in]  flags       Flag(s) that the node waiting for.
+ * @param[in]  waitType    Waiting type of the node.
+ * @param[out] None	 
+ * @retval     None
+ *
+ * @par Description
+ * @details    This function is called to block a task to wait a flag event.	 
+ * @note 
+ *******************************************************************************
+ */
+static void FlagBlock(P_FLAG_NODE pnode,U32 flags,U8 waitType)
+{
+    P_FCB     pfcb;
+    pfcb  = &FlagCrl;
+    
+    TCBRunning->pnode = pnode;	
+    pnode->waitTask   = TCBRunning;
+    pnode->waitFlags  = flags;      /* Save the flags that we need to wait for*/
+    pnode->waitType   = waitType;   /* Save the type of wait                  */
+        
+    if(pfcb->tailNode == Co_NULL)      /* If this is the first NODE to insert?   */
+    {
+        pnode->nextNode = Co_NULL;
+        pnode->prevNode = Co_NULL;
+        pfcb->headNode  = pnode;    /* Insert the NODE to the head            */	
+    }
+    else                            /* If it is not the first NODE to insert? */
+    {
+        pfcb->tailNode->nextNode = pnode;   /* Insert the NODE to the tail    */
+        pnode->prevNode          = pfcb->tailNode;
+        pnode->nextNode          = Co_NULL;
+    }
+    pfcb->tailNode = pnode;
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Remove a flag node from list
+ * @param[in]  pnode    A node that will remove from flag waiting list.
+ * @param[out] None   
+ * @retval     pnode    Next node of the node that have removed out.
+ *
+ * @par Description
+ * @details   This function is called to remove a flag node from the wait list.			 
+ * @note 
+ *******************************************************************************
+ */
+static P_FLAG_NODE RemoveFromLink(P_FLAG_NODE pnode)
+{
+    P_OSTCB ptcb;
+    
+    RemoveLinkNode(pnode);            /* Remove the flag node from wait list. */			 
+    ptcb = pnode->waitTask;
+    
+    /* The task in the delay list */
+    if(ptcb->delayTick != INVALID_VALUE)/* If the task is in tick delay list  */			         
+    {
+        RemoveDelayList(ptcb);        /* Remove the task from tick delay list */	
+    }
+	
+	ptcb->pnode = (void*)0xffffffff;
+
+	if(ptcb == TCBRunning)
+	{
+		ptcb->state = TASK_RUNNING;
+	} 
+	else
+	{
+		InsertToTCBRdyList(ptcb);         /* Insert the task to ready list        */	
+	}   
+    return (pnode->nextNode);	
+}
+
+/**
+ *******************************************************************************
+ * @brief      Remove a flag node from list  
+ * @param[in]  pnode 	A node that will remove from flag waiting list.
+ * @param[out] None   
+ * @retval     None		
+ *
+ * @par Description
+ * @details    This function is called to remove a flag node from the wait list.			 
+ * @note 
+ *******************************************************************************
+ */
+void RemoveLinkNode(P_FLAG_NODE pnode)
+{
+    /* If only one NODE in the list*/
+    if((pnode->nextNode == Co_NULL) && (pnode->prevNode == Co_NULL))
+    {
+        FlagCrl.headNode = Co_NULL;
+        FlagCrl.tailNode = Co_NULL;
+    }
+    else if(pnode->nextNode == Co_NULL)      /* If the NODE is tail              */
+    {
+        FlagCrl.tailNode          = pnode->prevNode;
+        pnode->prevNode->nextNode = Co_NULL;
+    }
+    else if(pnode->prevNode == Co_NULL)      /* If the NODE is head              */
+    {
+        FlagCrl.headNode          = pnode->nextNode;
+        pnode->nextNode->prevNode = Co_NULL;
+    }
+    else                                  /* The NODE is in the middle        */
+    {
+        pnode->nextNode->prevNode = pnode->prevNode;
+        pnode->prevNode->nextNode = pnode->nextNode;
+    }
+    pnode->waitTask->pnode = Co_NULL;
+}
+
+#endif
@@ -0,0 +1,65 @@
+/**
+ *******************************************************************************
+ * @file       hook.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      hook management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+/*---------------------------- Inlcude --------------------------------------*/
+#include <coocox.h>
+
+/**
+ *******************************************************************************
+ * @brief      IDLE task of OS	 
+ * @param[in]  pdata	The parameter passed to IDLE task.		 
+ * @param[out] None 
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is system IDLE task code.	 
+ *******************************************************************************
+ */
+void CoIdleTask(void* pdata)
+{
+    /* Add your codes here */
+    for(; ;) 
+    {
+        /* Add your codes here */
+    }
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Hook for stack overflow	 
+ * @param[in]  taskID	Piont to the task which lead to stack overflow.		 
+ * @param[out] None 
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is a hook for stack overflow.	 
+ *******************************************************************************
+ */
+void CoStkOverflowHook(OS_TID taskID)
+{
+    /* Process stack overflow  here */
+    for(; ;) 
+    {
+      
+    }
+}
+
+
+
+
+
+
@@ -0,0 +1,409 @@
+/**
+ *******************************************************************************
+ * @file       kernelHeap.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      kernel heap management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+
+#if CFG_KHEAP_EN >0
+/*---------------------------- Variable Define -------------------------------*/
+U32     KernelHeap[KHEAP_SIZE] = {0};   /*!< Kernel heap                      */
+P_FMB   FMBlist = Co_NULL;                 /*!< Free memory block list           */
+KHeap   Kheap   = {0};                  /*!< Kernel heap control              */
+
+
+/*---------------------------- Function Declare ------------------------------*/
+static P_FMB  GetPreFMB(P_UMB usedMB);
+/**
+ *******************************************************************************
+ * @brief      Create kernel heap	 
+ * @param[in]  None
+ * @param[out] None
+ * @retval     None			 
+ *
+ * @par Description
+ * @details    This function is called to create kernel heap.
+ *******************************************************************************
+ */
+void CoCreateKheap(void)
+{
+    Kheap.startAddr  = (U32)(KernelHeap); /* Initialize kernel heap control   */
+    Kheap.endAddr    = (U32)(KernelHeap) + KHEAP_SIZE*4;
+    FMBlist          = (P_FMB)KernelHeap; /* Initialize free memory block list*/
+    FMBlist->nextFMB = Co_NULL;
+    FMBlist->nextUMB = Co_NULL;
+    FMBlist->preUMB  = Co_NULL;
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Allocation size bytes of memory block from kernel heap.
+ * @param[in]  size     Length of menory block.	
+ * @param[out] None
+ * @retval     Co_NULL     Allocate fail.
+ * @retval     others   Pointer to memory block.		 
+ *
+ * @par Description
+ * @details    This function is called to allocation size bytes of memory block.
+ *******************************************************************************
+ */
+void* CoKmalloc(U32 size)
+{
+    P_FMB freeMB,newFMB,preFMB;
+    P_UMB usedMB,tmpUMB;
+    U8*   memAddr;
+    U32   freeSize;
+    U32   kheapAddr;
+    
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if( size == 0 )
+    {
+        return Co_NULL;
+    }
+#endif
+
+    /* Word alignment,and add used memory head size */
+    size      = (((size+3)>>2)<<2) + 8;
+    kheapAddr = Kheap.endAddr;        /* Get the end address of kernel heap   */
+    OsSchedLock();                    /* Lock schedule                        */
+    freeMB = FMBlist;                 /* Get first item of free memory list   */
+    preFMB = Co_NULL;
+    while(freeMB != Co_NULL )            /* Is out of free memory list?          */
+    {                                 /* No                                   */
+        if(freeMB->nextUMB == Co_NULL)   /* Is last item of free memory list?    */
+        {                             /* Yes,get size for this free item      */
+            freeSize = kheapAddr - (U32)(freeMB);
+        }
+        else                          /* No,get size for this free item       */
+        {							   
+            freeSize = (U32)(freeMB->nextUMB) -1 - (U32)(freeMB);	
+        }
+        if(freeSize >= size)        /* If the size equal or greater than need */
+        {                           /* Yes,assign in this free memory         */
+            usedMB=(P_UMB)freeMB;/* Get the address for used memory block head*/
+            
+            /* Get the address for used memory block                          */
+            memAddr = (U8*)((U32)(usedMB) + 8);	
+            
+            /* Is left size of free memory smaller than 12?                   */	 
+            if((freeSize-size) < 12)	 
+            {		
+                /* Yes,malloc together(12 is the size of the header information 
+                   of free memory block ).                                    */
+                if(preFMB != Co_NULL)/* Is first item of free memory block list? */
+                {                             /* No,set the link for list     */
+                    preFMB->nextFMB = freeMB->nextFMB;
+                }
+                else                          /* Yes,reset the first item     */
+                {						
+                    FMBlist = freeMB->nextFMB;		
+                }
+                
+                if(freeMB->nextUMB != Co_NULL)   /* Is last item?                */
+                {                             /* No,set the link for list     */
+                    tmpUMB = (P_UMB)((U32)(freeMB->nextUMB)-1); 
+                    tmpUMB->preMB = (void*)((U32)usedMB|0x1);
+                }
+                
+                usedMB->nextMB = freeMB->nextUMB;/* Set used memory block link*/
+                usedMB->preMB  = freeMB->preUMB;
+            }
+            else                            /* No,the left size more than 12  */
+            {		
+                /* Get new free memory block address                          */
+                newFMB = (P_FMB)((U32)(freeMB) + size);
+                
+                if(preFMB != Co_NULL)/* Is first item of free memory block list? */
+                {						
+                    preFMB->nextFMB = newFMB; /* No,set the link for list     */		
+                }	
+                else
+                {					    
+                    FMBlist = newFMB;         /* Yes,reset the first item     */	
+                }
+                
+                /* Set link for new free memory block                         */
+                newFMB->preUMB  = (P_UMB)((U32)usedMB|0x1);
+                newFMB->nextUMB = freeMB->nextUMB;
+                newFMB->nextFMB = freeMB->nextFMB;
+                
+                if(freeMB->nextUMB != Co_NULL) /* Is last item?                  */
+                {                           /* No,set the link for list       */
+                    tmpUMB = (P_UMB)((U32)(freeMB->nextUMB)-1); 
+                    tmpUMB->preMB = newFMB;
+                }
+                
+                usedMB->nextMB = newFMB;    /* Set used memory block link     */
+                usedMB->preMB  = freeMB->preUMB;
+            }
+          
+            if(freeMB->preUMB != Co_NULL)      /* Is first item?                 */
+            {                               /* No,set the link for list       */
+                tmpUMB = (P_UMB)((U32)(freeMB->preUMB)-1); 
+                tmpUMB->nextMB = (void*)((U32)usedMB|0x1);
+            }
+          
+            OsSchedUnlock();              /* Unlock schedule                  */
+            return memAddr;               /* Return used memory block address */
+        }
+        preFMB = freeMB;        /* Save current free memory block as previous */
+        freeMB = freeMB->nextFMB;         /* Get the next item as current item*/
+    }
+    OsSchedUnlock();                      /* Unlock schedule                  */
+    return Co_NULL;                          /* Error return                     */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Release memory block to kernel heap.  
+ * @param[in]  memBuf    Pointer to memory block.
+ * @param[out] None
+ * @retval     None  		 
+ *
+ * @par Description
+ * @details    This function is called to release memory block.
+ *******************************************************************************
+ */
+void CoKfree(void* memBuf)
+{
+    P_FMB    curFMB,nextFMB,preFMB;
+    P_UMB    usedMB,nextUMB,preUMB;
+
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(memBuf == Co_NULL)
+    {
+        return;
+    }
+#endif
+    
+    usedMB = (P_UMB)((U32)(memBuf)-8);
+    
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if((U32)(memBuf) < Kheap.startAddr)
+    {
+        return;
+    }
+    if((U32)(memBuf) > Kheap.endAddr)
+    {
+        return;
+    }
+#endif
+    
+    
+    OsSchedLock();                      /* Lock schedule                      */
+
+#if CFG_PAR_CHECKOUT_EN >0              /* Check UMB in list                  */ 
+    if((U32)(usedMB) < (U32)(FMBlist))
+    {
+        preUMB = (P_UMB)((U32)(FMBlist->preUMB)-1);
+        while(preUMB != usedMB)	
+        {
+            if(preUMB == Co_NULL)
+            {
+                OsSchedUnlock();
+                return;
+            }
+            preUMB = (P_UMB)((U32)(preUMB->preMB)-1);	
+        }
+    }
+    else
+    {
+        if(FMBlist == Co_NULL)
+        {
+            nextUMB = (P_UMB)(Kheap.startAddr);	
+        }
+        else
+        {
+            if(FMBlist->nextUMB != Co_NULL)
+            {
+                nextUMB = (P_UMB)((U32)(FMBlist->nextUMB)-1);	
+            }
+            else
+            {
+                nextUMB = Co_NULL;
+            }
+        }
+    	
+        while(nextUMB != usedMB)	
+        {
+            if(nextUMB == Co_NULL)
+            {
+                OsSchedUnlock();
+                return;
+            }	
+            if(((U32)(nextUMB->nextMB)&0x1) == 0)		
+            {
+                nextFMB = (P_FMB)(nextUMB->nextMB);
+                nextUMB = (P_UMB)((U32)(nextFMB->nextUMB)-1);		
+            }
+            else
+            {
+                nextUMB = (P_UMB)((U32)(nextUMB->nextMB)-1);	
+            }
+        }		
+    }
+#endif
+    
+    
+    /* Is between two free memory block? */	 
+    if( (((U32)(usedMB->nextMB)&0x1) == 0) && (((U32)(usedMB->preMB)&0x1)==0) )	
+    {                             /* Yes,is the only one item in kernel heap? */
+        if((usedMB->nextMB == Co_NULL) && (usedMB->preMB == Co_NULL))
+        {
+            curFMB = (P_FMB)usedMB;       /* Yes,release this item            */
+            curFMB->nextFMB = Co_NULL;
+            curFMB->nextUMB = Co_NULL;
+            curFMB->preUMB  = Co_NULL;
+            FMBlist = curFMB;	
+        }
+        else if(usedMB->preMB == Co_NULL)    /* Is the first item in kernel heap */
+        {		
+            /* Yes,release this item,and set link for list                    */						
+            curFMB  = (P_FMB)usedMB; 
+            nextFMB = (P_FMB)usedMB->nextMB;
+            
+            curFMB->nextFMB = nextFMB->nextFMB;	
+            curFMB->nextUMB = nextFMB->nextUMB;
+            curFMB->preUMB  = Co_NULL;
+            FMBlist         = curFMB;
+        }
+        else if(usedMB->nextMB == Co_NULL)   /* Is the last item in kernel heap  */
+        {                      /* Yes,release this item,and set link for list */
+            curFMB = (P_FMB)(usedMB->preMB);	
+            curFMB->nextFMB = Co_NULL;
+            curFMB->nextUMB = Co_NULL;
+        }							    
+        else                  /* All no,show this item between two normal FMB */
+        {		
+            /* release this item,and set link for list                        */						  
+            nextFMB = (P_FMB)usedMB->nextMB;
+            curFMB  = (P_FMB)(usedMB->preMB);	
+            
+            curFMB->nextFMB = nextFMB->nextFMB;
+            curFMB->nextUMB = nextFMB->nextUMB;
+        }
+    }
+    else if(((U32)(usedMB->preMB)&0x1) == 0)  /* Is between FMB and UMB?      */
+    {								   
+        if(usedMB->preMB == Co_NULL)   /* Yes,is the first item in kernel heap?  */
+        {
+            /* Yes,release this item,and set link for list                    */
+            curFMB          = (P_FMB)usedMB;      
+            nextUMB         = (P_UMB)usedMB->nextMB;		
+            curFMB->nextUMB = nextUMB;
+            curFMB->preUMB  = Co_NULL;
+            curFMB->nextFMB = FMBlist;
+            FMBlist         = curFMB;
+        }
+        else                    /* No,release this item,and set link for list */
+        {							      
+            curFMB          = (P_FMB)usedMB->preMB;
+            nextUMB         = (P_UMB)usedMB->nextMB;
+            curFMB->nextUMB = nextUMB;
+        }
+    
+    }
+    else if(((U32)(usedMB->nextMB)&0x1) == 0)   /* Is between UMB and FMB?    */
+    {                                           /* Yes                        */
+        preUMB = (P_UMB)(usedMB->preMB);        /* Get previous UMB           */
+        curFMB = (P_FMB)(usedMB);               /* new FMB                    */
+        preFMB = GetPreFMB(usedMB);             /* Get previous FMB           */
+        if(preFMB == Co_NULL)                      /* Is previous FMB==Co_NULL?     */
+        {	
+            nextFMB = FMBlist;                  /* Yes,get next FMB           */ 
+            FMBlist = curFMB;   /* Reset new FMB as the first item of FMB list*/
+        }
+        else
+        {
+            nextFMB = preFMB->nextFMB;          /* No,get next FMB            */
+            preFMB->nextFMB  = curFMB;          /* Set link for FMB list      */
+        }
+        
+        if(nextFMB == Co_NULL)           /* Is new FMB as last item of FMB list? */
+        {	
+            curFMB->preUMB  = preUMB;           /* Yes,set link for list      */
+            curFMB->nextUMB = Co_NULL;
+            curFMB->nextFMB = Co_NULL;
+        }	
+        else
+        {
+            curFMB->preUMB  = preUMB;           /* No,set link for list       */
+            curFMB->nextUMB = nextFMB->nextUMB;
+            curFMB->nextFMB = nextFMB->nextFMB;	
+        }
+    }
+    else                                    /* All no,show UMB between two UMB*/
+    {									  
+        curFMB  = (P_FMB)(usedMB);          /* new FMB                        */
+        preFMB  = GetPreFMB(usedMB);        /* Get previous FMB               */
+        preUMB  = (P_UMB)(usedMB->preMB);   /* Get previous UMB               */
+        nextUMB = (P_UMB)(usedMB->nextMB);  /* Get next UMB                   */
+        
+        if(preFMB == Co_NULL )                 /* Is previous FMB==Co_NULL?         */
+        {
+            nextFMB = FMBlist;              /* Yes,get next FMB               */
+            FMBlist = curFMB;  /* Reset new FMB as the first item of FMB list */
+      	}
+      	else
+      	{
+            nextFMB = preFMB->nextFMB;      /* No,get next FMB                */
+            preFMB->nextFMB = curFMB;       /* Set link for FMB list          */
+      	}
+      	
+        curFMB->preUMB  = preUMB;           /* Set current FMB link for list  */
+        curFMB->nextUMB = nextUMB;
+        curFMB->nextFMB = nextFMB;
+    }
+    
+    if(curFMB->preUMB != Co_NULL)/* Is current FMB as first item in kernel heap? */
+    {                         /* No,set link for list                         */
+      	preUMB = (P_UMB)((U32)(curFMB->preUMB)-1); 
+      	preUMB->nextMB = (void*)curFMB;
+    }
+    if(curFMB->nextUMB != Co_NULL)/* Is current FMB as last item in kernel heap? */
+    {                          /* No,set link for list                        */
+      	nextUMB = (P_UMB)((U32)(curFMB->nextUMB)-1); 
+      	nextUMB->preMB = (void*)curFMB;		
+    }
+    OsSchedUnlock();           /* Unlock schedule                             */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Get previous free memory block pointer.  
+ * @param[in]  usedMB    Current used memory block.
+ * @param[out] None
+ * @retval     Previous free memory block pointer.		 
+ *
+ * @par Description
+ * @details    This function is called to get previous free memory block pointer.
+ *******************************************************************************
+ */
+static P_FMB GetPreFMB(P_UMB usedMB)
+{
+    P_UMB preUMB;
+    preUMB = usedMB;
+    while(((U32)(preUMB->preMB)&0x1))   /* Is previous MB as FMB?             */
+    {                                   /* No,get previous MB                 */
+        preUMB = (P_UMB)((U32)(preUMB->preMB)-1);
+    }	
+    return (P_FMB)(preUMB->preMB);      /* Yes,return previous MB             */
+}
+
+#endif
@@ -0,0 +1,325 @@
+/**
+ *******************************************************************************
+ * @file       mbox.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Mailbox management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+
+#if CFG_MAILBOX_EN > 0
+
+
+/**
+ *******************************************************************************
+ * @brief      Create a mailbox	 
+ * @param[in]  sortType     Mail box waiting list sort type.			 
+ * @param[out] None  
+ * @retval     E_CREATE_FAIL   Create mailbox fail.
+ * @retval     others          Create mailbox successful.		 
+ *
+ * @par Description
+ * @details    This function is called to create a mailbox. 
+ * @note 
+ *******************************************************************************
+ */
+OS_EventID CoCreateMbox(U8 sortType)
+{
+    P_ECB pecb;
+    
+    /* Create a mailbox type event control block                              */
+    pecb = CreatEvent(EVENT_TYPE_MBOX,sortType,Co_NULL);
+    if(pecb == Co_NULL)                    /* If failed to create event block    */
+    {
+        return E_CREATE_FAIL;
+    }
+    pecb->eventCounter = 0;
+    return (pecb->id);      /* Create a mailbox successfully, return event ID */		
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Delete a mailbox	   
+ * @param[in]  id     Event ID.
+ * @param[in]  opt    Delete option.	 
+ * @param[out] None   	 
+ * @retval     E_INVALID_ID         Invalid event ID.
+ * @retval     E_INVALID_PARAMETER  Invalid parameter.
+ * @retval     E_TASK_WAITTING      Tasks waitting for the event,delete fail.
+ * @retval     E_OK                 Event deleted successful. 
+ *
+ * @par Description
+ * @details    This function is called to delete a mailbox.	 
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoDelMbox(OS_EventID id,U8 opt)
+{
+    P_ECB pecb;
+    
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)               /* Judge id is valid or not?        */ 
+    {
+        return E_INVALID_ID;              /* Id is invalid ,return error      */
+    }
+#endif
+    pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_MBOX)/* Validate event control block type*/    
+    {
+        return E_INVALID_ID;              /* The event is not mailbox         */	
+    }
+#endif	
+    return (DeleteEvent(pecb,opt)); /* Delete the mailbox event control block */
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Accept a mailbox	 
+ * @param[in]  id    Event ID.  	 
+ * @param[out] perr  A pointer to error code.  
+ * @retval     Co_NULL
+ * @retval     A pointer to mailbox accepted.			 
+ *
+ * @par Description
+ * @details    This function is called to accept a mailbox. 
+ * @note 
+ *******************************************************************************
+ */
+void* CoAcceptMail(OS_EventID id,StatusType* perr)
+{
+    P_ECB pecb;
+    void* pmail;
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)	                
+    {
+        *perr = E_INVALID_ID;             /* Invalid 'id'                     */
+        return Co_NULL;
+    }
+#endif
+    pecb = &EventTbl[id];
+    
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_MBOX)/* Invalid event control block type */
+    {
+        *perr = E_INVALID_ID;	
+        return Co_NULL;
+    }
+#endif
+	OsSchedLock();
+    if(pecb->eventCounter == 1)             /* If there is already a message  */
+    {
+        *perr = E_OK;
+        pmail = pecb->eventPtr;             /* Get the message                */
+        pecb->eventPtr     = Co_NULL;          /* Clear the mailbox              */
+        pecb->eventCounter = 0;
+		OsSchedUnlock();
+        return pmail;                       /* Return the message received    */		
+    }
+    else                                    /* If the mailbox is empty        */
+    {	
+		OsSchedUnlock();
+        *perr = E_MBOX_EMPTY;               /* Mailbox is empty,return Co_NULL   */
+        return Co_NULL;
+    }
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Wait for a mailbox	 
+ * @param[in]  id       Event ID.	 
+ * @param[in]  timeout  The longest time for writting mail.	    
+ * @param[out] perr     A pointer to error code.	  
+ * @retval     Co_NULL
+ * @retval     A pointer to mailbox accept.
+ *
+ * @par Description
+ * @details    This function is called to wait a mailbox.	 
+ * @note 
+ *******************************************************************************
+ */
+void* CoPendMail(OS_EventID id,U32 timeout,StatusType* perr)
+{
+    P_ECB pecb;
+    void* pmail;
+    P_OSTCB  curTCB;
+     
+    if(OSIntNesting > 0)                /* If the caller is ISR               */
+    {
+        *perr = E_CALL;
+        return Co_NULL;
+    }
+    
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)              
+    {
+        *perr = E_INVALID_ID;           /* Invalid 'id',retrun error          */
+        return Co_NULL;
+    }
+#endif
+
+    pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_MBOX)
+    {
+        *perr = E_INVALID_ID;       /* Invalid event type,not EVENT_TYPE_MBOX */
+        return Co_NULL;
+    }
+#endif
+
+    if(OSSchedLock != 0)                /* Judge schedule is locked or not?   */
+    {	
+        *perr = E_OS_IN_LOCK;           /* Schedule is locked                 */								 
+        return Co_NULL;                    /* return Co_NULL                        */
+    }
+    OsSchedLock();
+    if( pecb->eventCounter == 1)        /* If there is already a message      */
+    {
+        *perr = E_OK;
+        pmail = pecb->eventPtr;         /* Get the message                    */
+        pecb->eventPtr     = Co_NULL;      /* Clear the mailbox                  */
+        pecb->eventCounter = 0;
+        OsSchedUnlock();
+        return pmail;                   /* Return the message received        */
+    }
+    else                       /* If message is not available, task will pend */ 
+    {
+    	OsSchedUnlock();
+        curTCB = TCBRunning;
+        if(timeout == 0)                /* If time-out is not configured      */
+        {
+            EventTaskToWait(pecb,curTCB); /* Block task until event occurs    */
+            *perr = E_OK;
+            
+            /* Have recived a message or the mailbox have been deleted        */
+            pmail = curTCB->pmail;          
+            curTCB->pmail = Co_NULL;
+            return pmail;               /* Return received message or Co_NULL    */
+        }
+        else                            /* If time-out is configured          */
+        {
+            OsSchedLock();
+            
+            /* Block task until event or timeout occurs                       */
+            EventTaskToWait(pecb,curTCB);   
+            InsertDelayList(curTCB,timeout);
+            OsSchedUnlock();
+            if( curTCB->pmail == Co_NULL)  /* Time-out occurred                  */
+            {
+                *perr = E_TIMEOUT;
+                return Co_NULL;
+            }
+            else    /* Have recived a message or the mailbox have been deleted*/
+            {
+                *perr = E_OK;
+                pmail = curTCB->pmail;
+                curTCB->pmail = Co_NULL;
+                return pmail;           /* Return received message or Co_NULL    */
+            }			
+        }	
+    }
+}
+
+ 
+/**
+ *******************************************************************************
+ * @brief      Post a mailbox	  
+ * @param[in]  id      Event ID.
+ * @param[in]  pmail   Pointer to mail that want to send.		 
+ * @param[out] None   
+ * @retval     E_INVALID_ID	
+ * @retval     E_OK		 
+ *
+ * @par Description
+ * @details    This function is called to post a mail. 
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoPostMail(OS_EventID id,void* pmail)
+{
+    P_ECB pecb;
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)	                
+    {
+        return E_INVALID_ID;            /* Invalid id,return error            */
+    }
+#endif
+
+    pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_MBOX)/* Validate event control block type*/
+    {
+        return E_INVALID_ID;              /* Event is not mailbox,return error*/
+    }
+#endif
+
+    if(pecb->eventCounter == 0)   /* If mailbox doesn't already have a message*/	
+    {
+        OsSchedLock();
+        pecb->eventPtr     = pmail;       /* Place message in mailbox         */
+        pecb->eventCounter = 1;
+        EventTaskToRdy(pecb);             /* Check waiting list               */
+        OsSchedUnlock();
+        return E_OK;	
+    }
+    else                          /* If there is already a message in mailbox */              
+    {
+        return E_MBOX_FULL;       /* Mailbox is full,and return "E_MBOX_FULL" */
+    }
+}
+
+/**
+ *******************************************************************************
+ * @brief      Post a mailbox in ISR	    
+ * @param[in]  id      Event ID.
+ * @param[in]  pmail   Pointer to mail that want to send.		 
+ * @param[out] None   
+ * @retval     E_INVALID_ID	
+ * @retval     E_OK		 
+ *
+ * @par Description
+ * @details    This function is called to post a mail in ISR. 
+ * @note 
+ *******************************************************************************
+ */
+#if CFG_MAX_SERVICE_REQUEST > 0
+StatusType isr_PostMail(OS_EventID id,void* pmail)
+{
+    if(OSSchedLock > 0)         /* If scheduler is locked,(the caller is ISR) */
+    {
+        /* Insert the request into service request queue                      */
+        if(InsertInSRQ(MBOX_REQ,id,pmail) == Co_FALSE)
+        {
+            return E_SEV_REQ_FULL;        /* If service request queue is full */
+        }			
+        else                              /* Operate successfully             */
+        {
+            return E_OK;
+        }
+    }
+    else
+    {
+        return(CoPostMail(id,pmail));     /* Sends the message to the mailbox */ 
+    }
+}
+#endif
+
+#endif
+
+
@@ -0,0 +1,275 @@
+/**
+ *******************************************************************************
+ * @file       mm.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      memory management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+
+#if  CFG_MM_EN > 0
+/*---------------------------- Variable Define -------------------------------*/
+MM    MemoryTbl[CFG_MAX_MM] = {{0}};/*!< Table which save memory control block. */
+U32   MemoryIDVessel = 0;         /*!< Memory ID container.                   */
+
+/**
+ *******************************************************************************
+ * @brief      Create a memory partition	 
+ * @param[in]  memBuf       Specify memory partition head address.		 
+ * @param[in]  blockSize    Specify memory block size.  
+ * @param[in]  blockNum     Specify memory block number.
+ * @param[out] None
+ * @retval     E_CREATE_FAIL  Create memory partition fail.
+ * @retval     others         Create memory partition successful.			 
+ *
+ * @par Description
+ * @details    This function is called to create a memory partition.
+ *******************************************************************************
+ */
+OS_MMID CoCreateMemPartition(U8* memBuf,U32 blockSize,U32 blockNum)
+{
+    U8        i,j;
+    U8        *memory;
+    P_MemBlk  memBlk;
+    memory = memBuf;
+	
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(memBuf == Co_NULL)
+    {
+        return 	E_CREATE_FAIL;
+    }
+    if(blockSize == 0)
+    {
+        return 	E_CREATE_FAIL;	
+    }
+    if((blockSize&0x3) != 0)
+    {
+        return 	E_CREATE_FAIL;	
+    }
+    if(blockNum<=1)
+    {
+        return 	E_CREATE_FAIL;
+    }
+#endif
+
+    OsSchedLock();                      /* Lock schedule                      */
+    for(i = 0; i < CFG_MAX_MM; i++)
+    {
+        if((MemoryIDVessel & (1 << i)) == 0)  /* Is free memory ID?           */
+        {
+            MemoryIDVessel |= (1<<i);   /* Yes,assign ID to this memory block */
+            OsSchedUnlock();            /* Unlock schedule                    */
+            MemoryTbl[i].memAddr   = memory;/* Initialize memory control block*/
+            MemoryTbl[i].freeBlock = memory;  	
+            MemoryTbl[i].blockSize = blockSize;
+            MemoryTbl[i].blockNum  = blockNum;
+            memBlk  = (P_MemBlk)memory;     /* Bulid list in this memory block*/ 
+            for(j=0;j<blockNum-1;j++)
+            {
+                memory = memory+blockSize;
+                memBlk->nextBlock = (P_MemBlk)memory;
+                memBlk = memBlk->nextBlock;
+            }
+            memBlk->nextBlock = Co_NULL;
+            return i;                   /* Return memory block ID             */
+        }
+    }
+    OsSchedUnlock();                    /* Unlock schedule                    */
+    return E_CREATE_FAIL;               /* Error return                       */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Delete a memory partition	  
+ * @param[in]  mmID     Specify	memory partition that want to delete.	
+ * @param[out] None
+ * @retval     E_INVALID_ID   The memory partition id passed was invalid,delete fail.
+ * @retval     E_OK           Delete successful.			 
+ *
+ * @par Description
+ * @details    This function is called to Delete a memory partition.
+ *******************************************************************************
+ */
+StatusType CoDelMemoryPartition(OS_MMID mmID)
+{
+    P_MM  memCtl;
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(mmID >= CFG_MAX_MM)
+    {
+        return E_INVALID_ID;
+    }
+    if( ((1<<mmID)&MemoryIDVessel) == 0)
+    {
+        return E_INVALID_ID;
+    }
+#endif	
+    OsSchedLock();                      /* Lock schedule                      */
+    memCtl = &MemoryTbl[mmID];          /* Release memory control block       */
+    MemoryIDVessel &= ~(1<<mmID);
+    OsSchedUnlock();                    /* Unlock schedule                    */
+    
+    memCtl->memAddr   = Co_NULL;
+    memCtl->freeBlock = Co_NULL;
+    memCtl->blockSize = 0;
+    memCtl->blockNum  = 0;	
+    return E_OK;                        /* Return OK                          */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Get free block number in a memory partition	  
+ * @param[in]  mmID    Specify memory partition.	
+ *
+ * @param[out] E_INVALID_ID  Invalid ID was passed and get counter failure.	  
+ * @param[out] E_OK          Get current counter successful.
+ * @retval     fbNum         The number of free block.	
+ *
+ * @par Description
+ * @details    This function is called to get free block number in a memory 
+ *             partition.
+ *******************************************************************************
+ */
+U32 CoGetFreeBlockNum(OS_MMID mmID,StatusType* perr)
+{
+    U32       fbNum;	
+    P_MM      memCtl;
+    P_MemBlk  memBlk;
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(mmID >= CFG_MAX_MM)
+    {
+        *perr = E_INVALID_ID;
+        return 0;
+    }
+    if( ((1<<mmID)&MemoryIDVessel) == 0)
+    {
+        *perr = E_INVALID_ID;           /* Invalid memory id,return 0         */
+        return 0;
+    }
+#endif	
+    memCtl = &MemoryTbl[mmID];
+    OsSchedLock();                      /* Lock schedule                      */
+    memBlk = (P_MemBlk)(memCtl->freeBlock);/* Get the free item in memory list*/
+    fbNum  = 0;
+    while(memBlk != Co_NULL)               /* Get counter of free item           */
+    {
+        fbNum++;
+        memBlk = memBlk->nextBlock;     /* Get next free iterm                */
+    }
+    OsSchedUnlock();                    /* Unlock schedul                     */
+    *perr = E_OK;							   
+    return fbNum;                       /* Return the counter of free item    */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Get a memory buffer from memory partition	    
+ * @param[in]  mmID     Specify	memory partition that want to assign buffer.	
+ * @param[out] None
+ * @retval     Co_NULL     Assign buffer fail.
+ * @retval     others   Assign buffer successful,and return the buffer pointer.	
+ *		 
+ * @par Description
+ * @details    This function is called to Delete a memory partition.
+ *******************************************************************************
+ */
+void* CoGetMemoryBuffer(OS_MMID mmID)
+{
+    P_MM      memCtl;
+    P_MemBlk  memBlk;
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(mmID >= CFG_MAX_MM)
+    {
+        return Co_NULL;
+    }
+    if( ((1<<mmID)&MemoryIDVessel)  == 0)
+    {
+        return Co_NULL;
+    }
+#endif
+    memCtl = &MemoryTbl[mmID];	
+    OsSchedLock();                      /* Lock schedule                      */	        
+    if(memCtl->freeBlock == Co_NULL )    /* Is there no free item in memory list */
+    {
+        OsSchedUnlock();                /* Unlock schedule                    */
+        return Co_NULL;                    /* Yes,error return                   */
+    }
+    memBlk = (P_MemBlk)memCtl->freeBlock;       /* Get free memory block      */
+    memCtl->freeBlock = (U8*)memBlk->nextBlock; /* Reset the first free item  */
+    OsSchedUnlock();                    /* Unlock schedule                    */
+    return memBlk;                      /* Return free memory block address   */
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Free a memory buffer to memory partition	 
+ * @param[in]  mmID    Specify	memory partition.
+ * @param[in]  buf     Specify	memory buffer that want to free.	
+ * @param[out] None
+ * @retval     E_INVALID_ID          The memory partition id passed was invalid.
+ * @retval     E_INVALID_PARAMETER   The parameter passed was invalid.	
+ * @retval     E_OK                  Free successful.	 
+ *
+ * @par Description
+ * @details    This function is called to Delete a memory partition.
+ *******************************************************************************
+ */
+StatusType CoFreeMemoryBuffer(OS_MMID mmID,void* buf)
+{
+    P_MM      memCtl;
+    P_MemBlk  memBlk;
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(mmID >= CFG_MAX_MM)
+    {
+        return E_INVALID_ID;
+    }
+    if( ((1<<mmID)&MemoryIDVessel) == 0)
+    {
+        return E_INVALID_ID;
+    }
+    if(buf == Co_NULL)
+    {
+        return E_INVALID_PARAMETER;
+    }
+#endif	
+
+    memCtl = &MemoryTbl[mmID];
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if((U32)buf < (U32)(memCtl->memAddr))
+    {
+        return E_INVALID_PARAMETER;
+    }
+    if((U32)buf > (U32)(memCtl->memAddr + memCtl->blockSize*memCtl->blockNum))
+    {
+        return E_INVALID_PARAMETER;
+    }
+    if(((U32)buf - (U32)(memCtl->memAddr))%(memCtl->blockSize) != 0)
+    {	
+        return E_INVALID_PARAMETER;	
+    }
+#endif
+    memBlk = (P_MemBlk)buf;             /* Reset the first free item          */
+    OsSchedLock();
+    memBlk->nextBlock = (P_MemBlk)memCtl->freeBlock;
+    memCtl->freeBlock = buf;
+    OsSchedUnlock();
+    return E_OK;                        /* Return OK                          */
+}
+
+#endif
+
@@ -0,0 +1,349 @@
+/**
+ *******************************************************************************
+ * @file       mutex.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Mutex management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+
+/*---------------------------- Variable Define -------------------------------*/
+#if CFG_MUTEX_EN > 0
+
+OS_MutexID MutexFreeID = 0;               /*!< Point to next vliad mutex ID.  */
+MUTEX      MutexTbl[CFG_MAX_MUTEX] = {{0}}; /*!< Mutex struct array             */
+	
+
+
+/**
+ *******************************************************************************
+ * @brief      Create a mutex	 
+ * @param[in]  None	 	 
+ * @param[out] None  
+ * @retval     E_CREATE_FAIL  Create mutex fail.
+ * @retval     others         Create mutex successful.		 
+ *
+ * @par Description					  
+ * @details    This function is called to create a mutex. 
+ * @note  		
+ *******************************************************************************
+ */
+OS_MutexID CoCreateMutex(void)
+{
+    OS_MutexID id;
+    P_MUTEX pMutex;
+    OsSchedLock();
+    
+    /* Assign a free mutex control block */
+    if(MutexFreeID < CFG_MAX_MUTEX )
+    {
+        id  = MutexFreeID++;
+        OsSchedUnlock();
+        pMutex = &MutexTbl[id];
+        pMutex->hipriTaskID  = INVALID_ID;
+        pMutex->originalPrio = 0xff;
+        pMutex->mutexFlag    = MUTEX_FREE;  /* Mutex is free,not was occupied */
+        pMutex->taskID       = INVALID_ID;
+        pMutex->waittingList = Co_NULL;
+        return id;                      /* Return mutex ID                    */			
+    }	
+    
+    OsSchedUnlock();	 
+    return E_CREATE_FAIL;               /* No free mutex control block        */	
+}
+
+
+
+/**	
+ *******************************************************************************		 	
+ * @brief      Enter a critical area  
+ * @param[in]  mutexID    Specify mutex. 	 
+ * @param[out] None   
+ * @retval     E_INVALID_ID  Invalid mutex id. 	
+ * @retval     E_CALL        Error call in ISR.
+ * @retval     E_OK          Enter critical area successful.
+ *
+ * @par Description
+ * @details    This function is called when entering a critical area.	 
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoEnterMutexSection(OS_MutexID mutexID)
+{
+    P_OSTCB ptcb,pCurTcb;
+    P_MUTEX pMutex;
+
+#if CFG_EVENT_EN >0
+    P_ECB pecb;
+#endif
+
+    if(OSIntNesting > 0)                /* If the caller is ISR               */
+    {
+        return E_CALL;
+    }
+    if(OSSchedLock != 0)                /* Is OS lock?                        */
+    {								 
+        return E_OS_IN_LOCK;            /* Yes,error return                   */
+    }	
+
+#if CFG_PAR_CHECKOUT_EN >0
+    if(mutexID >= MutexFreeID)          /* Invalid 'mutexID'                  */
+    {
+        return E_INVALID_ID;	
+    }
+#endif
+
+    OsSchedLock();
+    pCurTcb = TCBRunning;
+    pMutex  = &MutexTbl[mutexID];
+    
+    pCurTcb->mutexID = mutexID;
+    if(pMutex->mutexFlag == MUTEX_FREE)       /* If mutex is available        */	 
+    {
+        pMutex->originalPrio = pCurTcb->prio; /* Save priority of owning task */   
+        pMutex->taskID       = pCurTcb->taskID;   /* Acquire the resource     */
+        pMutex->hipriTaskID  = pCurTcb->taskID;
+        pMutex->mutexFlag    = MUTEX_OCCUPY;      /* Occupy the mutex resource*/
+    }
+    /* If the mutex resource had been occupied                                */
+    else if(pMutex->mutexFlag == MUTEX_OCCUPY)	 	
+    {	
+		ptcb = &TCBTbl[pMutex->taskID];
+        if(ptcb->prio > pCurTcb->prio)  /* Need to promote priority of owner? */
+        {
+#if CFG_ORDER_LIST_SCHEDULE_EN ==0
+			DeleteTaskPri(ptcb->prio);
+			ActiveTaskPri(pCurTcb->prio);
+#endif	
+            ptcb->prio = pCurTcb->prio;	    /* Promote prio of owner          */
+            
+            /* Upgarde the highest priority about the mutex                   */
+            pMutex->hipriTaskID	= pCurTcb->taskID;	
+            if(ptcb->state == TASK_READY)   /* If the task is ready to run    */
+            {
+                RemoveFromTCBRdyList(ptcb); /* Remove the task from READY list*/
+                InsertToTCBRdyList(ptcb);   /* Insert the task into READY list*/
+            }
+#if CFG_EVENT_EN >0
+            /* If the task is waiting on a event                              */
+            else if(ptcb->eventID != INVALID_ID) 
+            {
+                pecb = &EventTbl[ptcb->eventID];
+                
+                /* If the event waiting type is preemptive Priority           */
+                if(pecb->eventSortType == EVENT_SORT_TYPE_PRIO)	
+                {
+                    /* Remove the task from event waiting list                */
+                    RemoveEventWaittingList(ptcb);
+                    
+                    /* Insert the task into event waiting list                */ 	
+                    EventTaskToWait(pecb,ptcb);		
+                }	
+            }
+#endif	
+        }
+        
+        pCurTcb->state   = TASK_WAITING;    /* Block current task             */
+		TaskSchedReq     = Co_TRUE;
+        pCurTcb->TCBnext = Co_NULL;
+        pCurTcb->TCBprev = Co_NULL;
+        
+        ptcb = pMutex->waittingList;
+        if(ptcb == Co_NULL)               /* If the event waiting list is empty  */
+        {
+            pMutex->waittingList = pCurTcb; /* Insert the task to head        */
+        }
+        else                        /* If the event waiting list is not empty */
+        {            	
+            while(ptcb->TCBnext != Co_NULL)    /* Insert the task to tail        */
+            {
+                ptcb = ptcb->TCBnext;		
+            }
+            ptcb->TCBnext    = pCurTcb;
+            pCurTcb->TCBprev = ptcb;
+            pCurTcb->TCBnext = Co_NULL;
+        }
+    }
+    OsSchedUnlock();
+    return E_OK;			
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Leave from a critical area	 
+ * @param[in]  mutexID 	Specify mutex id.	 
+ * @param[out] None 
+ * @retval     E_INVALID_ID  Invalid mutex id.
+ * @retval     E_CALL        Error call in ISR.
+ * @retval     E_OK          Exit a critical area successful.
+ *
+ * @par Description		 
+ * @details    This function must be called when exiting from a critical area.	
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoLeaveMutexSection(OS_MutexID mutexID)
+{
+    P_OSTCB ptcb;
+    P_MUTEX pMutex;
+    U8      prio;
+    U8      taskID;
+    
+    if(OSIntNesting > 0)                /* If the caller is ISR               */
+    {
+        return E_CALL;
+    }
+
+#if CFG_PAR_CHECKOUT_EN >0
+    if(mutexID >= MutexFreeID)
+    {
+        return E_INVALID_ID;            /* Invalid mutex id, return error     */
+    }
+#endif	
+    OsSchedLock();
+    pMutex = &MutexTbl[mutexID];        /* Obtain point of mutex control block*/   
+    ptcb = &TCBTbl[pMutex->taskID];
+	ptcb->mutexID = INVALID_ID;
+	if(pMutex->waittingList == Co_NULL)    /* If the mutex waiting list is empty */
+    {
+        pMutex->mutexFlag = MUTEX_FREE; /* The mutex resource is available    */
+        pMutex->taskID    = INVALID_ID;
+        OsSchedUnlock();
+    }	
+    else              /* If there is at least one task waitting for the mutex */
+    { 
+        taskID = pMutex->taskID;        /* Get task ID of mutex owner         */
+        
+                                /* we havn't promoted current task's priority */
+        if(pMutex->hipriTaskID == taskID)   
+        {
+            ptcb = pMutex->waittingList;/* Point to mutex first waiting task  */		
+            prio = ptcb->prio; 
+            while(ptcb != Co_NULL)         /* Find the highest priority task     */
+            {
+                if(ptcb->prio < prio)  		
+                {
+                    prio = ptcb->prio;
+                    pMutex->hipriTaskID = ptcb->taskID;
+                }
+                ptcb = ptcb->TCBnext;					
+            }
+        }
+        else                     /* we have promoted current task's priority  */
+        {
+			prio = TCBTbl[taskID].prio;
+        }
+        
+        /* Reset the task priority */
+		pMutex->taskID = INVALID_ID;	
+		CoSetPriority(taskID,pMutex->originalPrio);
+        
+        /* Find first task in waiting list ready to run  */	
+        ptcb                 = pMutex->waittingList; 		
+        pMutex->waittingList = ptcb->TCBnext;	
+        pMutex->originalPrio = ptcb->prio;
+        pMutex->taskID       = ptcb->taskID;
+
+#if CFG_ORDER_LIST_SCHEDULE_EN ==0
+		if(prio != ptcb->prio)
+		{
+			DeleteTaskPri(ptcb->prio);
+			ActiveTaskPri(prio);			
+		}
+#endif	
+
+        ptcb->prio           = prio;    /* Raise the task's priority          */       
+        				   
+        /* Insert the task which acquire the mutex into ready list.           */
+        ptcb->TCBnext = Co_NULL;
+        ptcb->TCBprev = Co_NULL;
+
+		InsertToTCBRdyList(ptcb);     /* Insert the task into the READY list  */
+        OsSchedUnlock();
+    }
+    return E_OK;			
+}
+
+/**
+ *******************************************************************************
+ * @brief      Remove a task from mutex waiting list	   
+ * @param[in]  ptcb   TCB which will remove out.	 
+ * @param[out] None 	 
+ * @retval     None
+ *
+ * @par Description		 
+ * @details   This function be called when delete a task.	
+ * @note 
+ *******************************************************************************
+ */
+void RemoveMutexList(P_OSTCB ptcb)
+{
+    U8 prio;
+	OS_TID taskID;
+    P_MUTEX pMutex;
+    pMutex = &MutexTbl[ptcb->mutexID];
+    
+    /* If only one task waiting on mutex                                      */	
+    if((ptcb->TCBnext ==Co_NULL) && (ptcb->TCBprev == Co_NULL))
+    {
+        pMutex->waittingList = Co_NULL;     /* Waiting list is empty             */
+    }
+    else if(ptcb->TCBnext == Co_NULL)  /* If the task is the last of waiting list*/
+    {
+        /* Remove task from mutex waiting list                                */
+        ptcb->TCBprev->TCBnext = Co_NULL;
+        ptcb->TCBprev = Co_NULL;
+    }	
+    else if(ptcb->TCBprev ==  Co_NULL)/* If the task is the first of waiting list*/
+    {
+        /* Remove task from waiting list                                      */
+        ptcb->TCBnext->TCBprev = Co_NULL;
+        ptcb->TCBnext = Co_NULL;
+    }
+    else                      /* If the task is in the middle of waiting list */
+    {
+        /* Remove task from wait list */
+        ptcb->TCBnext->TCBprev = ptcb->TCBprev;
+        ptcb->TCBprev->TCBnext = ptcb->TCBnext;
+        ptcb->TCBprev          = Co_NULL;
+        ptcb->TCBnext          = Co_NULL;
+    }
+    
+    ptcb->mutexID = INVALID_ID;
+    
+    /* If the task have highest priority in mutex waiting list                */	
+    if(pMutex->hipriTaskID == ptcb->taskID)						
+    {
+        ptcb = pMutex->waittingList;
+        prio = pMutex->originalPrio; 
+        pMutex->hipriTaskID = pMutex->taskID;
+        while(ptcb != Co_NULL)           /* Find task ID of highest priority task*/
+        {
+            if(ptcb->prio < prio)
+            {
+                prio = ptcb->prio;
+                pMutex->hipriTaskID = ptcb->taskID;
+            }
+            ptcb = ptcb->TCBnext;			
+        }
+		taskID = pMutex->taskID;
+		pMutex->taskID = INVALID_ID;
+		CoSetPriority(taskID,prio);         /* Reset the mutex ower priority  */
+		pMutex->taskID = taskID;
+    }
+}
+
+#endif
@@ -0,0 +1,393 @@
+/**
+ *******************************************************************************
+ * @file       queue.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Queue management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+
+#if CFG_QUEUE_EN > 0										 
+/*---------------------------- Variable Define -------------------------------*/
+QCB   QueueTbl[CFG_MAX_QUEUE] = {{0}};    /*!< Queue control block table        */
+U32   QueueIDVessel = 0;                /*!< Queue list mask                  */
+
+
+ 
+/**
+ *******************************************************************************
+ * @brief      Create a queue	 
+ * @param[in]  qStart    Pointer to mail pointer buffer.
+ * @param[in]  size      The length of queue.
+ * @param[in]  sortType  Mail queue waiting list sort type.
+ * @param[out] None  
+ * @retval     E_CREATE_FAIL  Create queue fail.
+ * @retval     others         Create queue successful.
+ *
+ * @par Description
+ * @details    This function is called to create a queue. 
+ * @note 
+ *******************************************************************************
+ */			 		   
+OS_EventID CoCreateQueue(void **qStart, U16 size ,U8 sortType)
+{
+    U8    i;  
+    P_ECB pecb;
+
+#if CFG_PAR_CHECKOUT_EN >0	
+    if((qStart == Co_NULL) || (size == 0))
+    {
+        return E_CREATE_FAIL;
+    }
+#endif
+
+    OsSchedLock();
+    for(i = 0; i < CFG_MAX_QUEUE; i++)
+    {
+        /* Assign a free QUEUE control block                                  */
+        if((QueueIDVessel & (1 << i)) == 0)	
+        {
+            QueueIDVessel |= (1<<i);		
+            OsSchedUnlock();
+            
+            QueueTbl[i].qStart   = qStart;  /* Initialize the queue           */
+            QueueTbl[i].id       = i;
+            QueueTbl[i].head     = 0;
+            QueueTbl[i].tail     = 0;
+            QueueTbl[i].qMaxSize = size; 
+            QueueTbl[i].qSize    = 0;
+            
+            /* Get a event control block and initial the event content        */
+            pecb = CreatEvent(EVENT_TYPE_QUEUE,sortType,&QueueTbl[i]);
+            
+            if(pecb == Co_NULL )       /* If there is no free EVENT control block*/
+            {
+                return E_CREATE_FAIL;
+            }
+            return (pecb->id);		
+        }
+    }
+    
+    OsSchedUnlock();
+    return E_CREATE_FAIL;             /* There is no free QUEUE control block */	
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Delete a queue	  
+ * @param[in]  id     Event ID. 	
+ * @param[in]  opt    Delete option. 	 
+ * @param[out] None   
+ * @retval     E_INVALID_ID         Invalid event ID.
+ * @retval     E_INVALID_PARAMETER  Invalid parameter.
+ * @retval     E_TASK_WAITTING      Tasks waitting for the event,delete fail.
+ * @retval     E_OK                 Event deleted successful. 
+ *
+ * @par Description
+ * @details    This function is called to delete a queue. 
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoDelQueue(OS_EventID id,U8 opt)
+{
+    P_ECB   pecb;
+    P_QCB   pqcb;
+    StatusType err;
+#if CFG_PAR_CHECKOUT_EN >0      
+    if(id >= CFG_MAX_EVENT)	                     
+    {
+        return E_INVALID_ID;            /* Invalid id,return error            */
+    }
+#endif
+
+    pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if( pecb->eventType != EVENT_TYPE_QUEUE)
+    {
+        return E_INVALID_ID;            /* The event is not queue,return error*/	
+    }
+#endif
+    pqcb = (P_QCB)pecb->eventPtr;       /* Point at queue control block       */
+    err  = DeleteEvent(pecb,opt);       /* Delete the event control block     */
+    if(err == E_OK)                   /* If the event block have been deleted */
+    {
+        QueueIDVessel &= ~((U32)(1<<(pqcb->id)));   /* Update free queue list             */
+        pqcb->qStart   = Co_NULL;
+		    pqcb->id       = 0;
+        pqcb->head     = 0;
+        pqcb->tail     = 0;
+        pqcb->qMaxSize = 0;
+        pqcb->qSize    = 0;
+    }
+    return err;	
+}
+
+
+ 
+/**
+ *******************************************************************************
+ * @brief      Accept a mail from queue   
+ * @param[in]  id     Event ID.	 	 
+ * @param[out] perr   A pointer to error code.  
+ * @retval     Co_NULL
+ * @retval     A pointer to mail accepted.
+ *
+ * @par Description
+ * @details    This function is called to accept a mail from queue.
+ * @note 
+ *******************************************************************************
+ */
+void* CoAcceptQueueMail(OS_EventID id,StatusType* perr)
+{
+  P_ECB pecb;
+  P_QCB pqcb;
+  void* pmail;
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)             
+    {
+        *perr = E_INVALID_ID;           /* Invalid id,return error            */
+        return Co_NULL;
+    }
+#endif
+
+    pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_QUEUE)/* Invalid event control block type*/          		
+    {
+        *perr = E_INVALID_ID;
+        return Co_NULL;
+    }
+#endif	
+    pqcb = (P_QCB)pecb->eventPtr;       /* Point at queue control block       */
+	OsSchedLock();
+    if(pqcb->qSize != 0)            /* If there are any messages in the queue */
+    {
+        /* Extract oldest message from the queue */
+        pmail = *(pqcb->qStart + pqcb->head);  
+        pqcb->head++;                   /* Update the queue head              */ 
+        pqcb->qSize--;          /* Update the number of messages in the queue */  
+        if(pqcb->head == pqcb->qMaxSize)
+        {
+            pqcb->head = 0;	
+        }
+		OsSchedUnlock();
+        *perr = E_OK;
+        return pmail;                   /* Return message received            */
+    }
+    else                                /* If there is no message in the queue*/
+    {
+		OsSchedUnlock();
+        *perr = E_QUEUE_EMPTY;                 
+        return Co_NULL;                    /* Return Co_NULL                        */
+    }	
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Pend for a mail	 
+ * @param[in]  id       Event ID.	 
+ * @param[in]  timeout  The longest time for writting mail.	
+ * @param[out] perr     A pointer to error code.   
+ * @retval     Co_NULL
+ * @retval     A pointer to mail accept.	 
+ *
+ * @par Description
+ * @details    This function is called to wait for a mail.		   	
+ * @note 
+ *******************************************************************************
+ */
+void* CoPendQueueMail(OS_EventID id,U32 timeout,StatusType* perr)
+{
+    P_ECB   pecb;
+    P_QCB   pqcb;
+    P_OSTCB curTCB;
+    void*   pmail;
+    if(OSIntNesting > 0)                /* If the caller is ISR               */
+    {
+        *perr = E_CALL;
+        return Co_NULL;
+    }
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)	         
+    {
+        *perr = E_INVALID_ID;           /* Invalid event id,return error      */
+        return Co_NULL;
+    }
+#endif
+
+    pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_QUEUE) /* The event type is not queue    */
+    {
+        *perr = E_INVALID_ID;
+        return Co_NULL;
+    }
+#endif	
+    if(OSSchedLock != 0)                /* Judge schedule is locked or not?   */
+    {	
+        *perr = E_OS_IN_LOCK;           /* Schedule is locked,return error    */								 
+        return Co_NULL;
+    }	
+    pqcb = (P_QCB)pecb->eventPtr;       /* Point at queue control block       */
+    OsSchedLock();
+    if(pqcb->qSize != 0)            /* If there are any messages in the queue */
+    {
+        /* Extract oldest message from the queue                              */
+        pmail = *(pqcb->qStart + pqcb->head);   
+        pqcb->head++;                   /* Update the queue head              */ 
+        pqcb->qSize--;          /* Update the number of messages in the queue */  
+        if(pqcb->head == pqcb->qMaxSize)/* Check queue head                   */
+        {
+            pqcb->head = 0;	
+        }
+        OsSchedUnlock();
+        *perr = E_OK;
+        return pmail;                   /* Return message received            */
+    }
+    else                                /* If there is no message in the queue*/
+    {
+    	OsSchedUnlock();
+        curTCB = TCBRunning;
+        if(timeout == 0)                /* If time-out is not configured      */
+        {
+            /* Block current task until the event occur                       */
+            EventTaskToWait(pecb,curTCB); 
+            
+            /* Have recived message or the queue have been deleted            */
+            pmail = curTCB->pmail;              
+            curTCB->pmail = Co_NULL;
+            *perr = E_OK;
+            return pmail;               /* Return message received or Co_NULL    */
+        }
+        else                            /* If time-out is configured          */
+        {
+            OsSchedLock(); 
+            
+            /* Block current task until event or timeout occurs               */           
+            EventTaskToWait(pecb,curTCB);       
+            InsertDelayList(curTCB,timeout);
+            OsSchedUnlock();
+            if(curTCB->pmail == Co_NULL)   /* If time-out occurred               */
+            {
+                *perr = E_TIMEOUT;
+                return Co_NULL;
+            }
+            else                        /* If event occured                   */
+            {
+                pmail = curTCB->pmail;
+                curTCB->pmail = Co_NULL;
+                *perr = E_OK;
+                return pmail;           /* Return message received or Co_NULL    */
+            }				
+        }	
+    }
+}
+
+
+ 
+/**
+ *******************************************************************************
+ * @brief      Post a mail to queue	   
+ * @param[in]  id      Event ID.
+ * @param[in]  pmail   Pointer to mail that want to send.	 	 
+ * @param[out] None   
+ * @retval     E_OK
+ * @retval     E_INVALID_ID
+ * @retval     E_QUEUE_FULL		 
+ *
+ * @par Description
+ * @details    This function is called to post a mail to queue.
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoPostQueueMail(OS_EventID id,void* pmail)
+{	
+    P_ECB pecb;
+    P_QCB pqcb;
+#if CFG_PAR_CHECKOUT_EN >0                     
+    if(id >= CFG_MAX_EVENT)	
+    {
+        return E_INVALID_ID;          
+    }
+#endif
+
+    pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_QUEUE)   
+    {
+        return E_INVALID_ID;            /* The event type isn't queue,return  */	
+    }	
+#endif
+    pqcb = (P_QCB)pecb->eventPtr;	
+    if(pqcb->qSize == pqcb->qMaxSize)   /* If queue is full                   */
+    {
+        return E_QUEUE_FULL;
+    }
+    else                                /* If queue is not full               */
+    {
+        OsSchedLock();
+        *(pqcb->qStart + pqcb->tail) = pmail;   /* Insert message into queue  */
+        pqcb->tail++;                           /* Update queue tail          */
+        pqcb->qSize++;          /* Update the number of messages in the queue */
+        if(pqcb->tail == pqcb->qMaxSize)        /* Check queue tail           */   
+        {
+            pqcb->tail = 0;	
+        }
+        EventTaskToRdy(pecb);           /* Check the event waiting list       */
+        OsSchedUnlock();
+        return E_OK;
+    }
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Post a mail to queue in ISR	 
+ * @param[in]  id      Event ID.
+ * @param[in]  pmail   Pointer to mail that want to send.	 	 
+ * @param[out] None   
+ * @retval     E_OK
+ * @retval     E_INVALID_ID
+ * @retval     E_QUEUE_FULL		 
+ *
+ * @par Description
+ * @details    This function is called in ISR to post a mail to queue.
+ * @note 				   
+ *******************************************************************************
+ */
+#if CFG_MAX_SERVICE_REQUEST > 0
+StatusType isr_PostQueueMail(OS_EventID id,void* pmail)
+{
+    if(OSSchedLock > 0)         /* If scheduler is locked,(the caller is ISR) */
+    {
+        /* Insert the request into service request queue                      */
+        if(InsertInSRQ(QUEUE_REQ,id,pmail) == Co_FALSE)
+        {
+            return E_SEV_REQ_FULL;      /* If service request queue is full   */          
+        }			
+        else  /* If the request have been inserted into service request queue */
+        {
+            return E_OK;
+        }
+    }
+    else                                /* The scheduler is unlocked          */
+    {
+        return(CoPostQueueMail(id,pmail));    /* Send the message to the queue*/ 
+    }
+}
+#endif
+							   	 
+#endif
@@ -0,0 +1,322 @@
+/**
+ *******************************************************************************
+ * @file       sem.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Semaphore management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+#if CFG_SEM_EN >0
+
+/**
+ *******************************************************************************
+ * @brief      Create a semaphore	  
+ * @param[in]  initCnt   Semaphore valid counter.
+ * @param[in]  maxCnt    Semaphore max initialize counter.
+ * @param[in]  sortType  Semaphore sort type.		 
+ * @param[out] None
+ * @retval     E_CREATE_FAIL   Create semaphore fail.
+ * @retval     others          Create semaphore successful.
+ *
+ * @par Description
+ * @details    This function is called to create a semaphore. 
+ *******************************************************************************
+ */
+OS_EventID CoCreateSem(U16 initCnt,U16 maxCnt,U8 sortType)
+{
+    P_ECB pecb;
+#if CFG_PAR_CHECKOUT_EN >0
+    if(initCnt > maxCnt)    
+    {
+        return E_CREATE_FAIL;           /* Invalid 'initCnt' or 'maxCnt'      */	
+    }
+    
+    if ((sortType != EVENT_SORT_TYPE_FIFO) && (sortType != EVENT_SORT_TYPE_PRIO))
+    {
+        return E_CREATE_FAIL;           /* Illegal sort type,return error     */
+    }
+#endif	
+    
+    /* Create a semaphore type event control block                            */
+    pecb = CreatEvent(EVENT_TYPE_SEM,sortType,Co_NULL);
+    if(pecb == Co_NULL)                    /* If failed to create event block    */
+    {
+        return E_CREATE_FAIL;
+    }
+    pecb->eventCounter        = initCnt;/* Initialize event block             */
+    pecb->initialEventCounter = maxCnt;
+    return (pecb->id);                  /* Return event id                    */
+}
+
+ 
+/**
+ *******************************************************************************
+ * @brief      Delete a semaphore	   
+ * @param[in]  id    Event ID which to be deleted.
+ * @param[in]  opt   Delete option.	 
+ * @arg        == OPT_DEL_ANYWAY    Delete semaphore always   
+ * @arg        == OPT_DEL_NO_PEND	Delete semaphore only when no task pending on.
+ * @param[out] None   
+ * @retval     E_INVALID_ID         Invalid event ID.
+ * @retval     E_INVALID_PARAMETER  Invalid parameter.
+ * @retval     E_TASK_WAITTING      Tasks waitting for the event,delete fail.
+ * @retval     E_OK                 Event deleted successful. 	 
+ *
+ * @par Description
+ * @details    This function is called to delete a semaphore. 
+ *
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoDelSem(OS_EventID id,U8 opt)
+{
+    P_ECB pecb;
+
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)	                 
+    {
+        return E_INVALID_ID;
+    }
+#endif
+
+    pecb = &EventTbl[id];
+
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_SEM)  
+    {
+        return E_INVALID_ID;             /* The event type is not semaphore   */	
+    }	
+#endif
+
+    return (DeleteEvent(pecb,opt));/* Delete the semaphore event control block*/
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Accept a semaphore without waitting 	  
+ * @param[in]  id      Event ID   	 
+ * @param[out] None  
+ * @retval     E_INVALID_ID    Invalid event ID.
+ * @retval     E_SEM_EMPTY     No semaphore exist.
+ * @retval     E_OK            Get semaphore successful. 	
+ *
+ * @par Description
+ * @details    This function is called accept a semaphore without waitting. 
+ *******************************************************************************
+ */
+StatusType CoAcceptSem(OS_EventID id)
+{
+    P_ECB pecb;
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)	                 
+    {
+        return E_INVALID_ID;
+    }
+#endif
+
+	pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if( pecb->eventType != EVENT_TYPE_SEM)   
+    {
+        return E_INVALID_ID;	
+    }
+#endif
+	OsSchedLock();
+    if(pecb->eventCounter > 0) /* If semaphore is positive,resource available */
+    {	
+		OsSchedUnlock();
+        pecb->eventCounter--;         /* Decrement semaphore only if positive */
+        return E_OK;	
+    }
+    else                                /* Resource is not available          */
+    {	
+		OsSchedUnlock();
+        return E_SEM_EMPTY;
+    }	
+}
+
+ 
+/**
+ *******************************************************************************
+ * @brief       wait for a semaphore	   
+ * @param[in]   id       Event ID.	
+ * @param[in]   timeout  The longest time for writting semaphore.
+ * @para        0        
+ * @para        0x1~0xff 	 
+ * @param[out]  None  
+ * @retval      E_CALL         Error call in ISR.   
+ * @retval      E_INVALID_ID   Invalid event ID.	
+ * @retval      E_TIMEOUT      Semaphore was not received within the specified 
+ *                             'timeout' time.
+ * @retval      E_OK           The call was successful and your task owns the 
+ *                             resource,or the event you are waiting for occurred.	
+ * 
+ * @par Description
+ * @details    This function is called to waits for a semaphore. 
+ * @note       IF this function is called in ISR,nothing to do and return immediately.
+ *******************************************************************************
+ */
+StatusType CoPendSem(OS_EventID id,U32 timeout)
+{
+    P_ECB 	 pecb;
+    P_OSTCB  curTCB;
+    if(OSIntNesting > 0)                /* If the caller is ISR               */
+    {
+        return E_CALL;
+    }
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)	            
+    {
+        return E_INVALID_ID;
+    }
+#endif
+
+	  pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_SEM)     
+    {
+       return E_INVALID_ID;	
+    }
+#endif
+    if(OSSchedLock != 0)                /* Schdule is locked?                 */
+    {
+        return E_OS_IN_LOCK;            /* Yes,error return                   */
+    }
+    OsSchedLock();
+    if(pecb->eventCounter > 0) /* If semaphore is positive,resource available */       
+    {	
+        pecb->eventCounter--;         /* Decrement semaphore only if positive */
+        OsSchedUnlock();
+        return E_OK;	
+    }
+    else                                /* Resource is not available          */
+    {
+    	OsSchedUnlock();
+        curTCB = TCBRunning;
+        if(timeout == 0)                /* If time-out is not configured      */
+        {
+            EventTaskToWait(pecb,curTCB); /* Block task until event occurs    */
+            curTCB->pmail = Co_NULL;
+            return E_OK;
+        }
+        else                            /* If time-out is configured          */
+        {
+            OsSchedLock();
+            
+            /* Block task until event or timeout occurs                       */
+            EventTaskToWait(pecb,curTCB);
+            InsertDelayList(curTCB,timeout);
+            
+            OsSchedUnlock();
+            if (curTCB->pmail == Co_NULL)  /* If pmail is Co_NULL, time-out occurred*/
+            {
+              return E_TIMEOUT;	
+            }                               
+            else                  /* Event occurred or event have been deleted*/    
+            {
+                curTCB->pmail = Co_NULL;
+                return E_OK;	
+            }				
+        }		
+    }
+}
+
+
+/**
+ *******************************************************************************
+ * @brief       Post a semaphore	 
+ * @param[in]   id   id of event control block associated with the desired semaphore.	 	 
+ * @param[out]  None   
+ * @retval      E_INVALID_ID   Parameter id passed was invalid event ID.
+ * @retval      E_SEM_FULL     Semaphore full. 
+ * @retval      E_OK           Semaphore had post successful.
+ *
+ * @par Description
+ * @details    This function is called to post a semaphore to corresponding event. 
+ *
+ * @note 
+ *******************************************************************************
+ */
+StatusType CoPostSem(OS_EventID id)
+{
+    P_ECB pecb;
+#if CFG_PAR_CHECKOUT_EN >0
+    if(id >= CFG_MAX_EVENT)	                  
+    {
+        return E_INVALID_ID;
+    }
+#endif
+
+    pecb = &EventTbl[id];
+#if CFG_PAR_CHECKOUT_EN >0
+    if(pecb->eventType != EVENT_TYPE_SEM) /* Invalid event control block type */
+    {
+        return E_INVALID_ID;	
+    }
+#endif
+
+    /* Make sure semaphore will not overflow */
+    if(pecb->eventCounter == pecb->initialEventCounter) 
+    {
+        return E_SEM_FULL;    /* The counter of Semaphore reach the max number*/
+    }
+    OsSchedLock();
+    pecb->eventCounter++;     /* Increment semaphore count to register event  */
+    EventTaskToRdy(pecb);     /* Check semaphore event waiting list           */
+    OsSchedUnlock();
+    return E_OK;
+		
+}
+
+
+/**
+ *******************************************************************************
+ * @brief       Post a semaphore in ISR	 
+ * @param[in]   id    identifier of event control block associated with the 
+ *                    desired semaphore.	 	 
+ * @param[out]  None  
+ * @retval      E_INVALID_ID        Parameter id passed was invalid event ID.
+ * @retval      E_NO_TASK_WAITTING  There are one more tasks waitting for the event. 
+ * @retval      E_OK                Semaphore had signaled successful.
+ *
+ * @par Description
+ * @details    This function is called in ISR to post a semaphore to corresponding
+ *             event. 
+ * @note 
+ *******************************************************************************
+ */
+#if CFG_MAX_SERVICE_REQUEST > 0
+StatusType isr_PostSem(OS_EventID id)
+{
+    if(OSSchedLock > 0)         /* If scheduler is locked,(the caller is ISR) */      
+    {
+        /* Initiate a post service handling request */
+        if(InsertInSRQ(SEM_REQ,id,Co_NULL) == Co_FALSE)
+        {
+            return E_SEV_REQ_FULL;        /* If service request queue is full */
+        }			
+        else                              /* Operate successfully             */
+        {
+            return E_OK;                        
+        }
+    }
+    else
+    {
+        return(CoPostSem(id));            /* Post semaphore                   */
+    }
+}
+#endif
+
+#endif
@@ -0,0 +1,165 @@
+/**
+ *******************************************************************************
+ * @file       serviceReq.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      servive request management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+#if (CFG_TASK_WAITTING_EN > 0) || (CFG_TMR_EN >0)
+
+#if CFG_MAX_SERVICE_REQUEST > 0
+/*---------------------------- Variable Define -------------------------------*/
+SRQ   ServiceReq = {0,0};             /*!< ISR server request queue         */		     
+#endif       
+BOOL  IsrReq   = Co_FALSE;
+#if (CFG_TASK_WAITTING_EN > 0)
+BOOL  TimeReq  = Co_FALSE;                 /*!< Time delay dispose request       */
+#endif
+
+#if CFG_TMR_EN  > 0
+BOOL  TimerReq = Co_FALSE;                 /*!< Timer dispose request            */
+#endif
+
+/**
+ *******************************************************************************
+ * @brief      Insert into service requst queue	 
+ * @param[in]  type     Service request type.	
+ * @param[in]  id       Service request event id,event id/flag id.
+ * @param[in]  arg      Service request argument. 
+ * @param[out] None 
+ * 	 
+ * @retval     Co_FALSE    Successfully insert into service request queue.
+ * @retval     Co_TRUE     Failure to insert into service request queue.
+ *
+ * @par Description		 
+ * @details    This function be called to insert a requst into service request	
+ *             queue.
+ * @note 
+ *******************************************************************************
+ */
+#if (CFG_MAX_SERVICE_REQUEST > 0)
+BOOL InsertInSRQ(U8 type,U8 id,void* arg)
+{
+    P_SQC   pcell;
+	U8 cnt;
+	U8 heed;
+    IRQ_DISABLE_SAVE();
+    if (ServiceReq.cnt >= CFG_MAX_SERVICE_REQUEST)
+    {
+        IRQ_ENABLE_RESTORE ();
+
+        return Co_FALSE;                   /* Error return                       */
+    }
+	cnt = Inc8(&ServiceReq.cnt);
+	heed = ServiceReq.head;
+    IsrReq = Co_TRUE;
+    pcell = &ServiceReq.cell[((cnt+heed)%CFG_MAX_SERVICE_REQUEST)];/*the tail */
+    pcell->type = type;                 /* Save service request type,         */
+    pcell->id   = id;                   /* event id                           */
+    pcell->arg  = arg;                  /* and parameter                      */
+    IRQ_ENABLE_RESTORE ();
+
+    return Co_TRUE;                        /* Return OK                          */
+}
+#endif
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Respond the request in the service request queue.	 
+ * @param[in]  None
+ * @param[out] None 
+ * @retval     None  
+ *
+ * @par Description		 
+ * @details    This function be called to respond the request in the service  
+ *             request queue.
+ * @note 
+ *******************************************************************************
+ */
+void RespondSRQ(void)
+{
+
+#if CFG_MAX_SERVICE_REQUEST > 0
+    SQC cell;
+
+#endif
+
+#if (CFG_TASK_WAITTING_EN > 0)
+    if(TimeReq == Co_TRUE)                 /* Time delay request?                */
+    {
+        TimeDispose();                  /* Yes,call handler                   */
+        TimeReq = Co_FALSE;                /* Reset time delay request Co_FALSE     */
+    }
+#endif
+#if CFG_TMR_EN  > 0
+    if(TimerReq == Co_TRUE)                /* Timer request?                     */
+    {
+        TmrDispose();                   /* Yes,call handler                   */
+        TimerReq = Co_FALSE;               /* Reset timer request Co_FALSE          */
+    }
+#endif
+
+#if CFG_MAX_SERVICE_REQUEST > 0
+
+    while (ServiceReq.cnt != 0)
+    {
+        IRQ_DISABLE_SAVE ();            /* need to protect the following      */
+        cell = ServiceReq.cell[ServiceReq.head];  /* extract one cell         */
+        ServiceReq.head = (ServiceReq.head + 1) % /* move head (pop)          */
+                     CFG_MAX_SERVICE_REQUEST;
+        ServiceReq.cnt--;
+        IRQ_ENABLE_RESTORE ();          /* now use the cell copy              */
+
+        switch(cell.type)               /* Judge service request type         */
+        {
+#if CFG_SEM_EN > 0
+        case SEM_REQ:                   /* Semaphore post request,call handler*/
+            CoPostSem(cell.id);
+            break;
+#endif
+#if CFG_MAILBOX_EN > 0
+        case MBOX_REQ:                  /* Mailbox post request,call handler  */
+            CoPostMail(cell.id, cell.arg);
+            break;
+#endif
+#if CFG_FLAG_EN > 0
+        case FLAG_REQ:                  /* Flag set request,call handler      */
+            CoSetFlag(cell.id);
+            break;
+#endif
+#if CFG_QUEUE_EN > 0
+        case QUEUE_REQ:                 /* Queue post request,call handler    */
+            CoPostQueueMail(cell.id, cell.arg);
+            break;
+#endif
+        default:                        /* Others,break                       */
+            break;
+        }
+    }
+#endif
+    IRQ_DISABLE_SAVE ();                /* need to protect the following      */
+
+    if (ServiceReq.cnt == 0)            /* another item in the queue already? */
+    {
+        IsrReq = Co_FALSE;                 /* queue still empty here             */
+    }
+    IRQ_ENABLE_RESTORE ();              /* now it is done and return          */
+}
+
+#endif
+
@@ -0,0 +1,376 @@
+/**
+ *******************************************************************************
+ * @file       time.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      time management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */  
+
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+#if CFG_TASK_WAITTING_EN > 0
+
+/*---------------------------- Variable Define -------------------------------*/
+P_OSTCB DlyList   = Co_NULL;               /*!< Header pointer to the DELAY list.*/
+
+
+/**
+ *******************************************************************************
+ * @brief      Insert into DELAY list			 
+ *   
+ * @param[in]  ptcb    Task that want to insert into DELAY list. 
+ * @param[in]  ticks   Delay system ticks.	 
+ * @param[out] None   
+ * @retval     None.	 	 
+ *
+ * @par Description
+ * @details    This function is called to insert task into DELAY list.
+ *******************************************************************************
+ */
+void InsertDelayList(P_OSTCB ptcb,U32 ticks)
+{
+    S32 deltaTicks;
+    P_OSTCB dlyNext;
+    
+    if(ticks == 0)                      /* Is delay tick == 0?                */
+        return;                         /* Yes,do nothing,return              */
+    if(DlyList == Co_NULL)                 /* Is no item in DELAY list?          */
+    {
+        ptcb->delayTick = ticks;        /* Yes,set this as first item         */
+        DlyList         = ptcb;
+    }
+    else
+    {	
+        /* No,find correct place ,and insert the task */
+        dlyNext    = DlyList; 
+        deltaTicks = ticks;             /* Get task delay ticks               */
+        
+        /* Find correct place */
+        while(dlyNext != Co_NULL)
+        {		
+            /* Get delta ticks with previous item */ 
+            deltaTicks -= dlyNext->delayTick;  
+            if(deltaTicks < 0)          /* Is delta ticks<0?                  */
+            {	  
+                /* Yes,get correct place */
+                if(dlyNext->TCBprev != Co_NULL)   /* Is head item of DELAY list? */
+                {							   
+                    dlyNext->TCBprev->TCBnext = ptcb;   /* No,insert into     */ 
+                    ptcb->TCBprev             = dlyNext->TCBprev;
+                    ptcb->TCBnext             = dlyNext;
+                    dlyNext->TCBprev          = ptcb;
+                }
+                else                    /* Yes,set task as first item         */
+                {							   
+                    ptcb->TCBnext    = DlyList;
+                    DlyList->TCBprev = ptcb;
+                    DlyList          = ptcb;
+                }
+                ptcb->delayTick           = ptcb->TCBnext->delayTick+deltaTicks;
+                ptcb->TCBnext->delayTick -= ptcb->delayTick; 
+                break;
+            }
+            /* Is last item in DELAY list? */
+            else if((deltaTicks >= 0) && (dlyNext->TCBnext == Co_NULL) )
+            {								   
+                ptcb->TCBprev    = dlyNext; /* Yes,insert into                */
+                dlyNext->TCBnext = ptcb;	
+                ptcb->delayTick  = deltaTicks;
+                break;
+            }
+            dlyNext = dlyNext->TCBnext; /* Get the next item in DELAY list    */
+        }
+    }
+
+    ptcb->state  = TASK_WAITING;        /* Set task status as TASK_WAITING    */
+    TaskSchedReq = Co_TRUE;
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Remove from the DELAY list			  
+ * @param[in]  ptcb   Task that want to remove from the DELAY list. 
+ * @param[out] None   
+ * @retval     None	 	 
+ *
+ * @par Description
+ * @details    This function is called to remove task from the DELAY list.
+ *******************************************************************************
+ */
+void RemoveDelayList(P_OSTCB ptcb)
+{
+    
+    /* Is there only one item in the DELAY list?   */
+    if((ptcb->TCBprev == Co_NULL) && ( ptcb->TCBnext == Co_NULL))
+    {
+        DlyList = Co_NULL;	                /* Yes,set DELAY list as Co_NULL         */
+    }
+    else if(ptcb->TCBprev == Co_NULL)      /* Is the first item in DELAY list?   */
+    {   
+	    /* Yes,remove task from the DELAY list,and reset the list             */
+        DlyList	                  = ptcb->TCBnext;
+        ptcb->TCBnext->delayTick += ptcb->delayTick;
+        ptcb->TCBnext->TCBprev    = Co_NULL;
+        ptcb->TCBnext             = Co_NULL;
+        
+    }
+    else if(ptcb->TCBnext == Co_NULL)      /* Is the last item in DELAY list?    */
+    {									
+        ptcb->TCBprev->TCBnext = Co_NULL;  /* Yes,remove task form DELAY list    */
+        ptcb->TCBprev          = Co_NULL;
+    }
+    else                                /* No, remove task from DELAY list    */
+    {									
+        ptcb->TCBprev->TCBnext    = ptcb->TCBnext;	
+        ptcb->TCBnext->TCBprev    = ptcb->TCBprev;	
+        ptcb->TCBnext->delayTick += ptcb->delayTick;
+        ptcb->TCBnext     	      = Co_NULL;
+        ptcb->TCBprev             = Co_NULL;
+    }
+    ptcb->delayTick = INVALID_VALUE;  /* Set task delay tick value as invalid */		
+}
+
+/**
+ *******************************************************************************
+ * @brief      Get current ticks			 
+ * @param[in]  None	 
+ * @param[out] None   
+ * @retval     Return current system tick counter.	 	 
+ *
+ * @par Description
+ * @details    This function is called to obtain current system tick counter.
+ *******************************************************************************
+ */
+U64 CoGetOSTime(void)
+{
+    return OSTickCnt;                   /* Get system time(tick)              */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Delay current task for specify ticks number	  
+ * @param[in]  ticks    Specify system tick number which will delay.			 
+ * @param[out] None  
+ * @retval     E_CALL   Error call in ISR.
+ * @retval     E_OK     The current task was insert to DELAY list successful,it
+ *                      will delay specify time.		 
+ * @par Description
+ * @details    This function delay specify ticks for current task.
+ *
+ * @note       This function be called in ISR,do nothing and return immediately.
+ *******************************************************************************	
+ */
+StatusType CoTickDelay(U32 ticks)
+{
+    if(OSIntNesting >0)	                /* Is call in ISR?                    */
+    {
+        return E_CALL;                  /* Yes,error return                   */
+    }
+    
+    if(ticks == INVALID_VALUE)          /* Is tick==INVALID_VALUE?            */
+    {
+        return E_INVALID_PARAMETER;     /* Yes,error return                   */
+    }	
+    if(ticks == 0)                      /* Is tick==0?                        */
+    {
+        return E_OK;                    /* Yes,do nothing ,return OK          */
+    }
+    if(OSSchedLock != 0)                /* Is OS lock?                        */
+    {
+        return E_OS_IN_LOCK;            /* Yes,error return                   */
+    }	
+    OsSchedLock();                      /* Lock schedule                      */
+    InsertDelayList(TCBRunning,ticks);	/* Insert task in DELAY list          */
+    OsSchedUnlock();                /* Unlock schedule,and call task schedule */
+    return E_OK;                        /* Return OK                          */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Reset task delay ticks	 
+ * @param[in]  ptcb    Task that want to insert into DELAY list.
+ * @param[in]  ticks   Specify system tick number which will delay .			 
+ * @param[out] None  
+ * @retval     E_CALL               Error call in ISR.
+ * @retval     E_INVALID_ID         Invalid task id.
+ * @retval     E_NOT_IN_DELAY_LIST  Task not in delay list.
+ * @retval     E_OK                 The current task was inserted to DELAY list 
+ *                                  successful,it will delay for specify time.		 
+ * @par Description
+ * @details    This function delay specify ticks for current task.
+ ******************************************************************************* 	
+ */
+StatusType CoResetTaskDelayTick(OS_TID taskID,U32 ticks)
+{
+    P_OSTCB ptcb;
+	
+
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(taskID >= CFG_MAX_USER_TASKS + SYS_TASK_NUM)
+    {
+        return E_INVALID_ID;
+    }
+#endif
+
+	ptcb = &TCBTbl[taskID];
+#if CFG_PAR_CHECKOUT_EN >0 
+    if(ptcb->stkPtr == Co_NULL)
+    {
+        return E_INVALID_ID;
+    }
+#endif
+
+    if(ptcb->delayTick == INVALID_VALUE)  /* Is tick==INVALID_VALUE?          */
+    {
+        return E_NOT_IN_DELAY_LIST;       /* Yes,error return                 */
+    }
+    OsSchedLock();                        /* Lock schedule                    */
+    RemoveDelayList(ptcb);                /* Remove task from the DELAY list  */
+    
+    if(ticks == 0)                        /* Is delay tick==0?                */
+    {
+        InsertToTCBRdyList(ptcb);         /* Insert task into the DELAY list  */
+    }
+    else
+    {									
+        InsertDelayList(ptcb,ticks);      /* No,insert task into DELAY list   */
+    }
+    OsSchedUnlock();                /* Unlock schedule,and call task schedule */
+    return E_OK;                          /* Return OK                        */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Delay current task for detail time	   
+ * @param[in]  hour      Specify the number of hours.
+ * @param[in]  minute    Specify the number of minutes.
+ * @param[in]  sec       Specify the number of seconds.
+ * @param[in]  millsec   Specify the number of millseconds.	 
+ * @param[out] None  
+ * @retval     E_CALL               Error call in ISR.
+ * @retval     E_INVALID_PARAMETER  Parameter passed was invalid,delay fail.
+ * @retval     E_OK                 The current task was inserted to DELAY list
+ *                                  successful,it will delay for specify time.							 
+ * @par Description
+ * @details    This function delay specify time for current task.	 
+ *
+ * @note       If this function called in ISR,do nothing and return immediately.
+ *******************************************************************************
+ */
+#if CFG_TIME_DELAY_EN >0
+StatusType  CoTimeDelay(U8 hour,U8 minute,U8 sec,U16 millsec)
+{
+    U32	ticks;
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(OSIntNesting > 0)
+    {
+        return E_CALL;
+    }
+    if((minute > 59)||(sec > 59)||(millsec > 999))
+        return E_INVALID_PARAMETER;
+#endif
+    if(OSSchedLock != 0)                /* Is OS lock?                        */
+    {
+        return E_OS_IN_LOCK;            /* Yes,error return                   */
+    }	
+    
+    /* Get tick counter from time */
+    ticks = ((hour*3600) + (minute*60) + (sec)) * (CFG_SYSTICK_FREQ)\
+            + (millsec*CFG_SYSTICK_FREQ + 500)/1000;
+    
+    CoTickDelay(ticks);                 /* Call tick delay                    */
+    return E_OK;                        /* Return OK                          */
+}
+#endif
+
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Dispose time delay	 
+ * @param[in]  None	 
+ * @param[out] None 
+ * @retval     None 
+ *
+ * @par Description
+ * @details    This function is called to dispose time delay of all task.  
+ *******************************************************************************
+ */
+void TimeDispose(void)
+{  
+    P_OSTCB	dlyList;
+    
+    dlyList = DlyList;                  /* Get first item of DELAY list       */
+    while((dlyList != Co_NULL) && (dlyList->delayTick == 0) )
+    {	
+    
+#if CFG_EVENT_EN > 0
+        if(dlyList->eventID != INVALID_ID) /* Is task in event waiting list?  */
+        {								   
+            RemoveEventWaittingList(dlyList); /* Yes,remove task from list    */	
+        }
+#endif
+
+#if CFG_FLAG_EN  > 0
+        if(dlyList->pnode != Co_NULL)          /* Is task in flag waiting list?  */
+        {
+            RemoveLinkNode(dlyList->pnode); /* Yes,remove task from list      */	
+        }
+#endif
+        dlyList->delayTick = INVALID_VALUE; /* Set delay tick value as invalid*/
+        DlyList = dlyList->TCBnext; /* Get next item as the head of DELAY list*/
+        dlyList->TCBnext   = Co_NULL;
+
+		InsertToTCBRdyList(dlyList);        /* Insert task into READY list    */
+        
+        dlyList = DlyList;                /* Get the first item of DELAY list */
+        if(dlyList != Co_NULL)                 /* Is DELAY list as Co_NULL?         */
+        {
+            dlyList->TCBprev = Co_NULL;        /* No,initialize the first item   */
+        }
+    }
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Dispose time delay in ISR	  
+ * @param[in]  None	 
+ * @param[out] None 
+ * @retval     None 
+ *
+ * @par Description
+ * @details    This function is called in systick interrupt to dispose time delay   
+ *             of all task.
+ *******************************************************************************
+ */
+void isr_TimeDispose(void)
+{
+    if(OSSchedLock > 1)                 /* Is schedule lock?                  */
+    {
+        IsrReq = Co_TRUE;
+        TimeReq = Co_TRUE;                 /* Yes,set time request Co_TRUE          */
+    }
+    else
+    {
+        TimeDispose();                  /* No,call handler                    */
+    }
+}
+
+
+#endif
@@ -0,0 +1,447 @@
+/**
+ *******************************************************************************
+ * @file       timer.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      timer management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+/*---------------------------- Variable Define -------------------------------*/
+#if CFG_TMR_EN > 0
+
+TmrCtrl    TmrTbl[CFG_MAX_TMR]= {{0}};/*!< Table which save timer control block.*/
+P_TmrCtrl  TmrList     = Co_NULL;      /*!< The header of the TmrCtrl list.      */
+U32        TmrIDVessel = 0;         /*!< Timer ID container.                  */
+
+
+/**
+ *******************************************************************************
+ * @brief      Insert a timer into the timer list	   
+ * @param[in]  tmrID    Specify timer ID which insertted.		 
+ * @param[out] None  
+ * @retval     E_INVALID_ID  Timer ID passed was invalid,insert fail.
+ * @retval     E_OK          Insert successful.			 
+ *
+ * @par Description
+ * @details    This function is called to insert a timer into the timer list.  
+ *******************************************************************************
+ */
+static void InsertTmrList(OS_TCID tmrID)
+{
+    P_TmrCtrl pTmr;
+    S32 deltaTicks;
+    U32 tmrCnt;
+    tmrCnt = TmrTbl[tmrID].tmrCnt;      /* Get timer time                     */
+    
+    if(tmrCnt == 0)                     /* Is timer time==0?                  */
+    {
+        return;                         /* Do nothing,return                  */
+    }
+    
+    OsSchedLock();                      /* Lock schedule                      */
+    if(TmrList == Co_NULL)                 /* Is no item in timer list?          */
+    {
+        TmrList = &TmrTbl[tmrID];       /* Yes,set this as first item         */
+    }
+    else                  /* No,find correct place ,and insert inserted timer */
+    {								    
+      	pTmr       = TmrList; 
+      	deltaTicks = tmrCnt;            /* Get timer tick                     */
+      	
+      	/* find correct place */
+      	while(pTmr != Co_NULL)
+      	{				    
+            deltaTicks -= pTmr->tmrCnt; /* Get ticks with previous item       */
+            if(deltaTicks < 0)          /* Is delta ticks<0?                  */  
+            {	
+                /* Yes,get correct place */
+                if(pTmr->tmrPrev!= Co_NULL)/* Is head item of timer list?        */
+                {	
+                    /* No,insert into */
+                    pTmr->tmrPrev->tmrNext = &TmrTbl[tmrID]; 
+                    TmrTbl[tmrID].tmrPrev  = pTmr->tmrPrev;
+                    TmrTbl[tmrID].tmrNext  = pTmr;
+                    pTmr->tmrPrev          = &TmrTbl[tmrID];
+                }
+                else                    /* Yes,set task as first item         */ 	
+                {
+                    TmrTbl[tmrID].tmrNext = TmrList;
+                    TmrList->tmrPrev      = &TmrTbl[tmrID];
+                    TmrList               = &TmrTbl[tmrID];
+                }
+                TmrTbl[tmrID].tmrCnt            = TmrTbl[tmrID].tmrNext->tmrCnt+deltaTicks;
+                TmrTbl[tmrID].tmrNext->tmrCnt  -= TmrTbl[tmrID].tmrCnt; 
+                break;	
+            }
+            /* Is last item in list? */									
+            else if((deltaTicks >= 0) && (pTmr->tmrNext == Co_NULL))
+            {	
+                /* Yes,insert into */
+                TmrTbl[tmrID].tmrPrev = pTmr;
+                pTmr->tmrNext         = &TmrTbl[tmrID];	
+                TmrTbl[tmrID].tmrCnt  = deltaTicks;
+                break;	
+            }
+            pTmr = pTmr->tmrNext;       /* Get the next item in timer list    */	
+      	}
+    }
+    OsSchedUnlock();                    /* Unlock schedule                    */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Remove a timer from the timer list	  
+ * @param[in]  tmrID    Specify ID for a timer which removed form timer list.	 
+ * @param[out] None 
+ * @retval     None
+ *
+ * @par Description
+ * @details    This function is called to remove a timer from the timer list. 
+ *******************************************************************************
+ */
+static void RemoveTmrList(OS_TCID tmrID)
+{
+    P_TmrCtrl pTmr;
+    
+    pTmr = &TmrTbl[tmrID];
+    
+    OsSchedLock();                      /* Lock schedule                      */
+    
+    /* Is there only one item in timer list?                                  */
+    if((pTmr->tmrPrev == Co_NULL) && (pTmr->tmrNext == Co_NULL))
+    {		
+        TmrList = Co_NULL;                 /* Yes,set timer list as Co_NULL         */
+    }
+    else if(pTmr->tmrPrev == Co_NULL)      /* Is the first item in timer list?   */
+    {   /* Yes,remove timer from list,and reset timer list                    */
+        TmrList  = pTmr->tmrNext;
+        TmrList->tmrPrev = Co_NULL;
+        pTmr->tmrNext->tmrCnt += pTmr->tmrCnt;
+        pTmr->tmrNext    = Co_NULL;
+    }
+    else if(pTmr->tmrNext == Co_NULL)      /* Is the last item in timer list?    */
+    {
+        /* Yes,remove timer form list */
+        pTmr->tmrPrev->tmrNext = Co_NULL;
+        pTmr->tmrPrev = Co_NULL;
+    }
+    else                                /* No, remove timer from list         */
+    {
+        pTmr->tmrPrev->tmrNext  =  pTmr->tmrNext;
+        pTmr->tmrNext->tmrPrev  =  pTmr->tmrPrev;
+        pTmr->tmrNext->tmrCnt  += pTmr->tmrCnt;
+        pTmr->tmrNext = Co_NULL;
+        pTmr->tmrPrev = Co_NULL;
+    }
+    OsSchedUnlock();                    /* Unlock schedule                    */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Create a timer	   
+ * @param[in]  tmrType     Specify timer's type.		 
+ * @param[in]  tmrCnt      Specify timer initial counter value.  
+ * @param[in]  tmrReload   Specify timer reload value.
+ * @param[in]  func        Specify timer callback function entry.
+ * @param[out] None
+ * @retval     E_CREATE_FAIL   Create timer fail.
+ * @retval     others          Create timer successful.			 
+ *
+ * @par Description
+ * @details    This function is called to create a timer.
+ *******************************************************************************
+ */
+OS_TCID CoCreateTmr(U8 tmrType, U32 tmrCnt, U32 tmrReload, vFUNCPtr func)
+{
+    U8 i;
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if((tmrType != TMR_TYPE_ONE_SHOT) && (tmrType != TMR_TYPE_PERIODIC))
+    {
+        return E_CREATE_FAIL;	
+    }
+    if(func == Co_NULL)
+    {
+        return E_CREATE_FAIL;
+    }
+#endif
+    OsSchedLock();                        /* Lock schedule                    */
+    for(i = 0; i < CFG_MAX_TMR; i++)
+    {
+        if((TmrIDVessel & (1 << i)) == 0) /* Is free timer ID?                */
+        {
+            TmrIDVessel |= (1<<i);        /* Yes,assign ID to this timer      */
+            OsSchedUnlock();              /* Unlock schedule                  */
+            TmrTbl[i].tmrID     = i;      /* Initialize timer as user set     */
+            TmrTbl[i].tmrType   = tmrType;	
+            TmrTbl[i].tmrState  = TMR_STATE_STOPPED;
+            TmrTbl[i].tmrCnt    = tmrCnt;
+            TmrTbl[i].tmrReload	= tmrReload;
+            TmrTbl[i].tmrCallBack = func;
+            TmrTbl[i].tmrPrev   = Co_NULL;
+            TmrTbl[i].tmrNext   = Co_NULL;
+            return i;                     /* Return timer ID                  */
+        }
+    }
+    OsSchedUnlock();                      /* Unlock schedule                  */
+    return E_CREATE_FAIL;                 /* Error return                     */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Start counter	 
+ * @param[in]  tmrID    Specify a timer which startted.		 
+ * @param[out] None 
+ * @retval     E_INVALID_ID  The timer id passed was invalid,can't start timer	
+ * @retval     E_OK          Insert a timer to timer list and start it successful. 
+ *
+ * @par Description
+ * @details    This function is called to make a timer start countering. 
+ *******************************************************************************
+ */
+StatusType CoStartTmr(OS_TCID tmrID)
+{
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(tmrID >= CFG_MAX_TMR)
+    {
+        return E_INVALID_ID;
+    }
+    if( (TmrIDVessel & (1<<tmrID)) == 0)
+    {
+        return E_INVALID_ID;
+    }
+#endif
+    
+    if(TmrTbl[tmrID].tmrState == TMR_STATE_RUNNING)   /* Is timer running?    */
+    {
+        return E_OK;                              /* Yes,do nothing,return OK */
+    }
+    
+    /* No,set timer status as TMR_STATE_RUNNING */
+    TmrTbl[tmrID].tmrState = TMR_STATE_RUNNING; 
+    InsertTmrList(tmrID);               /* Insert this timer into timer list  */
+    return E_OK;                        /* Return OK                          */
+}
+
+
+
+/**
+ *******************************************************************************
+ * @brief      Stop countering for a spcify timer	  
+ * @param[in]  tmrID    Specify a timer which stopped.	 
+ * @param[out] None  	 
+ * @retval     E_INVALID_ID  The timer id passed was invalid, stop failure.
+ * @retval     E_OK          Stop a timer countering successful.
+ *
+ * @par Description
+ * @details    This function is called to stop a timer from counting. 
+ *******************************************************************************
+ */
+StatusType CoStopTmr(OS_TCID tmrID)
+{	
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(tmrID >= CFG_MAX_TMR)
+    {
+        return E_INVALID_ID;
+    }
+    if((TmrIDVessel & (1<<tmrID)) == 0)
+    {
+        return E_INVALID_ID;
+    }
+#endif
+    
+    
+    if(TmrTbl[tmrID].tmrState == TMR_STATE_STOPPED)/* Does timer stop running?*/
+    {
+        return E_OK;                    /* Yes,do nothing,return OK           */
+    }
+    RemoveTmrList(tmrID);             /* No,remove this timer from timer list */
+    
+    /* Set timer status as TMR_STATE_STOPPED  */
+    TmrTbl[tmrID].tmrState = TMR_STATE_STOPPED;	
+    return E_OK;                        /* Return OK                          */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Delete a timer	 
+ * @param[in]  tmrID     Specify a timer which deleted.		 
+ * @param[out] None   
+ * @retval     E_INVALID_ID  The timer id passed was invalid,deleted failure.	
+ * @retval     E_OK          Delete a timer successful.
+ *
+ * @par Description
+ * @details    This function is called to delete a timer which created before.	
+ *******************************************************************************
+ */
+StatusType CoDelTmr(OS_TCID tmrID)
+{
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(tmrID >= CFG_MAX_TMR)
+    {
+        return E_INVALID_ID;
+    }
+    if( (TmrIDVessel & (1<<tmrID)) == 0)
+    {
+        return E_INVALID_ID;
+    }
+#endif
+	
+    if(TmrTbl[tmrID].tmrState == TMR_STATE_RUNNING) /* Is timer running?      */
+    {
+        RemoveTmrList(tmrID);         /* Yes,remove this timer from timer list*/
+    }
+    TmrIDVessel &=~(1<<tmrID);        /* Release resource that this timer hold*/
+    return E_OK;                      /* Return OK                            */
+}
+
+ 
+/**
+ *******************************************************************************
+ * @brief      Get current counter of specify timer	 
+ * @param[in]  tmrID          Specify timer by ID.		 
+ * @param[out] E_INVALID_ID   Invalid ID was passed and get counter failure.	  
+ * @param[out] E_OK           Get current counter successful.	 
+ * @retval     Current counter of a timer which specify by id.			 
+ *
+ * @par Description
+ * @details    This function is called to obtain current counter of specify timer.
+ *******************************************************************************
+ */
+U32 CoGetCurTmrCnt(OS_TCID tmrID,StatusType* perr)
+{
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(tmrID >= CFG_MAX_TMR)
+    {
+        *perr = E_INVALID_ID;
+        return 0;
+    }
+    if((TmrIDVessel & (1<<tmrID)) == 0)
+    {
+        *perr = E_INVALID_ID;
+        return 0;
+    }
+#endif
+    *perr = E_OK;
+    return TmrTbl[tmrID].tmrCnt;        /* Return timer counter               */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Setting for a specify timer	  		   	
+ * @param[in]  tmrID       Specify timer by ID.
+ * @param[in]  tmrCnt      Specify timer counter which need to be set.
+ * @param[in]  tmrReload   Specify timer reload value which need to be set.		 
+ * @param[out] None  
+ * @retval     E_INVALID_ID  The ID passed was invalid,set fail.
+ * @retval     E_OK          Set timer counter successful.				 
+ *
+ * @par Description
+ * @details    This function is called to set timer counter and reload value.
+ *******************************************************************************
+ */
+StatusType CoSetTmrCnt(OS_TCID tmrID,U32 tmrCnt,U32 tmrReload)
+{
+#if CFG_PAR_CHECKOUT_EN >0              /* Check validity of parameter        */
+    if(tmrID >= CFG_MAX_TMR)
+    {
+        return E_INVALID_ID;
+    }
+    if( (TmrIDVessel & (1<<tmrID)) == 0)
+    {
+        return E_INVALID_ID;
+    }
+#endif
+    TmrTbl[tmrID].tmrCnt    = tmrCnt; /* Reset timer counter and reload value */
+    TmrTbl[tmrID].tmrReload = tmrReload;
+    								
+    if(TmrTbl[tmrID].tmrState == TMR_STATE_RUNNING)   /* Is timer running?    */
+    {
+        RemoveTmrList(tmrID);           /* Yes,reorder timer in timer list    */
+        InsertTmrList(tmrID);	
+    }
+    return E_OK;                        /* Return OK                          */
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Timer counter dispose	   
+ * @param[in]  None 	 
+ * @param[out] None	 
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is called to dispose timer counter.
+ *******************************************************************************
+ */
+void TmrDispose(void)
+{
+    P_TmrCtrl	pTmr;
+    
+    pTmr = TmrList;                     /* Get first item of timer list       */
+    while((pTmr != Co_NULL) && (pTmr->tmrCnt == 0) )
+    {	
+        if(pTmr->tmrType == TMR_TYPE_ONE_SHOT)    /* Is a One-shot timer?     */
+        {
+            /* Yes,remove this timer from timer list                          */
+            RemoveTmrList(pTmr->tmrID);
+            
+            /* Set timer status as TMR_STATE_STOPPED                          */
+            pTmr->tmrState = TMR_STATE_STOPPED;
+            (pTmr->tmrCallBack)();          /* Call timer callback function   */
+        }
+        else if(pTmr->tmrType == TMR_TYPE_PERIODIC)   /* Is a periodic timer? */
+        {
+            /* Yes,remove this timer from timer list                          */
+            RemoveTmrList(pTmr->tmrID); 
+            pTmr->tmrCnt = pTmr->tmrReload;   /* Reset timer tick             */
+            InsertTmrList(pTmr->tmrID);       /* Insert timer into timer list */
+            (pTmr->tmrCallBack)();            /* Call timer callback function */
+        }
+        pTmr = TmrList;	                      /* Get first item of timer list */
+    }
+}
+
+
+/**
+ *******************************************************************************
+ * @brief      Timer counter dispose in ISR	   
+ * @param[in]  None 	 
+ * @param[out] None	 
+ * @retval     None	 
+ *
+ * @par Description
+ * @details    This function is called to dispose timer counter.
+ *******************************************************************************
+ */
+void isr_TmrDispose(void)
+{
+    if(OSSchedLock > 1)                 /* Is schedule lock?                  */
+    {
+        IsrReq = Co_TRUE;
+        TimerReq  = Co_TRUE;               /* Yes,set timer request true         */
+    }
+    else
+    {
+        TmrDispose();                   /* No,call handler                    */
+    }
+}	 
+
+#endif
@@ -0,0 +1,86 @@
+/**
+ *******************************************************************************
+ * @file       utility.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Utility management implementation code of CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+
+#if CFG_UTILITY_EN > 0
+
+
+/**
+ *******************************************************************************
+ * @brief      Convert tick number to time 	  
+ * @param[in]  ticks    Specifies the systerm tick numbers that will be converted.	 
+ * @param[out] hour     Hours which converted. 
+ * @param[out] minute   minutes which converted.
+ * @param[out] sec      seconds which converted.
+ * @param[out] millsec  millseconds which converted.
+ * @retval     None		 
+ *
+ * @par Description
+ * @details    This function is called to convert specify ticks to time format.	  	 	
+ *******************************************************************************				
+ */
+#if CFG_TICK_TO_TIME_EN > 0
+void CoTickToTime(U32 ticks,U8* hour,U8* minute,U8* sec,U16* millsec)
+{
+    U32 totalTime;
+    
+    /* Convert ticks to time*/
+    totalTime = ticks * (1000/CFG_SYSTICK_FREQ);
+    *millsec  = totalTime%1000;
+    totalTime = totalTime/1000;
+    *sec      = totalTime%60;
+    totalTime = totalTime/60;
+    *minute   = totalTime%60;
+    totalTime = totalTime/60;
+    *hour     = totalTime;		
+}
+#endif    /* CFG_TICK_TO_TIME_EN    */
+
+
+/**
+ *******************************************************************************
+ * @brief      Convert time to tick	  
+ * @param[in]  hour     Specifies the number of hours.
+ * @param[in]  minute   Specifies the number of minutes.
+ * @param[in]  sec      Specifies the number of seconds.
+ * @param[in]  millsec  Specifies the number of millseconds.	 
+ * @param[out] ticks    Tick numbers that converted.  
+ * @retval     E_INVALID_PARAMETER   Invalid parameter be passed and convert fail.
+ * @retval     E_OK                  Convert successful.
+ *
+ * @par Description
+ * @details    This function is called to convert specify time to tick number. 		 
+ *******************************************************************************
+ */
+#if CFG_TIME_TO_TICK_EN > 0
+StatusType  CoTimeToTick(U8 hour,U8 minute,U8 sec,U16 millsec,U32* ticks)
+{
+#if CFG_PAR_CHECKOUT_EN >0
+    /* Validate arguments to be within range */
+    if((minute > 59)||(sec > 59)||(millsec > 999))
+        return E_INVALID_PARAMETER;
+#endif
+
+    /* Convert time to ticks */
+    *ticks = ((hour*3600) + (minute*60) + (sec)) * (CFG_SYSTICK_FREQ)\
+              + (millsec*CFG_SYSTICK_FREQ + 500)/1000;
+    return E_OK;
+}
+#endif    /* CFG_TIME_TO_TICK_EN  */
+
+#endif    /* CFG_UTILITY_EN       */
@@ -0,0 +1,39 @@
+/**
+ *******************************************************************************
+ * @file       utility.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Utility function header file 
+ * @details    This file including some defines and declares related to utility 
+ *             function.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef  _UTILITY_H
+#define  _UTILITY_H
+
+
+/**
+ * @struct  Time struct  utility.h  	
+ * @brief   Time struct	 
+ * @details This struct use to manage time 	 
+ */
+typedef struct SysTime
+{
+    U8   sec;                           /*!< Second                           */
+    U8   min;                           /*!< Minute                           */
+    U8   hour;                          /*!< Hour                             */
+    U8   date;                          /*!< Date                             */
+    U8   month;                         /*!< Month                            */
+    U16  year;                          /*!< Year                             */
+}TIME;
+
+#endif
+
@@ -0,0 +1,295 @@
+/**
+ *******************************************************************************
+ * @file       prot.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Compiler adapter for CooCox CoOS kernel.	
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2010 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+/*---------------------------- Include ---------------------------------------*/
+#include "coocox.h"
+
+
+//******************************************************************************
+//                              EQUATES
+//******************************************************************************	
+U32 NVIC_INT_CTRL  = 0xE000ED04;            // Interrupt control state register
+U32 NVIC_PENDSVSET = 0x10000000;            // Value to trigger PendSV exception
+U32 INT_EXIT       = 0xFFFFFFFC;
+
+//******************************************************************************
+//                         PUBLIC FUNCTIONS
+//******************************************************************************
+extern U8     Inc8(volatile U8 *data) ;
+extern U8     Dec8(volatile U8 *data) ; 
+extern void   IRQ_ENABLE_RESTORE(void);
+extern void   IRQ_DISABLE_SAVE(void);
+extern void   SetEnvironment(OS_STK *pstk) __attribute__ ((naked)); 	
+extern void   SwitchContext(void)          __attribute__ ((naked));
+extern void   PendSV_Handler(void)         __attribute__ ((naked));
+
+
+/**
+ ******************************************************************************
+ * @brief      Plus a byte integers and Saved into memory cell
+ * @param[in]  data    byte integers.	 
+ * @param[out] None  
+ * @retval     Returns Original value.		 
+ *
+ * @par Description
+ * @details    This function is called to Plus a byte integers 
+ *             and Saved into memory cell.
+ ******************************************************************************
+ */
+U8 Inc8 (volatile U8 *data)
+{
+  register U8  result = 0;
+  
+  __asm volatile 
+  (
+      " PUSH    {R1}     \n"
+      " CPSID   I        \n"
+      " LDRB    R1,[%1]  \n"
+      " ADD     R1,#1    \n"
+      " STRB    R1,[%1]  \n"
+      " CPSIE   I        \n"
+      " SUB     R1,#0x1  \n"
+      " MOVS    %0,R1    \n"
+      " POP     {R1}     \n"
+      :"=r"(result)
+      :"r"(data)
+  );
+  return (result);
+  
+}
+ 
+
+/**
+ ******************************************************************************
+ * @brief      Decrease a byte integers and Saved into memory cell
+ * @param[in]  data    byte integers.	 
+ * @param[out] None  
+ * @retval     Returns Original value.		 
+ *
+ * @par Description
+ * @details    This function is called to Decrease a byte integers 
+ *             and Saved into memory cell.
+ ******************************************************************************
+ */
+U8 Dec8 (volatile U8 *data)
+{
+  register U8  result = 0;
+  __asm volatile 
+  (
+      " PUSH    {R1}     \n"
+      " CPSID   I        \n"
+      " LDRB    R1,[%1]  \n"
+      " SUB     R1,#1    \n"
+      " STRB    R1,[%1]  \n"
+      " CPSIE   I        \n"
+      " MOVS    %0,R1    \n"
+      " POP     {R1}     \n"
+      :"=r"(result)
+      :"r"(data)
+  ); 
+  return (result); 
+}
+
+/**
+ ******************************************************************************
+ * @brief      ENABLE Interrupt
+ * @param[in]  None	 
+ * @param[out] None  
+ * @retval     None		 
+ *
+ * @par Description
+ * @details    This function is called to ENABLE Interrupt.
+ ******************************************************************************
+ */
+void IRQ_ENABLE_RESTORE(void)
+{ 
+  __asm volatile 
+  (
+      " CPSIE   I        \n"
+  );	
+  return;
+}
+
+/**
+ ******************************************************************************
+ * @brief      Close Interrupt
+ * @param[in]  None	 
+ * @param[out] None  
+ * @retval     None		 
+ *
+ * @par Description
+ * @details    This function is called to close Interrupt.
+ ******************************************************************************
+ */
+void IRQ_DISABLE_SAVE(void)
+{  
+  __asm volatile 
+  (
+      " CPSID   I        \n"
+  );	
+  return;
+}
+
+
+/**
+ ******************************************************************************
+ * @brief      Set environment	for Coocox OS running
+ * @param[in]  pstk    stack pointer	 
+ * @param[out] None  
+ * @retval     None.		 
+ *
+ * @par Description
+ * @details    This function is called to Set environment
+ *              for Coocox OS running.
+ ******************************************************************************
+ */
+void SetEnvironment (OS_STK *pstk)
+{
+    __asm volatile
+    (   
+       " SUB    R0,#28 \n"
+       " MSR    PSP,R0 \n"
+       " BX      LR               \n"
+    );
+  
+}
+
+
+/**
+ ******************************************************************************
+ * @brief      Do ready work to Switch Context for task change
+ * @param[in]  None	 
+ * @param[out] None  
+ * @retval     None.		 
+ *
+ * @par Description
+ * @details    This function is called to Do ready work to 
+ *              Switch Context for task change
+ ******************************************************************************
+ */
+void SwitchContext(void)
+{
+  __asm volatile
+  (
+      " LDR     R3,=NVIC_INT_CTRL  \n"
+	  " LDR     R3,[R3]            \n"
+	  " LDR     R2,=NVIC_PENDSVSET \n"
+	  " LDR     R1,[R2]            \n"
+      " STR     R1, [R3]           \n"
+      " BX      LR               \n"   
+  );
+ 
+}
+
+
+
+/**
+ ******************************************************************************
+ * @brief      Switch Context for task change
+ * @param[in]  None	 
+ * @param[out] None  
+ * @retval     None.		 
+ *
+ * @par Description
+ * @details    This function is called to Switch Context for task change.
+ ******************************************************************************
+ */
+#if CFG_CHIP_TYPE == 2
+void PendSV_Handler(void)
+{
+  __asm volatile
+ (
+    " LDR     R3,=TCBRunning   \n"
+    " LDR     R1,[R3]          \n"   // R1 == running tcb
+    " LDR     R2,=TCBNext      \n"
+    " LDR     R2,[R2]          \n"   // R2 == next tcb
+
+    " CMP     R1,R2            \n"
+    " BEQ     exitPendSV       \n"          
+    " MRS     R0, PSP          \n"    // Get PSP point (can not use PUSH,in ISR,SP is MSP )
+  
+    " SUB     R0,R0,#32        \n"
+    " STR     R0,[R1]          \n"    // Save orig PSP
+								                      // Store r4-r11,r0 -= regCnt * 4,r0 is new stack 
+                                      // top point (addr h->l r11,r10,...,r5,r4)
+    " STMIA   R0!,{R4-R7}      \n"    // Save old context (R4-R7)
+    " MOV     R4,R8            \n"
+    " MOV     R5,R9            \n"
+    " MOV     R6,R10           \n"
+    " MOV     R7,R11           \n"
+    " STMIA   R0!,{R4-R7}      \n"    // Save old context (R8-R11)
+
+    " popStk:                  \n" 
+    " STR     R2, [R3]         \n"    // TCBRunning  = TCBNext;
+    " LDR     R0, [R2]         \n"    // Get SP of task that be switch into.
+	
+    " ADD     R0,R0,#16        \n"
+    " LDMIA   R0!,{R4-R7}      \n"    // Restore new Context (R8-R11)
+    " MOV     R8,R4            \n"
+    " MOV     R9,R5            \n"
+    " MOV     R10,R6           \n"
+    " MOV     R11,R7           \n"
+    " SUB     R0,R0,#32        \n"
+    " LDMIA   R0!,{R4-R7}      \n"    // Restore new Context (R4-R7)
+    " ADD     R0,R0,#16        \n"
+    " MSR     PSP, R0          \n"    // Mov new stack point to PSP
+
+    " exitPendSV:              \n"
+	" LDR    R3,=OSSchedLock   \n"
+	" MOV    R0, #0x0          \n"
+	" STRB   R0, [R3]          \n"
+
+    " LDR     R3,=INT_EXIT     \n"
+	" LDR     R0, [R3]         \n"
+    " BX      R0               \n"    // Exit interrupt
+  );
+}
+#endif
+
+#if CFG_CHIP_TYPE == 1
+void PendSV_Handler(void)
+{
+////////debug block /////////////////////////
+  __asm volatile
+ (
+    " LDR    R3,=TCBRunning \n" 
+    " LDR    R1,[R3]        \n"    // R1 == running tcb
+    " LDR    R2,=TCBNext    \n"
+    " LDR    R2,[R2]        \n"    // R2 == next tcb
+    
+    " CMP    R1,R2          \n"
+    " BEQ    exitPendSV     \n"              
+    
+    " MRS    R0, PSP        \n"    // Get PSP point (can not use PUSH,in ISR,SP is MSP )
+    " STMDB  R0!,{R4-R11}   \n"    // Store r4-r11,r0 -= regCnt * 4,r0 is new stack 
+                                   // top point (addr h->l r11,r10,...,r5,r4)
+    " STR    R0,[R1]        \n"    // Save orig PSP
+     
+    " STR    R2, [R3]       \n"    // TCBRunning  = TCBNext;
+    " LDR    R0, [R2]       \n"    // Get SP of task that be switch into.
+    " LDMIA  R0!,{R4-R11}   \n"    // POP {R4-R11},R0 += regCnt * 4
+    " MSR    PSP, R0        \n"    // Mov new stack point to PSP
+   
+ 
+    " exitPendSV:           \n"
+	" LDR    R3,=OSSchedLock\n"
+	" MOVS   R0, #0x0       \n"
+	" STRB   R0, [R3]       \n"
+    " ORR    LR,LR,#0x04    \n"    // Ensure exception return uses process stack
+    " BX     LR             \n"    // Exit interrupt
+  );
+}
+#endif
+
@@ -0,0 +1,50 @@
+/**
+ *******************************************************************************
+ * @file       OsArch.h
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief      Implement function declare related to Cortex-M3(ARM-v7)
+ * @details    This header file including functions or defines related to 
+ *             Cortex-M3(ARM-v7).	 		
+ *******************************************************************************
+ * @copy
+ *
+ * INTERNAL FILE,DON'T PUBLIC.
+ * 
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */ 
+
+
+#ifndef  _CPU_H
+#define  _CPU_H
+
+
+#define NVIC_ST_CTRL    (*((volatile U32 *)0xE000E010))
+#define NVIC_ST_RELOAD  (*((volatile U32 *)0xE000E014))
+#define RELOAD_VAL      ((U32)(( (U32)CFG_CPU_FREQ) / (U32)CFG_SYSTICK_FREQ) -1)
+
+/*!< Initial System tick.	*/
+#define InitSysTick()   NVIC_ST_RELOAD =  RELOAD_VAL; \
+                        NVIC_ST_CTRL   =  0x0007    
+
+#define NVIC_SYS_PRI2   (*((volatile U32 *)0xE000ED1C))
+#define NVIC_SYS_PRI3   (*((volatile U32 *)0xE000ED20))
+
+/*!< Initialize PendSV,SVC and SysTick interrupt priority to lowest.          */
+#define InitInt()       NVIC_SYS_PRI2 |=  0xFF000000;\
+                        NVIC_SYS_PRI3 |=  0xFFFF0000
+
+
+/*---------------------------- Variable declare ------------------------------*/
+extern U64      OSTickCnt;          /*!< Counter for current system ticks.    */									
+
+/*!< Initial context of task being created	*/
+extern OS_STK  *InitTaskContext(FUNCPtr task,void *param,OS_STK *pstk);
+extern void    SwitchContext(void);         /*!< Switch context                   */
+extern void    SetEnvironment(OS_STK *pstk);/*!< Set environment for run          */
+extern U8      Inc8 (volatile U8 *data);
+extern U8      Dec8 (volatile U8 *data);
+extern void    IRQ_ENABLE_RESTORE(void);
+extern void    IRQ_DISABLE_SAVE(void);
+#endif
@@ -0,0 +1,96 @@
+/**
+ *******************************************************************************
+ * @file      arch.c
+ * @version   V1.1.4    
+ * @date      2011.04.20
+ * @brief     This file provides InitTaskContext() and SysTick_Handler().
+ *******************************************************************************
+ * @copy
+ *	WRITE COPY INFORMATION USE CAPITAL LETTER
+ *
+ * <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
+ *******************************************************************************
+ */  
+
+/*---------------------------- Include ---------------------------------------*/
+#include <coocox.h>
+U64     OSTickCnt = 0;                  /*!< Current system tick counter      */ 																			 
+
+/**
+ ******************************************************************************
+ * @brief      Initial task context	  
+ * @param[in]  task    Entry point of task.
+ * @param[in]  param   The parameter pass to task.	
+ * @param[in]  pstk    The pointer to stack top.	 
+ * @param[out] None  
+ * @retval     Returns location of new stack top.		 
+ *
+ * @par Description
+ * @details    This function is called to initialize the stack frame of the 
+ *             task being created.
+ ******************************************************************************
+ */
+OS_STK *InitTaskContext(FUNCPtr task,void *param,OS_STK *pstk)
+{
+    OS_STK *context;
+	context  = pstk;
+    *(context--) = (U32)0x01000000L;      /* xPSR	        */
+	*(context--) = (U32)task;             /* Entry point of task.                         */
+	*(context)   = (U32)0xFFFFFFFEL;
+    context      = context - 5;
+	*(context)   = (U32)param;            /* R0: argument */
+	context      = context - 8;
+  	
+    return (context);                   /* Returns location of new stack top. */
+}
+
+
+ 
+/**
+ *******************************************************************************
+ * @brief      System tick interrupt handler.			 
+ * @param[in]  None	 
+ * @param[out] None  	 
+ * @retval     None
+ *		 
+ * @par Description
+ * @details    This is system tick interrupt headler.		 
+ * @note       CoOS may schedule when exiting this ISR. 
+ *******************************************************************************
+ */ 
+void SysTick_Handler(void)
+{
+    OSSchedLock++;                  /* Lock scheduler.                        */
+    OSTickCnt++;                    /* Increment systerm time.                */
+#if CFG_TASK_WAITTING_EN >0    
+    if(DlyList != Co_NULL)             /* Have task in delay list?               */
+    {
+        if(DlyList->delayTick > 1)  /* Delay time > 1?                        */
+        {
+			DlyList->delayTick--;   /* Decrease delay time of the list head.  */         
+        }
+		else
+		{
+			DlyList->delayTick = 0;
+			isr_TimeDispose();       /* Call hander for delay time list        */
+		}
+    }
+#endif
+    
+#if CFG_TMR_EN > 0	
+    if(TmrList != Co_NULL)             /* Have timer in working?                 */
+    {
+        if(TmrList->tmrCnt > 1)     /* Timer time > 1?                        */
+        {
+			TmrList->tmrCnt--;      /* Decrease timer time of the list head.  */        
+        }
+		else
+		{
+			TmrList->tmrCnt = 0;
+			isr_TmrDispose();         /* Call hander for timer list             */
+		}
+    }	
+#endif
+	TaskSchedReq = Co_TRUE;
+    OsSchedUnlock();
+}
@@ -0,0 +1,130 @@
+FatFs Module Source Files R0.09                        (C)ChaN, 2011
+
+
+FILES
+
+  ffconf.h   Configuration file for FatFs module.
+  ff.h       Common include file for FatFs and application module.
+  ff.c       FatFs module.
+  diskio.h   Common include file for FatFs and disk I/O module.
+  integer.h  Alternative type definitions for integer variables.
+  option     Optional external functions.
+
+  Low level disk I/O module is not included in this archive because the FatFs
+  module is only a generic file system layer and not depend on any specific
+  storage device. You have to provide a low level disk I/O module that written
+  to control your storage device.
+
+
+
+AGREEMENTS
+
+ FatFs module is an open source software to implement FAT file system to
+ small embedded systems. This is a free software and is opened for education,
+ research and commercial developments under license policy of following trems.
+
+  Copyright (C) 2011, ChaN, all right reserved.
+
+ * The FatFs module is a free software and there is NO WARRANTY.
+ * No restriction on use. You can use, modify and redistribute it for
+   personal, non-profit or commercial product UNDER YOUR RESPONSIBILITY.
+ * Redistributions of source code must retain the above copyright notice.
+
+
+
+REVISION HISTORY
+
+  Feb 26, 2006  R0.00  Prototype
+
+  Apr 29, 2006  R0.01  First release.
+
+  Jun 01, 2006  R0.02  Added FAT12.
+                       Removed unbuffered mode.
+                       Fixed a problem on small (<32M) patition.
+
+  Jun 10, 2006  R0.02a Added a configuration option _FS_MINIMUM.
+
+  Sep 22, 2006  R0.03  Added f_rename.
+                       Changed option _FS_MINIMUM to _FS_MINIMIZE.
+
+  Dec 11, 2006  R0.03a Improved cluster scan algolithm to write files fast.
+                       Fixed f_mkdir creates incorrect directory on FAT32.
+
+  Feb 04, 2007  R0.04  Supported multiple drive system. (FatFs)
+                       Changed some APIs for multiple drive system.
+                       Added f_mkfs. (FatFs)
+                       Added _USE_FAT32 option. (Tiny-FatFs)
+
+  Apr 01, 2007  R0.04a Supported multiple partitions on a plysical drive. (FatFs)
+                       Fixed an endian sensitive code in f_mkfs. (FatFs)
+                       Added a capability of extending the file size to f_lseek.
+                       Added minimization level 3.
+                       Fixed a problem that can collapse a sector when recreate an
+                       existing file in any sub-directory at non FAT32 cfg. (Tiny-FatFs)
+
+  May 05, 2007  R0.04b Added _USE_NTFLAG option.
+                       Added FSInfo support.
+                       Fixed some problems corresponds to FAT32. (Tiny-FatFs)
+                       Fixed DBCS name can result FR_INVALID_NAME.
+                       Fixed short seek (0 < ofs <= csize) collapses the file object.
+
+  Aug 25, 2007  R0.05  Changed arguments of f_read, f_write.
+                       Changed arguments of f_mkfs. (FatFs)
+                       Fixed f_mkfs on FAT32 creates incorrect FSInfo. (FatFs)
+                       Fixed f_mkdir on FAT32 creates incorrect directory. (FatFs)
+
+  Feb 03, 2008  R0.05a Added f_truncate().
+                       Added f_utime().
+                       Fixed off by one error at FAT sub-type determination.
+                       Fixed btr in f_read() can be mistruncated.
+                       Fixed cached sector is not flushed when create and close without write.
+
+  Apr 01, 2008  R0.06  Added f_forward(). (Tiny-FatFs)
+                       Added string functions: fputc(), fputs(), fprintf() and fgets().
+                       Improved performance of f_lseek() on move to the same or following cluster.
+
+  Apr 01, 2009, R0.07  Merged Tiny-FatFs as a buffer configuration option.
+                       Added long file name support.
+                       Added multiple code page support.
+                       Added re-entrancy for multitask operation.
+                       Added auto cluster size selection to f_mkfs().
+                       Added rewind option to f_readdir().
+                       Changed result code of critical errors.
+                       Renamed string functions to avoid name collision.
+
+  Apr 14, 2009, R0.07a Separated out OS dependent code on reentrant cfg.
+                       Added multiple sector size support.
+
+  Jun 21, 2009, R0.07c Fixed f_unlink() may return FR_OK on error.
+                       Fixed wrong cache control in f_lseek().
+                       Added relative path feature.
+                       Added f_chdir().
+                       Added f_chdrive().
+                       Added proper case conversion for extended characters.
+
+  Nov 03, 2009 R0.07e  Separated out configuration options from ff.h to ffconf.h.
+                       Added a configuration option, _LFN_UNICODE.
+                       Fixed f_unlink() fails to remove a sub-dir on _FS_RPATH.
+                       Fixed name matching error on the 13 char boundary.
+                       Changed f_readdir() to return the SFN with always upper case on non-LFN cfg.
+
+  May 15, 2010, R0.08  Added a memory configuration option. (_USE_LFN)
+                       Added file lock feature. (_FS_SHARE)
+                       Added fast seek feature. (_USE_FASTSEEK)
+                       Changed some types on the API, XCHAR->TCHAR.
+                       Changed fname member in the FILINFO structure on Unicode cfg.
+                       String functions support UTF-8 encoding files on Unicode cfg.
+
+  Aug 16,'10 R0.08a    Added f_getcwd(). (_FS_RPATH = 2)
+                       Added sector erase feature. (_USE_ERASE)
+                       Moved file lock semaphore table from fs object to the bss.
+                       Fixed a wrong directory entry is created on non-LFN cfg when the given name contains ';'.
+                       Fixed f_mkfs() creates wrong FAT32 volume.
+
+  Jan 15,'11 R0.08b    Fast seek feature is also applied to f_read() and f_write().
+                       f_lseek() reports required table size on creating CLMP.
+                       Extended format syntax of f_printf function.
+                       Ignores duplicated directory separators in given path names.
+
+  Sep 06,'11 R0.09     f_mkfs() supports multiple partition to finish the multiple partition feature.
+                       Added f_fdisk(). (_MULTI_PARTITION = 2)
@@ -1,53 +1,14 @@
-/*
- * Authors (alphabetical order)
- * - Bertrand Songis <bsongis@gmail.com>
- * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
- * - Cameron Weeks <th9xer@gmail.com>
- * - Erez Raviv
- * - Jean-Pierre Parisy
- * - Karl Szmutny <shadow@privy.de>
- * - Michael Blandford
- * - Michal Hlavinka
- * - Pat Mackenzie
- * - Philip Moss
- * - Rob Thomson
- * - Romolo Manfredini <romolo.manfredini@gmail.com>
- * - Thomas Husterer
- *
- * open9x is based on code named
- * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
- * er9x by Erez Raviv: http://code.google.com/p/er9x/,
- * and the original (and ongoing) project by
- * Thomas Husterer, th9x: http://code.google.com/p/th9x/
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- */
-
 /*-----------------------------------------------------------------------
-/  Low level disk interface modlue include file   (C)ChaN, 2010
+/  Low level disk interface modlue include file
 /-----------------------------------------------------------------------*/

-#ifndef DEF_DISKIO
-#define DEF_DISKIO
+#ifndef _DISKIO
+
+#define _READONLY	0	/* 1: Remove write functions */
+#define _USE_IOCTL	1	/* 1: Use disk_ioctl fucntion */

 #include "integer.h"

-#define DN_MCI		0	/* Physical drive number for MCI */
-#define DN_NAND		1	/* Physical drive number for NAND flash */
-
-
-/* These functions are defined in asmfunc.S */
-void Copy_al2un (BYTE *dst, const DWORD *src, int count);	/* Copy aligned to unaligned. */
-void Copy_un2al (DWORD *dst, const BYTE *src, int count);	/* Copy unaligned to aligned. */
-

 /* Status of Disk Functions */
 typedef BYTE	DSTATUS;
@@ -65,12 +26,22 @@ typedef enum {
 /*---------------------------------------*/
 /* Prototypes for disk control functions */

+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int assign_drives (int, int);
 DSTATUS disk_initialize (BYTE);
 DSTATUS disk_status (BYTE);
 DRESULT disk_read (BYTE, BYTE*, DWORD, BYTE);
+#if	_READONLY == 0
 DRESULT disk_write (BYTE, const BYTE*, DWORD, BYTE);
-DRESULT disk_ioctl (BYTE, BYTE, BYTE*);
-void disk_timerproc (void);
+#endif
+DRESULT disk_ioctl (BYTE, BYTE, void*);
+
+#ifdef __cplusplus
+}
+#endif


 /* Disk Status Bits (DSTATUS) */
@@ -82,14 +53,14 @@ void disk_timerproc (void);

 /* Command code for disk_ioctrl fucntion */

-/* Generic ioctl command (defined for FatFs) */
+/* Generic command (defined for FatFs) */
 #define CTRL_SYNC			0	/* Flush disk cache (for write functions) */
 #define GET_SECTOR_COUNT	1	/* Get media size (for only f_mkfs()) */
 #define GET_SECTOR_SIZE		2	/* Get sector size (for multiple sector size (_MAX_SS >= 1024)) */
 #define GET_BLOCK_SIZE		3	/* Get erase block size (for only f_mkfs()) */
 #define CTRL_ERASE_SECTOR	4	/* Force erased a block of sectors (for only _USE_ERASE) */

-/* Generic ioctl command */
+/* Generic command */
 #define CTRL_POWER			5	/* Get/Set power status */
 #define CTRL_LOCK			6	/* Lock/Unlock media removal */
 #define CTRL_EJECT			7	/* Eject media */
@@ -110,6 +81,5 @@ void disk_timerproc (void);
 #define NAND_FORMAT			30	/* Create physical format */


-volatile extern BYTE Timer1, Timer2;	/* 100Hz decrement timer */
-
+#define _DISKIO
 #endif
@@ -1,42 +1,53 @@
-/*
- * Authors (alphabetical order)
- * - Bertrand Songis <bsongis@gmail.com>
- * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
- * - Cameron Weeks <th9xer@gmail.com>
- * - Erez Raviv
- * - Jean-Pierre Parisy
- * - Karl Szmutny <shadow@privy.de>
- * - Michael Blandford
- * - Michal Hlavinka
- * - Pat Mackenzie
- * - Philip Moss
- * - Rob Thomson
- * - Romolo Manfredini <romolo.manfredini@gmail.com>
- * - Thomas Husterer
- *
- * open9x is based on code named
- * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
- * er9x by Erez Raviv: http://code.google.com/p/er9x/,
- * and the original (and ongoing) project by
- * Thomas Husterer, th9x: http://code.google.com/p/th9x/
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- */
-
-void init_SDcard()
-{
-#ifndef SIMU
-  configure_pins( 0xFC000000, PIN_PERIPHERAL | PIN_INPUT | PIN_PER_C | PIN_PORTA | PIN_NO_PULLUP ) ;
-  configure_pins( PIO_PB7, PIN_INPUT | PIN_PORTB | PIN_NO_PULLUP | PIN_NO_PULLDOWN ) ;
-  SD_Init() ;
-#endif
-}
-
+/*
+ * Authors (alphabetical order)
+ * - Andre Bernet <bernet.andre@gmail.com>
+ * - Andreas Weitl
+ * - Bertrand Songis <bsongis@gmail.com>
+ * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
+ * - Cameron Weeks <th9xer@gmail.com>
+ * - Erez Raviv
+ * - Gabriel Birkus
+ * - Jean-Pierre Parisy
+ * - Karl Szmutny
+ * - Michael Blandford
+ * - Michal Hlavinka
+ * - Pat Mackenzie
+ * - Philip Moss
+ * - Rob Thomson
+ * - Romolo Manfredini <romolo.manfredini@gmail.com>
+ * - Thomas Husterer
+ *
+ * opentx is based on code named
+ * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
+ * er9x by Erez Raviv: http://code.google.com/p/er9x/,
+ * and the original (and ongoing) project by
+ * Thomas Husterer, th9x: http://code.google.com/p/th9x/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ */
+
+#include "integer.h"
+#include "../rtc.h"
+
+DWORD get_fattime(void)
+{
+  struct gtm t;
+
+  gettime(&t);
+
+  /* Pack date and time into a DWORD variable */
+  return ((DWORD)(t.tm_year - 80) << 25)
+    | ((uint32_t)(t.tm_mon+1) << 21)
+    | ((uint32_t)t.tm_mday << 16)
+    | ((uint32_t)t.tm_hour << 11)
+    | ((uint32_t)t.tm_min << 5)
+    | ((uint32_t)t.tm_sec >> 1);
+}
@@ -0,0 +1,337 @@
+/*---------------------------------------------------------------------------/
+/  FatFs - FAT file system module include file  R0.09     (C)ChaN, 2011
+/----------------------------------------------------------------------------/
+/ FatFs module is a generic FAT file system module for small embedded systems.
+/ This is a free software that opened for education, research and commercial
+/ developments under license policy of following trems.
+/
+/  Copyright (C) 2011, ChaN, all right reserved.
+/
+/ * The FatFs module is a free software and there is NO WARRANTY.
+/ * No restriction on use. You can use, modify and redistribute it for
+/   personal, non-profit or commercial product UNDER YOUR RESPONSIBILITY.
+/ * Redistributions of source code must retain the above copyright notice.
+/
+/----------------------------------------------------------------------------*/
+
+#ifndef _FATFS
+#define _FATFS	6502	/* Revision ID */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "integer.h"	/* Basic integer types */
+#include "ffconf.h"		/* FatFs configuration options */
+
+#if _FATFS != _FFCONF
+#error Wrong configuration file (ffconf.h).
+#endif
+
+
+
+/* Definitions of volume management */
+
+#if _MULTI_PARTITION		/* Multiple partition configuration */
+typedef struct {
+	BYTE pd;	/* Physical drive number */
+	BYTE pt;	/* Partition: 0:Auto detect, 1-4:Forced partition) */
+} PARTITION;
+extern PARTITION VolToPart[];	/* Volume - Partition resolution table */
+#define LD2PD(vol) (VolToPart[vol].pd)	/* Get physical drive number */
+#define LD2PT(vol) (VolToPart[vol].pt)	/* Get partition index */
+
+#else						/* Single partition configuration */
+#define LD2PD(vol) (vol)	/* Each logical drive is bound to the same physical drive number */
+#define LD2PT(vol) 0		/* Always mounts the 1st partition or in SFD */
+
+#endif
+
+
+
+/* Type of path name strings on FatFs API */
+
+#if _LFN_UNICODE			/* Unicode string */
+#if !_USE_LFN
+#error _LFN_UNICODE must be 0 in non-LFN cfg.
+#endif
+#ifndef _INC_TCHAR
+typedef WCHAR TCHAR;
+#define _T(x) L ## x
+#define _TEXT(x) L ## x
+#endif
+
+#else						/* ANSI/OEM string */
+#ifndef _INC_TCHAR
+typedef char TCHAR;
+#define _T(x) x
+#define _TEXT(x) x
+#endif
+
+#endif
+
+
+
+/* File system object structure (FATFS) */
+
+typedef struct {
+	BYTE	fs_type;		/* FAT sub-type (0:Not mounted) */
+	BYTE	drv;			/* Physical drive number */
+	BYTE	csize;			/* Sectors per cluster (1,2,4...128) */
+	BYTE	n_fats;			/* Number of FAT copies (1,2) */
+	BYTE	wflag;			/* win[] dirty flag (1:must be written back) */
+	BYTE	fsi_flag;		/* fsinfo dirty flag (1:must be written back) */
+	WORD	id;				/* File system mount ID */
+	WORD	n_rootdir;		/* Number of root directory entries (FAT12/16) */
+#if _MAX_SS != 512
+	WORD	ssize;			/* Bytes per sector (512, 1024, 2048 or 4096) */
+#endif
+#if _FS_REENTRANT
+	_SYNC_t	sobj;			/* Identifier of sync object */
+#endif
+#if !_FS_READONLY
+	DWORD	last_clust;		/* Last allocated cluster */
+	DWORD	free_clust;		/* Number of free clusters */
+	DWORD	fsi_sector;		/* fsinfo sector (FAT32) */
+#endif
+#if _FS_RPATH
+	DWORD	cdir;			/* Current directory start cluster (0:root) */
+#endif
+	DWORD	n_fatent;		/* Number of FAT entries (= number of clusters + 2) */
+	DWORD	fsize;			/* Sectors per FAT */
+	DWORD	fatbase;		/* FAT start sector */
+	DWORD	dirbase;		/* Root directory start sector (FAT32:Cluster#) */
+	DWORD	database;		/* Data start sector */
+	DWORD	winsect;		/* Current sector appearing in the win[] */
+	BYTE	win[_MAX_SS];	/* Disk access window for Directory, FAT (and Data on tiny cfg) */
+} FATFS;
+
+
+
+/* File object structure (FIL) */
+
+typedef struct {
+	FATFS*	fs;				/* Pointer to the owner file system object */
+	WORD	id;				/* Owner file system mount ID */
+	BYTE	flag;			/* File status flags */
+	BYTE	pad1;
+	DWORD	fptr;			/* File read/write pointer (0 on file open) */
+	DWORD	fsize;			/* File size */
+	DWORD	sclust;			/* File start cluster (0 when fsize==0) */
+	DWORD	clust;			/* Current cluster */
+	DWORD	dsect;			/* Current data sector */
+#if !_FS_READONLY
+	DWORD	dir_sect;		/* Sector containing the directory entry */
+	BYTE*	dir_ptr;		/* Ponter to the directory entry in the window */
+#endif
+#if _USE_FASTSEEK
+	DWORD*	cltbl;			/* Pointer to the cluster link map table (null on file open) */
+#endif
+#if _FS_SHARE
+	UINT	lockid;			/* File lock ID (index of file semaphore table) */
+#endif
+#if !_FS_TINY
+	BYTE	buf[_MAX_SS];	/* File data read/write buffer */
+#endif
+} FIL;
+
+
+
+/* Directory object structure (DIR) */
+
+typedef struct {
+	FATFS*	fs;				/* Pointer to the owner file system object */
+	WORD	id;				/* Owner file system mount ID */
+	WORD	index;			/* Current read/write index number */
+	DWORD	sclust;			/* Table start cluster (0:Root dir) */
+	DWORD	clust;			/* Current cluster */
+	DWORD	sect;			/* Current sector */
+	BYTE*	dir;			/* Pointer to the current SFN entry in the win[] */
+	BYTE*	fn;				/* Pointer to the SFN (in/out) {file[8],ext[3],status[1]} */
+#if _USE_LFN
+	WCHAR*	lfn;			/* Pointer to the LFN working buffer */
+	WORD	lfn_idx;		/* Last matched LFN index number (0xFFFF:No LFN) */
+#endif
+} DIR;
+
+
+
+/* File status structure (FILINFO) */
+
+typedef struct {
+	DWORD	fsize;			/* File size */
+	WORD	fdate;			/* Last modified date */
+	WORD	ftime;			/* Last modified time */
+	BYTE	fattrib;		/* Attribute */
+	TCHAR	fname[13];		/* Short file name (8.3 format) */
+#if _USE_LFN
+	TCHAR*	lfname;			/* Pointer to the LFN buffer */
+	UINT 	lfsize;			/* Size of LFN buffer in TCHAR */
+#endif
+} FILINFO;
+
+
+
+/* File function return code (FRESULT) */
+
+typedef enum {
+	FR_OK = 0,				/* (0) Succeeded */
+	FR_DISK_ERR,			/* (1) A hard error occured in the low level disk I/O layer */
+	FR_INT_ERR,				/* (2) Assertion failed */
+	FR_NOT_READY,			/* (3) The physical drive cannot work */
+	FR_NO_FILE,				/* (4) Could not find the file */
+	FR_NO_PATH,				/* (5) Could not find the path */
+	FR_INVALID_NAME,		/* (6) The path name format is invalid */
+	FR_DENIED,				/* (7) Acces denied due to prohibited access or directory full */
+	FR_EXIST,				/* (8) Acces denied due to prohibited access */
+	FR_INVALID_OBJECT,		/* (9) The file/directory object is invalid */
+	FR_WRITE_PROTECTED,		/* (10) The physical drive is write protected */
+	FR_INVALID_DRIVE,		/* (11) The logical drive number is invalid */
+	FR_NOT_ENABLED,			/* (12) The volume has no work area */
+	FR_NO_FILESYSTEM,		/* (13) There is no valid FAT volume */
+	FR_MKFS_ABORTED,		/* (14) The f_mkfs() aborted due to any parameter error */
+	FR_TIMEOUT,				/* (15) Could not get a grant to access the volume within defined period */
+	FR_LOCKED,				/* (16) The operation is rejected according to the file shareing policy */
+	FR_NOT_ENOUGH_CORE,		/* (17) LFN working buffer could not be allocated */
+	FR_TOO_MANY_OPEN_FILES,	/* (18) Number of open files > _FS_SHARE */
+	FR_INVALID_PARAMETER	/* (19) Given parameter is invalid */
+} FRESULT;
+
+
+
+/*--------------------------------------------------------------*/
+/* FatFs module application interface                           */
+
+FRESULT f_mount (BYTE, FATFS*);						/* Mount/Unmount a logical drive */
+FRESULT f_open (FIL*, const TCHAR*, BYTE);			/* Open or create a file */
+FRESULT f_read (FIL*, void*, UINT, UINT*);			/* Read data from a file */
+FRESULT f_lseek (FIL*, DWORD);						/* Move file pointer of a file object */
+FRESULT f_close (FIL*);								/* Close an open file object */
+FRESULT f_opendir (DIR*, const TCHAR*);				/* Open an existing directory */
+FRESULT f_readdir (DIR*, FILINFO*);					/* Read a directory item */
+FRESULT f_stat (const TCHAR*, FILINFO*);			/* Get file status */
+FRESULT f_write (FIL*, const void*, UINT, UINT*);	/* Write data to a file */
+FRESULT f_getfree (const TCHAR*, DWORD*, FATFS**);	/* Get number of free clusters on the drive */
+FRESULT f_truncate (FIL*);							/* Truncate file */
+FRESULT f_sync (FIL*);								/* Flush cached data of a writing file */
+FRESULT f_unlink (const TCHAR*);					/* Delete an existing file or directory */
+FRESULT	f_mkdir (const TCHAR*);						/* Create a new directory */
+FRESULT f_chmod (const TCHAR*, BYTE, BYTE);			/* Change attriburte of the file/dir */
+FRESULT f_utime (const TCHAR*, const FILINFO*);		/* Change timestamp of the file/dir */
+FRESULT f_rename (const TCHAR*, const TCHAR*);		/* Rename/Move a file or directory */
+FRESULT f_chdrive (BYTE);							/* Change current drive */
+FRESULT f_chdir (const TCHAR*);						/* Change current directory */
+FRESULT f_getcwd (TCHAR*, UINT);					/* Get current directory */
+FRESULT f_forward (FIL*, UINT(*)(const BYTE*,UINT), UINT, UINT*);	/* Forward data to the stream */
+FRESULT f_mkfs (BYTE, BYTE, UINT);					/* Create a file system on the drive */
+FRESULT	f_fdisk (BYTE, const DWORD[], void*);		/* Divide a physical drive into some partitions */
+int f_putc (TCHAR, FIL*);							/* Put a character to the file */
+int f_puts (const TCHAR*, FIL*);					/* Put a string to the file */
+int f_printf (FIL*, const TCHAR*, ...);				/* Put a formatted string to the file */
+TCHAR* f_gets (TCHAR*, int, FIL*);					/* Get a string from the file */
+
+#define f_eof(fp) (((fp)->fptr == (fp)->fsize) ? 1 : 0)
+#define f_error(fp) (((fp)->flag & FA__ERROR) ? 1 : 0)
+#define f_tell(fp) ((fp)->fptr)
+#define f_size(fp) ((fp)->fsize)
+
+#ifndef EOF
+#define EOF (-1)
+#endif
+
+
+
+
+/*--------------------------------------------------------------*/
+/* Additional user defined functions                            */
+
+/* RTC function */
+#if !_FS_READONLY
+DWORD get_fattime (void);
+#endif
+
+/* Unicode support functions */
+#if _USE_LFN						/* Unicode - OEM code conversion */
+WCHAR ff_convert (WCHAR, UINT);		/* OEM-Unicode bidirectional conversion */
+WCHAR ff_wtoupper (WCHAR);			/* Unicode upper-case conversion */
+#if _USE_LFN == 3					/* Memory functions */
+void* ff_memalloc (UINT);			/* Allocate memory block */
+void ff_memfree (void*);			/* Free memory block */
+#endif
+#endif
+
+/* Sync functions */
+#if _FS_REENTRANT
+int ff_cre_syncobj (BYTE, _SYNC_t*);/* Create a sync object */
+int ff_req_grant (_SYNC_t);			/* Lock sync object */
+void ff_rel_grant (_SYNC_t);		/* Unlock sync object */
+int ff_del_syncobj (_SYNC_t);		/* Delete a sync object */
+#endif
+
+
+
+
+/*--------------------------------------------------------------*/
+/* Flags and offset address                                     */
+
+
+/* File access control and file status flags (FIL.flag) */
+
+#define	FA_READ				0x01
+#define	FA_OPEN_EXISTING	0x00
+#define FA__ERROR			0x80
+
+#if !_FS_READONLY
+#define	FA_WRITE			0x02
+#define	FA_CREATE_NEW		0x04
+#define	FA_CREATE_ALWAYS	0x08
+#define	FA_OPEN_ALWAYS		0x10
+#define FA__WRITTEN			0x20
+#define FA__DIRTY			0x40
+#endif
+
+
+/* FAT sub type (FATFS.fs_type) */
+
+#define FS_FAT12	1
+#define FS_FAT16	2
+#define FS_FAT32	3
+
+
+/* File attribute bits for directory entry */
+
+#define	AM_RDO	0x01	/* Read only */
+#define	AM_HID	0x02	/* Hidden */
+#define	AM_SYS	0x04	/* System */
+#define	AM_VOL	0x08	/* Volume label */
+#define AM_LFN	0x0F	/* LFN entry */
+#define AM_DIR	0x10	/* Directory */
+#define AM_ARC	0x20	/* Archive */
+#define AM_MASK	0x3F	/* Mask of defined bits */
+
+
+/* Fast seek feature */
+#define CREATE_LINKMAP	0xFFFFFFFF
+
+
+
+/*--------------------------------*/
+/* Multi-byte word access macros  */
+
+#if _WORD_ACCESS == 1	/* Enable word access to the FAT structure */
+#define	LD_WORD(ptr)		(WORD)(*(WORD*)(BYTE*)(ptr))
+#define	LD_DWORD(ptr)		(DWORD)(*(DWORD*)(BYTE*)(ptr))
+#define	ST_WORD(ptr,val)	*(WORD*)(BYTE*)(ptr)=(WORD)(val)
+#define	ST_DWORD(ptr,val)	*(DWORD*)(BYTE*)(ptr)=(DWORD)(val)
+#else					/* Use byte-by-byte access to the FAT structure */
+#define	LD_WORD(ptr)		(WORD)(((WORD)*((BYTE*)(ptr)+1)<<8)|(WORD)*(BYTE*)(ptr))
+#define	LD_DWORD(ptr)		(DWORD)(((DWORD)*((BYTE*)(ptr)+3)<<24)|((DWORD)*((BYTE*)(ptr)+2)<<16)|((WORD)*((BYTE*)(ptr)+1)<<8)|*(BYTE*)(ptr))
+#define	ST_WORD(ptr,val)	*(BYTE*)(ptr)=(BYTE)(val); *((BYTE*)(ptr)+1)=(BYTE)((WORD)(val)>>8)
+#define	ST_DWORD(ptr,val)	*(BYTE*)(ptr)=(BYTE)(val); *((BYTE*)(ptr)+1)=(BYTE)((WORD)(val)>>8); *((BYTE*)(ptr)+2)=(BYTE)((DWORD)(val)>>16); *((BYTE*)(ptr)+3)=(BYTE)((DWORD)(val)>>24)
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _FATFS */
@@ -1,38 +1,5 @@
-/*
- * Authors (alphabetical order)
- * - Bertrand Songis <bsongis@gmail.com>
- * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
- * - Cameron Weeks <th9xer@gmail.com>
- * - Erez Raviv
- * - Jean-Pierre Parisy
- * - Karl Szmutny <shadow@privy.de>
- * - Michael Blandford
- * - Michal Hlavinka
- * - Pat Mackenzie
- * - Philip Moss
- * - Rob Thomson
- * - Romolo Manfredini <romolo.manfredini@gmail.com>
- * - Thomas Husterer
- *
- * open9x is based on code named
- * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
- * er9x by Erez Raviv: http://code.google.com/p/er9x/,
- * and the original (and ongoing) project by
- * Thomas Husterer, th9x: http://code.google.com/p/th9x/
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- */
-
 /*---------------------------------------------------------------------------/
-/  FatFs - FAT file system module configuration file  R0.08a (C)ChaN, 2010
+/  FatFs - FAT file system module configuration file  R0.09  (C)ChaN, 2011
 /----------------------------------------------------------------------------/
 /
 / CAUTION! Do not forget to make clean the project after any changes to
@@ -40,14 +7,23 @@
 /
 /----------------------------------------------------------------------------*/
 #ifndef _FFCONF
-#define _FFCONF 8255	/* Revision ID */
+#define _FFCONF 6502	/* Revision ID */

+#if defined(CPUARM) && !defined(SIMU)
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "../CoOS/kernel/CoOS.h"
+#ifdef __cplusplus
+}
+#endif
+#endif

 /*---------------------------------------------------------------------------/
-/ Function and Buffer Configurations
+/ Functions and Buffer Configurations
 /----------------------------------------------------------------------------*/

-#define	_FS_TINY	1		/* 0:Normal or 1:Tiny */
+#define	_FS_TINY	0	/* 0:Normal or 1:Tiny */
 /* When _FS_TINY is set to 1, FatFs uses the sector buffer in the file system
 /  object instead of the sector buffer in the individual file object for file
 /  data transfer. This reduces memory consumption 512 bytes each file object. */
@@ -69,11 +45,11 @@
 /   3: f_lseek is removed in addition to 2. */


-#define	_USE_STRFUNC	1	/* 0:Disable or 1/2:Enable */
+#define	_USE_STRFUNC	1	/* 0:Disable or 1-2:Enable */
 /* To enable string functions, set _USE_STRFUNC to 1 or 2. */


-#define	_USE_MKFS	1		/* 0:Disable or 1:Enable */
+#define	_USE_MKFS	1	/* 0:Disable or 1:Enable */
 /* To enable f_mkfs function, set _USE_MKFS to 1 and set _FS_READONLY to 0 */


@@ -90,7 +66,7 @@
 / Locale and Namespace Configurations
 /----------------------------------------------------------------------------*/

-#define _CODE_PAGE	932
+#define _CODE_PAGE	1252
 /* The _CODE_PAGE specifies the OEM code page to be used on the target system.
 /  Incorrect setting of the code page can cause a file open failure.
 /
@@ -122,9 +98,14 @@
 /	1    - ASCII only (Valid for non LFN cfg.)
 */

+#if defined(CPUARM)
+#define	_USE_LFN	2		/* 0 to 3 */
+#define _MAX_LFN        255             /* Maximum LFN length to handle (12 to 255) */
+#else
+#define _USE_LFN        1               /* 0 to 3 */
+#define _MAX_LFN        32              /* Maximum LFN length to handle (12 to 255) */
+#endif

-#define	_USE_LFN	0		/* 0 to 3 */
-#define	_MAX_LFN	255		/* Maximum LFN length to handle (12 to 255) */
 /* The _USE_LFN option switches the LFN support.
 /
 /   0: Disable LFN feature. _MAX_LFN and _LFN_UNICODE have no effect.
@@ -143,7 +124,7 @@
 /  enable LFN feature and set _LFN_UNICODE to 1. */


-#define _FS_RPATH	2		/* 0 to 2 */
+#define _FS_RPATH		2	/* 0 to 2 */
 /* The _FS_RPATH option configures relative path feature.
 /
 /   0: Disable relative path feature and remove related functions.
@@ -165,19 +146,20 @@
 #define	_MAX_SS		512		/* 512, 1024, 2048 or 4096 */
 /* Maximum sector size to be handled.
 /  Always set 512 for memory card and hard disk but a larger value may be
-/  required for floppy disk (512/1024) and optical disk (512/2048).
-/  When _MAX_SS is larger than 512, GET_SECTOR_SIZE command must be implememted
-/  to the disk_ioctl function. */
+/  required for on-board flash memory, floppy disk and optical disk.
+/  When _MAX_SS is larger than 512, it configures FatFs to variable sector size
+/  and GET_SECTOR_SIZE command must be implememted to the disk_ioctl function. */


-#define	_MULTI_PARTITION	0	/* 0:Single partition or 1:Multiple partition */
+#define	_MULTI_PARTITION	0	/* 0:Single partition, 1/2:Enable multiple partition */
 /* When set to 0, each volume is bound to the same physical drive number and
 / it can mount only first primaly partition. When it is set to 1, each volume
 / is tied to the partitions listed in VolToPart[]. */


 #define	_USE_ERASE	0	/* 0:Disable or 1:Enable */
-/* To enable sector erase feature, set _USE_ERASE to 1. */
+/* To enable sector erase feature, set _USE_ERASE to 1. CTRL_ERASE_SECTOR command
+/  should be added to the disk_ioctl functio. */



@@ -195,25 +177,30 @@
 /  When the byte order on the memory is big-endian or address miss-aligned word
 /  access results incorrect behavior, the _WORD_ACCESS must be set to 0.
 /  If it is not the case, the value can also be set to 1 to improve the
-/  performance and code size. */
+/  performance and code size.
+*/


-/* Include a header file here to define sync object types on the O/S */
-/* #include <windows.h>, <ucos_ii.h.h>, <semphr.h> or ohters. */
+/* A header file that defines sync object types on the O/S, such as
+/  windows.h, ucos_ii.h and semphr.h, must be included prior to ff.h. */

-#define _FS_REENTRANT	0		/* 0:Disable or 1:Enable */
-#define _FS_TIMEOUT		1000	/* Timeout period in unit of time ticks */
-#define	_SYNC_t			HANDLE	/* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */
+#if defined(CPUARM)
+#define _FS_REENTRANT		1	   /* 0:Disable or 1:Enable */
+#else
+#define _FS_REENTRANT		0	   /* 0:Disable or 1:Enable */
+#endif
+#define _FS_TIMEOUT		1000	   /* Timeout period in unit of time ticks */
+#define	_SYNC_t			OS_MutexID /* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */

-/* The _FS_REENTRANT option switches the reentrancy of the FatFs module.
+/* The _FS_REENTRANT option switches the reentrancy (thread safe) of the FatFs module.
 /
 /   0: Disable reentrancy. _SYNC_t and _FS_TIMEOUT have no effect.
 /   1: Enable reentrancy. Also user provided synchronization handlers,
 /      ff_req_grant, ff_rel_grant, ff_del_syncobj and ff_cre_syncobj
 /      function must be added to the project. */

-
 #define	_FS_SHARE	0	/* 0:Disable or >=1:Enable */
+
 /* To enable file shareing feature, set _FS_SHARE to 1 or greater. The value
   defines how many files can be opened simultaneously. */

@@ -0,0 +1,37 @@
+/*-------------------------------------------*/
+/* Integer type definitions for FatFs module */
+/*-------------------------------------------*/
+
+#ifndef _INTEGER
+#define _INTEGER
+
+#ifdef _WIN32	/* FatFs development platform */
+
+#include <windows.h>
+#include <tchar.h>
+
+#else			/* Embedded platform */
+
+/* These types must be 16-bit, 32-bit or larger integer */
+typedef int				INT;
+typedef unsigned int	UINT;
+
+/* These types must be 8-bit integer */
+typedef char			CHAR;
+typedef unsigned char	UCHAR;
+typedef unsigned char	BYTE;
+
+/* These types must be 16-bit integer */
+typedef short			SHORT;
+typedef unsigned short	USHORT;
+typedef unsigned short	WORD;
+typedef unsigned short	WCHAR;
+
+/* These types must be 32-bit integer */
+typedef long			LONG;
+typedef unsigned long	ULONG;
+typedef unsigned long	DWORD;
+
+#endif
+
+#endif
@@ -0,0 +1,540 @@
+/*------------------------------------------------------------------------*/
+/* Unicode - Local code bidirectional converter  (C)ChaN, 2009            */
+/* (SBCS code pages)                                                      */
+/*------------------------------------------------------------------------*/
+/*  437   U.S. (OEM)
+/   720   Arabic (OEM)
+/   1256  Arabic (Windows)
+/   737   Greek (OEM)
+/   1253  Greek (Windows)
+/   1250  Central Europe (Windows)
+/   775   Baltic (OEM)
+/   1257  Baltic (Windows)
+/   850   Multilingual Latin 1 (OEM)
+/   852   Latin 2 (OEM)
+/   1252  Latin 1 (Windows)
+/   855   Cyrillic (OEM)
+/   1251  Cyrillic (Windows)
+/   866   Russian (OEM)
+/   857   Turkish (OEM)
+/   1254  Turkish (Windows)
+/   858   Multilingual Latin 1 + Euro (OEM)
+/   862   Hebrew (OEM)
+/   1255  Hebrew (Windows)
+/   874   Thai (OEM, Windows)
+/   1258  Vietnam (OEM, Windows)
+*/
+
+#include "../ff.h"
+
+
+#if _CODE_PAGE == 437
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP437(0x80-0xFF) to Unicode conversion table */
+	0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7,
+	0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5,
+	0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9,
+	0x00FF, 0x00D6, 0x00DC, 0x00A2, 0x00A3, 0x00A5, 0x20A7, 0x0192,
+	0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA,
+	0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
+	0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
+	0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
+	0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
+	0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4,
+	0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229,
+	0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248,
+	0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 720
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP720(0x80-0xFF) to Unicode conversion table */
+	0x0000, 0x0000, 0x00E9, 0x00E2, 0x0000, 0x00E0, 0x0000, 0x00E7,
+	0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x0000, 0x0000, 0x0000,
+	0x0000, 0x0651, 0x0652, 0x00F4, 0x00A4, 0x0640, 0x00FB, 0x00F9,
+	0x0621, 0x0622, 0x0623, 0x0624, 0x00A3, 0x0625, 0x0626, 0x0627,
+	0x0628, 0x0629, 0x062A, 0x062B, 0x062C, 0x062D, 0x062E, 0x062F,
+	0x0630, 0x0631, 0x0632, 0x0633, 0x0634, 0x0635, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
+	0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
+	0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
+	0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
+	0x0636, 0x0637, 0x0638, 0x0639, 0x063A, 0x0641, 0x00B5, 0x0642,
+	0x0643, 0x0644, 0x0645, 0x0646, 0x0647, 0x0648, 0x0649, 0x064A,
+	0x2261, 0x064B, 0x064C, 0x064D, 0x064E, 0x064F, 0xO650, 0x2248,
+	0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 737
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP737(0x80-0xFF) to Unicode conversion table */
+	0x0391, 0x0392, 0x0393, 0x0394, 0x0395, 0x0396, 0x0397, 0x0398,
+	0x0399, 0x039A, 0x039B, 0x039C, 0x039D, 0x039E, 0x039F, 0x03A0,
+	0x03A1, 0x03A3, 0x03A4, 0x03A5, 0x03A6, 0x03A7, 0x03A8, 0x03A9,
+	0x03B1, 0x03B2, 0x03B3, 0x03B4, 0x03B5, 0x03B6, 0x03B7, 0x03B8,
+	0x03B9, 0x03BA, 0x03BB, 0x03BC, 0x03BD, 0x03BE, 0x03BF, 0x03C0,
+	0x03C1, 0x03C3, 0x03C2, 0x03C4, 0x03C5, 0x03C6, 0x03C7, 0x03C8,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
+	0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
+	0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
+	0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
+	0x03C9, 0x03AC, 0x03AD, 0x03AE, 0x03CA, 0x03AF, 0x03CC, 0x03CD,
+	0x03CB, 0x03CE, 0x0386, 0x0388, 0x0389, 0x038A, 0x038C, 0x038E,
+	0x038F, 0x00B1, 0x2265, 0x2264, 0x03AA, 0x03AB, 0x00F7, 0x2248,
+	0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 775
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP775(0x80-0xFF) to Unicode conversion table */
+	0x0106, 0x00FC, 0x00E9, 0x0101, 0x00E4, 0x0123, 0x00E5, 0x0107,
+	0x0142, 0x0113, 0x0156, 0x0157, 0x012B, 0x0179, 0x00C4, 0x00C5,
+	0x00C9, 0x00E6, 0x00C6, 0x014D, 0x00F6, 0x0122, 0x00A2, 0x015A,
+	0x015B, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x00A4,
+	0x0100, 0x012A, 0x00F3, 0x017B, 0x017C, 0x017A, 0x201D, 0x00A6,
+	0x00A9, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x0141, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x0104, 0x010C, 0x0118,
+	0x0116, 0x2563, 0x2551, 0x2557, 0x255D, 0x012E, 0x0160, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0172, 0x016A,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x017D,
+	0x0105, 0x010D, 0x0119, 0x0117, 0x012F, 0x0161, 0x0173, 0x016B,
+	0x017E, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
+	0x00D3, 0x00DF, 0x014C, 0x0143, 0x00F5, 0x00D5, 0x00B5, 0x0144,
+	0x0136, 0x0137, 0x013B, 0x013C, 0x0146, 0x0112, 0x0145, 0x2019,
+	0x00AD, 0x00B1, 0x201C, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x201E,
+	0x00B0, 0x2219, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 850
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP850(0x80-0xFF) to Unicode conversion table */
+	0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7,
+	0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5,
+	0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9,
+	0x00FF, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x0192,
+	0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA,
+	0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0,
+	0x00A9, 0x2563, 0x2551, 0x2557, 0x255D, 0x00A2, 0x00A5, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
+	0x00F0, 0x00D0, 0x00CA, 0x00CB, 0x00C8, 0x0131, 0x00CD, 0x00CE,
+	0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00A6, 0x00CC, 0x2580,
+	0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x00FE,
+	0x00DE, 0x00DA, 0x00DB, 0x00D9, 0x00FD, 0x00DD, 0x00AF, 0x00B4,
+	0x00AD, 0x00B1, 0x2017, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8,
+	0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 852
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP852(0x80-0xFF) to Unicode conversion table */
+	0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x016F, 0x0107, 0x00E7,
+	0x0142, 0x00EB, 0x0150, 0x0151, 0x00EE, 0x0179, 0x00C4, 0x0106,
+	0x00C9, 0x0139, 0x013A, 0x00F4, 0x00F6, 0x013D, 0x013E, 0x015A,
+	0x015B, 0x00D6, 0x00DC, 0x0164, 0x0165, 0x0141, 0x00D7, 0x010D,
+	0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x0104, 0x0105, 0x017D, 0x017E,
+	0x0118, 0x0119, 0x00AC, 0x017A, 0x010C, 0x015F, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x011A,
+	0x015E, 0x2563, 0x2551, 0x2557, 0x255D, 0x017B, 0x017C, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0102, 0x0103,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
+	0x0111, 0x0110, 0x010E, 0x00CB, 0x010F, 0x0147, 0x00CD, 0x00CE,
+	0x011B, 0x2518, 0x250C, 0x2588, 0x2584, 0x0162, 0x016E, 0x2580,
+	0x00D3, 0x00DF, 0x00D4, 0x0143, 0x0144, 0x0148, 0x0160, 0x0161,
+	0x0154, 0x00DA, 0x0155, 0x0170, 0x00FD, 0x00DD, 0x0163, 0x00B4,
+	0x00AD, 0x02DD, 0x02DB, 0x02C7, 0x02D8, 0x00A7, 0x00F7, 0x00B8,
+	0x00B0, 0x00A8, 0x02D9, 0x0171, 0x0158, 0x0159, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 855
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP855(0x80-0xFF) to Unicode conversion table */
+	0x0452, 0x0402, 0x0453, 0x0403, 0x0451, 0x0401, 0x0454, 0x0404,
+	0x0455, 0x0405, 0x0456, 0x0406, 0x0457, 0x0407, 0x0458, 0x0408,
+	0x0459, 0x0409, 0x045A, 0x040A, 0x045B, 0x040B, 0x045C, 0x040C,
+	0x045E, 0x040E, 0x045F, 0x040F, 0x044E, 0x042E, 0x044A, 0x042A,
+	0x0430, 0x0410, 0x0431, 0x0411, 0x0446, 0x0426, 0x0434, 0x0414,
+	0x0435, 0x0415, 0x0444, 0x0424, 0x0433, 0x0413, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x0445, 0x0425, 0x0438,
+	0x0418, 0x2563, 0x2551, 0x2557, 0x255D, 0x0439, 0x0419, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x043A, 0x041A,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
+	0x043B, 0x041B, 0x043C, 0x041C, 0x043D, 0x041D, 0x043E, 0x041E,
+	0x043F, 0x2518, 0x250C, 0x2588, 0x2584, 0x041F, 0x044F, 0x2580,
+	0x042F, 0x0440, 0x0420, 0x0441, 0x0421, 0x0442, 0x0422, 0x0443,
+	0x0423, 0x0436, 0x0416, 0x0432, 0x0412, 0x044C, 0x042C, 0x2116,
+	0x00AD, 0x044B, 0x042B, 0x0437, 0x0417, 0x0448, 0x0428, 0x044D,
+	0x042D, 0x0449, 0x0429, 0x0447, 0x0427, 0x00A7, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 857
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP857(0x80-0xFF) to Unicode conversion table */
+	0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7,
+	0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x0131, 0x00C4, 0x00C5,
+	0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9,
+	0x0130, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x015E, 0x015F,
+	0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x011E, 0x011F,
+	0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0,
+	0x00A9, 0x2563, 0x2551, 0x2557, 0x255D, 0x00A2, 0x00A5, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
+	0x00BA, 0x00AA, 0x00CA, 0x00CB, 0x00C8, 0x0000, 0x00CD, 0x00CE,
+	0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00A6, 0x00CC, 0x2580,
+	0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x0000,
+	0x00D7, 0x00DA, 0x00DB, 0x00D9, 0x00EC, 0x00FF, 0x00AF, 0x00B4,
+	0x00AD, 0x00B1, 0x0000, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8,
+	0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 858
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP858(0x80-0xFF) to Unicode conversion table */
+	0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7,
+	0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5,
+	0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9,
+	0x00FF, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x0192,
+	0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA,
+	0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0,
+	0x00A9, 0x2563, 0x2551, 0x2557, 0x2550, 0x00A2, 0x00A5, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
+	0x00F0, 0x00D0, 0x00CA, 0x00CB, 0x00C8, 0x20AC, 0x00CD, 0x00CE,
+	0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00C6, 0x00CC, 0x2580,
+	0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x00FE,
+	0x00DE, 0x00DA, 0x00DB, 0x00D9, 0x00FD, 0x00DD, 0x00AF, 0x00B4,
+	0x00AD, 0x00B1, 0x2017, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8,
+	0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 862
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP862(0x80-0xFF) to Unicode conversion table */
+	0x05D0, 0x05D1, 0x05D2, 0x05D3, 0x05D4, 0x05D5, 0x05D6, 0x05D7,
+	0x05D8, 0x05D9, 0x05DA, 0x05DB, 0x05DC, 0x05DD, 0x05DE, 0x05DF,
+	0x05E0, 0x05E1, 0x05E2, 0x05E3, 0x05E4, 0x05E5, 0x05E6, 0x05E7,
+	0x05E8, 0x05E9, 0x05EA, 0x00A2, 0x00A3, 0x00A5, 0x20A7, 0x0192,
+	0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA,
+	0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
+	0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
+	0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
+	0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
+	0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4,
+	0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229,
+	0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248,
+	0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 866
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP866(0x80-0xFF) to Unicode conversion table */
+	0x0410, 0x0411, 0x0412, 0x0413, 0x0414, 0x0415, 0x0416, 0x0417,
+	0x0418, 0x0419, 0x041A, 0x041B, 0x041C, 0x041D, 0x041E, 0x041F,
+	0x0420, 0x0421, 0x0422, 0x0423, 0x0424, 0x0425, 0x0426, 0x0427,
+	0x0428, 0x0429, 0x042A, 0x042B, 0x042C, 0x042D, 0x042E, 0x042F,
+	0x0430, 0x0431, 0x0432, 0x0433, 0x0434, 0x0435, 0x0436, 0x0437,
+	0x0438, 0x0439, 0x043A, 0x043B, 0x043C, 0x043D, 0x043E, 0x043F,
+	0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
+	0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
+	0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
+	0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
+	0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
+	0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
+	0x0440, 0x0441, 0x0442, 0x0443, 0x0444, 0x0445, 0x0446, 0x0447,
+	0x0448, 0x0449, 0x044A, 0x044B, 0x044C, 0x044D, 0x044E, 0x044F,
+	0x0401, 0x0451, 0x0404, 0x0454, 0x0407, 0x0457, 0x040E, 0x045E,
+	0x00B0, 0x2219, 0x00B7, 0x221A, 0x2116, 0x00A4, 0x25A0, 0x00A0
+};
+
+#elif _CODE_PAGE == 874
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP874(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x0000, 0x0000, 0x0000, 0x0000, 0x2026, 0x0000, 0x0000,
+	0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
+	0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
+	0x00A0, 0x0E01, 0x0E02, 0x0E03, 0x0E04, 0x0E05, 0x0E06, 0x0E07,
+	0x0E08, 0x0E09, 0x0E0A, 0x0E0B, 0x0E0C, 0x0E0D, 0x0E0E, 0x0E0F,
+	0x0E10, 0x0E11, 0x0E12, 0x0E13, 0x0E14, 0x0E15, 0x0E16, 0x0E17,
+	0x0E18, 0x0E19, 0x0E1A, 0x0E1B, 0x0E1C, 0x0E1D, 0x0E1E, 0x0E1F,
+	0x0E20, 0x0E21, 0x0E22, 0x0E23, 0x0E24, 0x0E25, 0x0E26, 0x0E27,
+	0x0E28, 0x0E29, 0x0E2A, 0x0E2B, 0x0E2C, 0x0E2D, 0x0E2E, 0x0E2F,
+	0x0E30, 0x0E31, 0x0E32, 0x0E33, 0x0E34, 0x0E35, 0x0E36, 0x0E37,
+	0x0E38, 0x0E39, 0x0E3A, 0x0000, 0x0000, 0x0000, 0x0000, 0x0E3F,
+	0x0E40, 0x0E41, 0x0E42, 0x0E43, 0x0E44, 0x0E45, 0x0E46, 0x0E47,
+	0x0E48, 0x0E49, 0x0E4A, 0x0E4B, 0x0E4C, 0x0E4D, 0x0E4E, 0x0E4F,
+	0x0E50, 0x0E51, 0x0E52, 0x0E53, 0x0E54, 0x0E55, 0x0E56, 0x0E57,
+	0x0E58, 0x0E59, 0x0E5A, 0x0E5B, 0x0000, 0x0000, 0x0000, 0x0000
+};
+
+#elif _CODE_PAGE == 1250
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1250(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x0000, 0x201A, 0x0000, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x0000, 0x2030, 0x0160, 0x2039, 0x015A, 0x0164, 0x017D, 0x0179,
+	0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x0000, 0x2122, 0x0161, 0x203A, 0x015B, 0x0165, 0x017E, 0x017A,
+	0x00A0, 0x02C7, 0x02D8, 0x0141, 0x00A4, 0x0104, 0x00A6, 0x00A7,
+	0x00A8, 0x00A9, 0x015E, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x017B,
+	0x00B0, 0x00B1, 0x02DB, 0x0142, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
+	0x00B8, 0x0105, 0x015F, 0x00BB, 0x013D, 0x02DD, 0x013E, 0x017C,
+	0x0154, 0x00C1, 0x00C2, 0x0102, 0x00C4, 0x0139, 0x0106, 0x00C7,
+	0x010C, 0x00C9, 0x0118, 0x00CB, 0x011A, 0x00CD, 0x00CE, 0x010E,
+	0x0110, 0x0143, 0x0147, 0x00D3, 0x00D4, 0x0150, 0x00D6, 0x00D7,
+	0x0158, 0x016E, 0x00DA, 0x0170, 0x00DC, 0x00DD, 0x0162, 0x00DF,
+	0x0155, 0x00E1, 0x00E2, 0x0103, 0x00E4, 0x013A, 0x0107, 0x00E7,
+	0x010D, 0x00E9, 0x0119, 0x00EB, 0x011B, 0x00ED, 0x00EE, 0x010F,
+	0x0111, 0x0144, 0x0148, 0x00F3, 0x00F4, 0x0151, 0x00F6, 0x00F7,
+	0x0159, 0x016F, 0x00FA, 0x0171, 0x00FC, 0x00FD, 0x0163, 0x02D9
+};
+
+#elif _CODE_PAGE == 1251
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1251(0x80-0xFF) to Unicode conversion table */
+	0x0402, 0x0403, 0x201A, 0x0453, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x20AC, 0x2030, 0x0409, 0x2039, 0x040A, 0x040C, 0x040B, 0x040F,
+	0x0452, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x0000, 0x2111, 0x0459, 0x203A, 0x045A, 0x045C, 0x045B, 0x045F,
+	0x00A0, 0x040E, 0x045E, 0x0408, 0x00A4, 0x0490, 0x00A6, 0x00A7,
+	0x0401, 0x00A9, 0x0404, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x0407,
+	0x00B0, 0x00B1, 0x0406, 0x0456, 0x0491, 0x00B5, 0x00B6, 0x00B7,
+	0x0451, 0x2116, 0x0454, 0x00BB, 0x0458, 0x0405, 0x0455, 0x0457,
+	0x0410, 0x0411, 0x0412, 0x0413, 0x0414, 0x0415, 0x0416, 0x0417,
+	0x0418, 0x0419, 0x041A, 0x041B, 0x041C, 0x041D, 0x041E, 0x041F,
+	0x0420, 0x0421, 0x0422, 0x0423, 0x0424, 0x0425, 0x0426, 0x0427,
+	0x0428, 0x0429, 0x042A, 0x042B, 0x042C, 0x042D, 0x042E, 0x042F,
+	0x0430, 0x0431, 0x0432, 0x0433, 0x0434, 0x0435, 0x0436, 0x0437,
+	0x0438, 0x0439, 0x043A, 0x043B, 0x043C, 0x043D, 0x043E, 0x043F,
+	0x0440, 0x0441, 0x0442, 0x0443, 0x0444, 0x0445, 0x0446, 0x0447,
+	0x0448, 0x0449, 0x044A, 0x044B, 0x044C, 0x044D, 0x044E, 0x044F
+};
+
+#elif _CODE_PAGE == 1252
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1252(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x02C6, 0x2030, 0x0160, 0x2039, 0x0152, 0x0000, 0x017D, 0x0000,
+	0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x02DC, 0x2122, 0x0161, 0x203A, 0x0153, 0x0000, 0x017E, 0x0178,
+	0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
+	0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
+	0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
+	0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF,
+	0x00C0, 0x00C1, 0x00C2, 0x00C3, 0x00C4, 0x00C5, 0x00C6, 0x00C7,
+	0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x00CC, 0x00CD, 0x00CE, 0x00CF,
+	0x00D0, 0x00D1, 0x00D2, 0x00D3, 0x00D4, 0x00D5, 0x00D6, 0x00D7,
+	0x00D8, 0x00D9, 0x00DA, 0x00DB, 0x00DC, 0x00DD, 0x00DE, 0x00DF,
+	0x00E0, 0x00E1, 0x00E2, 0x00E3, 0x00E4, 0x00E5, 0x00E6, 0x00E7,
+	0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x00EC, 0x00ED, 0x00EE, 0x00EF,
+	0x00F0, 0x00F1, 0x00F2, 0x00F3, 0x00F4, 0x00F5, 0x00F6, 0x00F7,
+	0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x00FD, 0x00FE, 0x00FF
+};
+
+#elif _CODE_PAGE == 1253
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1253(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x0000, 0x2030, 0x0000, 0x2039, 0x000C, 0x0000, 0x0000, 0x0000,
+	0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x0000, 0x2122, 0x0000, 0x203A, 0x0000, 0x0000, 0x0000, 0x0000,
+	0x00A0, 0x0385, 0x0386, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
+	0x00A8, 0x00A9, 0x0000, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x2015,
+	0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x0384, 0x00B5, 0x00B6, 0x00B7,
+	0x0388, 0x0389, 0x038A, 0x00BB, 0x038C, 0x00BD, 0x038E, 0x038F,
+	0x0390, 0x0391, 0x0392, 0x0393, 0x0394, 0x0395, 0x0396, 0x0397,
+	0x0398, 0x0399, 0x039A, 0x039B, 0x039C, 0x039D, 0x039E, 0x039F,
+	0x03A0, 0x03A1, 0x0000, 0x03A3, 0x03A4, 0x03A5, 0x03A6, 0x03A7,
+	0x03A8, 0x03A9, 0x03AA, 0x03AD, 0x03AC, 0x03AD, 0x03AE, 0x03AF,
+	0x03B0, 0x03B1, 0x03B2, 0x03B3, 0x03B4, 0x03B5, 0x03B6, 0x03B7,
+	0x03B8, 0x03B9, 0x03BA, 0x03BB, 0x03BC, 0x03BD, 0x03BE, 0x03BF,
+	0x03C0, 0x03C1, 0x03C2, 0x03C3, 0x03C4, 0x03C5, 0x03C6, 0x03C7,
+	0x03C8, 0x03C9, 0x03CA, 0x03CB, 0x03CC, 0x03CD, 0x03CE, 0x0000
+};
+
+#elif _CODE_PAGE == 1254
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1254(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x0000, 0x210A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x02C6, 0x2030, 0x0160, 0x2039, 0x0152, 0x0000, 0x0000, 0x0000,
+	0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x02DC, 0x2122, 0x0161, 0x203A, 0x0153, 0x0000, 0x0000, 0x0178,
+	0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
+	0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
+	0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
+	0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF,
+	0x00C0, 0x00C1, 0x00C2, 0x00C3, 0x00C4, 0x00C5, 0x00C6, 0x00C7,
+	0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x00CC, 0x00CD, 0x00CE, 0x00CF,
+	0x011E, 0x00D1, 0x00D2, 0x00D3, 0x00D4, 0x00D5, 0x00D6, 0x00D7,
+	0x00D8, 0x00D9, 0x00DA, 0x00BD, 0x00DC, 0x0130, 0x015E, 0x00DF,
+	0x00E0, 0x00E1, 0x00E2, 0x00E3, 0x00E4, 0x00E5, 0x00E6, 0x00E7,
+	0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x00EC, 0x00ED, 0x00EE, 0x00EF,
+	0x011F, 0x00F1, 0x00F2, 0x00F3, 0x00F4, 0x00F5, 0x00F6, 0x00F7,
+	0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x0131, 0x015F, 0x00FF
+};
+
+#elif _CODE_PAGE == 1255
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1255(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x02C6, 0x2030, 0x0000, 0x2039, 0x0000, 0x0000, 0x0000, 0x0000,
+	0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x02DC, 0x2122, 0x0000, 0x203A, 0x0000, 0x0000, 0x0000, 0x0000,
+	0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
+	0x00A8, 0x00A9, 0x00D7, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
+	0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
+	0x00B8, 0x00B9, 0x00F7, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF,
+	0x05B0, 0x05B1, 0x05B2, 0x05B3, 0x05B4, 0x05B5, 0x05B6, 0x05B7,
+	0x05B8, 0x05B9, 0x0000, 0x05BB, 0x05BC, 0x05BD, 0x05BE, 0x05BF,
+	0x05C0, 0x05C1, 0x05C2, 0x05C3, 0x05F0, 0x05F1, 0x05F2, 0x05F3,
+	0x05F4, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
+	0x05D0, 0x05D1, 0x05D2, 0x05D3, 0x05D4, 0x05D5, 0x05D6, 0x05D7,
+	0x05D8, 0x05D9, 0x05DA, 0x05DB, 0x05DC, 0x05DD, 0x05DE, 0x05DF,
+	0x05E0, 0x05E1, 0x05E2, 0x05E3, 0x05E4, 0x05E5, 0x05E6, 0x05E7,
+	0x05E8, 0x05E9, 0x05EA, 0x0000, 0x0000, 0x200E, 0x200F, 0x0000
+};
+
+#elif _CODE_PAGE == 1256
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1256(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x067E, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x02C6, 0x2030, 0x0679, 0x2039, 0x0152, 0x0686, 0x0698, 0x0688,
+	0x06AF, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x06A9, 0x2122, 0x0691, 0x203A, 0x0153, 0x200C, 0x200D, 0x06BA,
+	0x00A0, 0x060C, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
+	0x00A8, 0x00A9, 0x06BE, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
+	0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
+	0x00B8, 0x00B9, 0x061B, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x061F,
+	0x06C1, 0x0621, 0x0622, 0x0623, 0x0624, 0x0625, 0x0626, 0x0627,
+	0x0628, 0x0629, 0x062A, 0x062B, 0x062C, 0x062D, 0x062E, 0x062F,
+	0x0630, 0x0631, 0x0632, 0x0633, 0x0634, 0x0635, 0x0636, 0x00D7,
+	0x0637, 0x0638, 0x0639, 0x063A, 0x0640, 0x0640, 0x0642, 0x0643,
+	0x00E0, 0x0644, 0x00E2, 0x0645, 0x0646, 0x0647, 0x0648, 0x00E7,
+	0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x0649, 0x064A, 0x00EE, 0x00EF,
+	0x064B, 0x064C, 0x064D, 0x064E, 0x00F4, 0x064F, 0x0650, 0x00F7,
+	0x0651, 0x00F9, 0x0652, 0x00FB, 0x00FC, 0x200E, 0x200F, 0x06D2
+}
+
+#elif _CODE_PAGE == 1257
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1257(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x0000, 0x201A, 0x0000, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x0000, 0x2030, 0x0000, 0x2039, 0x0000, 0x00A8, 0x02C7, 0x00B8,
+	0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x0000, 0x2122, 0x0000, 0x203A, 0x0000, 0x00AF, 0x02DB, 0x0000,
+	0x00A0, 0x0000, 0x00A2, 0x00A3, 0x00A4, 0x0000, 0x00A6, 0x00A7,
+	0x00D8, 0x00A9, 0x0156, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
+	0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
+	0x00B8, 0x00B9, 0x0157, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00E6,
+	0x0104, 0x012E, 0x0100, 0x0106, 0x00C4, 0x00C5, 0x0118, 0x0112,
+	0x010C, 0x00C9, 0x0179, 0x0116, 0x0122, 0x0136, 0x012A, 0x013B,
+	0x0160, 0x0143, 0x0145, 0x00D3, 0x014C, 0x00D5, 0x00D6, 0x00D7,
+	0x0172, 0x0141, 0x015A, 0x016A, 0x00DC, 0x017B, 0x017D, 0x00DF,
+	0x0105, 0x012F, 0x0101, 0x0107, 0x00E4, 0x00E5, 0x0119, 0x0113,
+	0x010D, 0x00E9, 0x017A, 0x0117, 0x0123, 0x0137, 0x012B, 0x013C,
+	0x0161, 0x0144, 0x0146, 0x00F3, 0x014D, 0x00F5, 0x00F6, 0x00F7,
+	0x0173, 0x014E, 0x015B, 0x016B, 0x00FC, 0x017C, 0x017E, 0x02D9
+};
+
+#elif _CODE_PAGE == 1258
+#define _TBLDEF 1
+static
+const WCHAR Tbl[] = {	/*  CP1258(0x80-0xFF) to Unicode conversion table */
+	0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
+	0x02C6, 0x2030, 0x0000, 0x2039, 0x0152, 0x0000, 0x0000, 0x0000,
+	0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
+	0x02DC, 0x2122, 0x0000, 0x203A, 0x0153, 0x0000, 0x0000, 0x0178,
+	0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
+	0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
+	0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
+	0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF,
+	0x00C0, 0x00C1, 0x00C2, 0x0102, 0x00C4, 0x00C5, 0x00C6, 0x00C7,
+	0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x0300, 0x00CD, 0x00CE, 0x00CF,
+	0x0110, 0x00D1, 0x0309, 0x00D3, 0x00D4, 0x01A0, 0x00D6, 0x00D7,
+	0x00D8, 0x00D9, 0x00DA, 0x00DB, 0x00DC, 0x01AF, 0x0303, 0x00DF,
+	0x00E0, 0x00E1, 0x00E2, 0x0103, 0x00E4, 0x00E5, 0x00E6, 0x00E7,
+	0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x0301, 0x00ED, 0x00EE, 0x00EF,
+	0x0111, 0x00F1, 0x0323, 0x00F3, 0x00F4, 0x01A1, 0x00F6, 0x00F7,
+	0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x01B0, 0x20AB, 0x00FF
+};
+
+#endif
+
+
+#if !_TBLDEF || !_USE_LFN
+#error This file is not needed in current configuration. Remove from the project.
+#endif
+
+
+WCHAR ff_convert (	/* Converted character, Returns zero on error */
+	WCHAR	src,	/* Character code to be converted */
+	UINT	dir		/* 0: Unicode to OEMCP, 1: OEMCP to Unicode */
+)
+{
+	WCHAR c;
+
+
+	if (src < 0x80) {	/* ASCII */
+		c = src;
+
+	} else {
+		if (dir) {		/* OEMCP to Unicode */
+			c = (src >= 0x100) ? 0 : Tbl[src - 0x80];
+
+		} else {		/* Unicode to OEMCP */
+			for (c = 0; c < 0x80; c++) {
+				if (src == Tbl[c]) break;
+			}
+			c = (c + 0x80) & 0xFF;
+		}
+	}
+
+	return c;
+}
+
+
+WCHAR ff_wtoupper (	/* Upper converted character */
+	WCHAR chr		/* Input character */
+)
+{
+	static const WCHAR tbl_lower[] = { 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F, 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7A, 0xA1, 0x00A2, 0x00A3, 0x00A5, 0x00AC, 0x00AF, 0xE0, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xEB, 0xEC, 0xED, 0xEE, 0xEF, 0xF0, 0xF1, 0xF2, 0xF3, 0xF4, 0xF5, 0xF6, 0xF8, 0xF9, 0xFA, 0xFB, 0xFC, 0xFD, 0xFE, 0x0FF, 0x101, 0x103, 0x105, 0x107, 0x109, 0x10B, 0x10D, 0x10F, 0x111, 0x113, 0x115, 0x117, 0x119, 0x11B, 0x11D, 0x11F, 0x121, 0x123, 0x125, 0x127, 0x129, 0x12B, 0x12D, 0x12F, 0x131, 0x133, 0x135, 0x137, 0x13A, 0x13C, 0x13E, 0x140, 0x142, 0x144, 0x146, 0x148, 0x14B, 0x14D, 0x14F, 0x151, 0x153, 0x155, 0x157, 0x159, 0x15B, 0x15D, 0x15F, 0x161, 0x163, 0x165, 0x167, 0x169, 0x16B, 0x16D, 0x16F, 0x171, 0x173, 0x175, 0x177, 0x17A, 0x17C, 0x17E, 0x192, 0x3B1, 0x3B2, 0x3B3, 0x3B4, 0x3B5, 0x3B6, 0x3B7, 0x3B8, 0x3B9, 0x3BA, 0x3BB, 0x3BC, 0x3BD, 0x3BE, 0x3BF, 0x3C0, 0x3C1, 0x3C3, 0x3C4, 0x3C5, 0x3C6, 0x3C7, 0x3C8, 0x3C9, 0x3CA, 0x430, 0x431, 0x432, 0x433, 0x434, 0x435, 0x436, 0x437, 0x438, 0x439, 0x43A, 0x43B, 0x43C, 0x43D, 0x43E, 0x43F, 0x440, 0x441, 0x442, 0x443, 0x444, 0x445, 0x446, 0x447, 0x448, 0x449, 0x44A, 0x44B, 0x44C, 0x44D, 0x44E, 0x44F, 0x451, 0x452, 0x453, 0x454, 0x455, 0x456, 0x457, 0x458, 0x459, 0x45A, 0x45B, 0x45C, 0x45E, 0x45F, 0x2170, 0x2171, 0x2172, 0x2173, 0x2174, 0x2175, 0x2176, 0x2177, 0x2178, 0x2179, 0x217A, 0x217B, 0x217C, 0x217D, 0x217E, 0x217F, 0xFF41, 0xFF42, 0xFF43, 0xFF44, 0xFF45, 0xFF46, 0xFF47, 0xFF48, 0xFF49, 0xFF4A, 0xFF4B, 0xFF4C, 0xFF4D, 0xFF4E, 0xFF4F, 0xFF50, 0xFF51, 0xFF52, 0xFF53, 0xFF54, 0xFF55, 0xFF56, 0xFF57, 0xFF58, 0xFF59, 0xFF5A, 0 };
+	static const WCHAR tbl_upper[] = { 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x21, 0xFFE0, 0xFFE1, 0xFFE5, 0xFFE2, 0xFFE3, 0xC0, 0xC1, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, 0xC7, 0xC8, 0xC9, 0xCA, 0xCB, 0xCC, 0xCD, 0xCE, 0xCF, 0xD0, 0xD1, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, 0xD8, 0xD9, 0xDA, 0xDB, 0xDC, 0xDD, 0xDE, 0x178, 0x100, 0x102, 0x104, 0x106, 0x108, 0x10A, 0x10C, 0x10E, 0x110, 0x112, 0x114, 0x116, 0x118, 0x11A, 0x11C, 0x11E, 0x120, 0x122, 0x124, 0x126, 0x128, 0x12A, 0x12C, 0x12E, 0x130, 0x132, 0x134, 0x136, 0x139, 0x13B, 0x13D, 0x13F, 0x141, 0x143, 0x145, 0x147, 0x14A, 0x14C, 0x14E, 0x150, 0x152, 0x154, 0x156, 0x158, 0x15A, 0x15C, 0x15E, 0x160, 0x162, 0x164, 0x166, 0x168, 0x16A, 0x16C, 0x16E, 0x170, 0x172, 0x174, 0x176, 0x179, 0x17B, 0x17D, 0x191, 0x391, 0x392, 0x393, 0x394, 0x395, 0x396, 0x397, 0x398, 0x399, 0x39A, 0x39B, 0x39C, 0x39D, 0x39E, 0x39F, 0x3A0, 0x3A1, 0x3A3, 0x3A4, 0x3A5, 0x3A6, 0x3A7, 0x3A8, 0x3A9, 0x3AA, 0x410, 0x411, 0x412, 0x413, 0x414, 0x415, 0x416, 0x417, 0x418, 0x419, 0x41A, 0x41B, 0x41C, 0x41D, 0x41E, 0x41F, 0x420, 0x421, 0x422, 0x423, 0x424, 0x425, 0x426, 0x427, 0x428, 0x429, 0x42A, 0x42B, 0x42C, 0x42D, 0x42E, 0x42F, 0x401, 0x402, 0x403, 0x404, 0x405, 0x406, 0x407, 0x408, 0x409, 0x40A, 0x40B, 0x40C, 0x40E, 0x40F, 0x2160, 0x2161, 0x2162, 0x2163, 0x2164, 0x2165, 0x2166, 0x2167, 0x2168, 0x2169, 0x216A, 0x216B, 0x216C, 0x216D, 0x216E, 0x216F, 0xFF21, 0xFF22, 0xFF23, 0xFF24, 0xFF25, 0xFF26, 0xFF27, 0xFF28, 0xFF29, 0xFF2A, 0xFF2B, 0xFF2C, 0xFF2D, 0xFF2E, 0xFF2F, 0xFF30, 0xFF31, 0xFF32, 0xFF33, 0xFF34, 0xFF35, 0xFF36, 0xFF37, 0xFF38, 0xFF39, 0xFF3A, 0 };
+	int i;
+
+
+	for (i = 0; tbl_lower[i] && chr != tbl_lower[i]; i++) ;
+
+	return tbl_lower[i] ? tbl_upper[i] : chr;
+}
@@ -0,0 +1,151 @@
+/*------------------------------------------------------------------------*/
+/* Sample code of OS dependent controls for FatFs R0.08b                  */
+/* (C)ChaN, 2011                                                          */
+/*------------------------------------------------------------------------*/
+
+#include <stdlib.h>		/* ANSI memory controls */
+#include <malloc.h>		/* ANSI memory controls */
+
+#include "../ff.h"
+
+
+#if _FS_REENTRANT
+/*------------------------------------------------------------------------*/
+/* Create a Synchronization Object
+/*------------------------------------------------------------------------*/
+/* This function is called in f_mount function to create a new
+/  synchronization object, such as semaphore and mutex. When a zero is
+/  returned, the f_mount function fails with FR_INT_ERR.
+*/
+
+int ff_cre_syncobj (	/* TRUE:Function succeeded, FALSE:Could not create due to any error */
+	BYTE vol,			/* Corresponding logical drive being processed */
+	_SYNC_t *sobj		/* Pointer to return the created sync object */
+)
+{
+	int ret;
+
+	*sobj = CreateMutex(NULL, FALSE, NULL);	/* Win32 */
+	ret = (*sobj != INVALID_HANDLE_VALUE);
+
+//	*sobj = SyncObjects[vol];	/* uITRON (give a static sync object) */
+//	ret = 1;					/* The initial value of the semaphore must be 1. */
+
+//	*sobj = OSMutexCreate(0, &err);			/* uC/OS-II */
+//	ret = (err == OS_NO_ERR);
+
+//	*sobj = xSemaphoreCreateMutex();		/* FreeRTOS */
+//	ret = (*sobj != NULL);
+
+	return ret;
+}
+
+
+
+/*------------------------------------------------------------------------*/
+/* Delete a Synchronization Object                                        */
+/*------------------------------------------------------------------------*/
+/* This function is called in f_mount function to delete a synchronization
+/  object that created with ff_cre_syncobj function. When a zero is
+/  returned, the f_mount function fails with FR_INT_ERR.
+*/
+
+int ff_del_syncobj (	/* TRUE:Function succeeded, FALSE:Could not delete due to any error */
+	_SYNC_t sobj		/* Sync object tied to the logical drive to be deleted */
+)
+{
+	BOOL ret;
+
+	ret = CloseHandle(sobj);	/* Win32 */
+
+//	ret = 1;					/* uITRON (nothing to do) */
+
+//	OSMutexDel(sobj, OS_DEL_ALWAYS, &err);	/* uC/OS-II */
+//	ret = (err == OS_NO_ERR);
+
+//	ret = 1;					/* FreeRTOS (nothing to do) */
+
+	return ret;
+}
+
+
+
+/*------------------------------------------------------------------------*/
+/* Request Grant to Access the Volume                                     */
+/*------------------------------------------------------------------------*/
+/* This function is called on entering file functions to lock the volume.
+/  When a zero is returned, the file function fails with FR_TIMEOUT.
+*/
+
+int ff_req_grant (	/* TRUE:Got a grant to access the volume, FALSE:Could not get a grant */
+	_SYNC_t sobj	/* Sync object to wait */
+)
+{
+	int ret;
+
+	ret = (WaitForSingleObject(sobj, _FS_TIMEOUT) == WAIT_OBJECT_0);	/* Win32 */
+
+//	ret = (wai_sem(sobj) == E_OK);	/* uITRON */
+
+//	OSMutexPend(sobj, _FS_TIMEOUT, &err));			/* uC/OS-II */
+//	ret = (err == OS_NO_ERR);
+
+//	ret = (xSemaphoreTake(sobj, _FS_TIMEOUT) == pdTRUE);	/* FreeRTOS */
+
+	return ret;
+}
+
+
+
+/*------------------------------------------------------------------------*/
+/* Release Grant to Access the Volume                                     */
+/*------------------------------------------------------------------------*/
+/* This function is called on leaving file functions to unlock the volume.
+*/
+
+void ff_rel_grant (
+	_SYNC_t sobj	/* Sync object to be signaled */
+)
+{
+	ReleaseMutex(sobj);		/* Win32 */
+
+//	sig_sem(sobj);			/* uITRON */
+
+//	OSMutexPost(sobj);		/* uC/OS-II */
+
+//	xSemaphoreGive(sobj);	/* FreeRTOS */
+
+}
+
+#endif
+
+
+
+
+#if _USE_LFN == 3	/* LFN with a working buffer on the heap */
+/*------------------------------------------------------------------------*/
+/* Allocate a memory block                                                */
+/*------------------------------------------------------------------------*/
+/* If a NULL is returned, the file function fails with FR_NOT_ENOUGH_CORE.
+*/
+
+void* ff_memalloc (	/* Returns pointer to the allocated memory block */
+	UINT size		/* Number of bytes to allocate */
+)
+{
+	return malloc(size);
+}
+
+
+/*------------------------------------------------------------------------*/
+/* Free a memory block                                                    */
+/*------------------------------------------------------------------------*/
+
+void ff_memfree(
+	void* mblock	/* Pointer to the memory block to free */
+)
+{
+	free(mblock);
+}
+
+#endif
@@ -1,27 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-/// @file	GCS_MAVLink.cpp
-/// @brief	Supporting bits for MAVLink.
-
-#include "GCS_MAVLink.h"
-
-BetterStream	*mavlink_comm_0_port;
-BetterStream	*mavlink_comm_1_port;
-
-// this might need to move to the flight software
-mavlink_system_t mavlink_system = {7,1,0,0};
-
-#ifdef MAVLINK10
-# include "include_v1.0/mavlink_helpers.h"
-#else
-# include "include/mavlink_helpers.h"
-#endif
-
-uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
-{
-    if (sysid != mavlink_system.sysid)
-        return 1;
-    // Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
-    // If it is addressed to our system ID we assume it is for us
-    return 0; // no error
-}
@@ -1,128 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-/// @file	GCS_MAVLink.h
-/// @brief	One size fits all header for MAVLink integration.
-
-#ifndef GCS_MAVLink_h
-#define GCS_MAVLink_h
-
-#include <BetterStream.h>
-
-#define MAVLINK_SEPARATE_HELPERS
-
-#ifdef MAVLINK10
-# include "include_v1.0/ardupilotmega/version.h"
-#else
-# include "include/ardupilotmega/version.h"
-#endif
-
-// this allows us to make mavlink_message_t much smaller
-#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
-
-#define MAVLINK_COMM_NUM_BUFFERS 2
-#ifdef MAVLINK10
-# include "include_v1.0/mavlink_types.h"
-#else
-# include "include/mavlink_types.h"
-#endif
-
-/// MAVLink stream used for HIL interaction
-extern BetterStream	*mavlink_comm_0_port;
-
-/// MAVLink stream used for ground control communication
-extern BetterStream	*mavlink_comm_1_port;
-
-/// MAVLink system definition
-extern mavlink_system_t mavlink_system;
-
-/// Send a byte to the nominated MAVLink channel
-///
-/// @param chan		Channel to send to
-/// @param ch		Byte to send
-///
-static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
-{
-    switch(chan) {
-	case MAVLINK_COMM_0:
-		mavlink_comm_0_port->write(ch);
-		break;
-	case MAVLINK_COMM_1:
-		mavlink_comm_1_port->write(ch);
-		break;
-	default:
-		break;
-	}
-}
-
-/// Read a byte from the nominated MAVLink channel
-///
-/// @param chan		Channel to receive on
-/// @returns		Byte read
-///
-static inline uint8_t comm_receive_ch(mavlink_channel_t chan)
-{
-    uint8_t data = 0;
-
-    switch(chan) {
-	case MAVLINK_COMM_0:
-		data = mavlink_comm_0_port->read();
-		break;
-	case MAVLINK_COMM_1:
-		data = mavlink_comm_1_port->read();
-		break;
-	default:
-		break;
-	}
-    return data;
-}
-
-/// Check for available data on the nominated MAVLink channel
-///
-/// @param chan		Channel to check
-/// @returns		Number of bytes available
-static inline uint16_t comm_get_available(mavlink_channel_t chan)
-{
-    uint16_t bytes = 0;
-    switch(chan) {
-	case MAVLINK_COMM_0:
-		bytes = mavlink_comm_0_port->available();
-		break;
-	case MAVLINK_COMM_1:
-		bytes = mavlink_comm_1_port->available();
-		break;
-	default:
-		break;
-	}
-    return bytes;
-}
-
-
-/// Check for available transmit space on the nominated MAVLink channel
-///
-/// @param chan		Channel to check
-/// @returns		Number of bytes available, -1 for error
-static inline int comm_get_txspace(mavlink_channel_t chan)
-{
-    switch(chan) {
-	case MAVLINK_COMM_0:
-		return mavlink_comm_0_port->txspace();
-		break;
-	case MAVLINK_COMM_1:
-		return mavlink_comm_1_port->txspace();
-		break;
-	default:
-		break;
-	}
-    return -1;
-}
-
-#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
-#ifdef MAVLINK10
-# include "include_v1.0/ardupilotmega/mavlink.h"
-#else
-# include "include/ardupilotmega/mavlink.h"
-#endif
-
-uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
-
-#endif // GCS_MAVLink_h
@@ -1,172 +0,0 @@
-/*
-  compatibility header during transition to MAVLink 1.0
- */
-
-#ifdef MAVLINK10
-// 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
-
-static uint8_t mav_var_type(enum ap_var_type t)
-{
-    if (t == AP_PARAM_INT8) {
-        return MAV_VAR_INT8;
-    }
-    if (t == AP_PARAM_INT16) {
-        return MAV_VAR_INT16;
-    }
-    if (t == AP_PARAM_INT32) {
-        return MAV_VAR_INT32;
-    }
-    // treat any others as float
-    return MAV_VAR_FLOAT;
-}
-
-#define MAV_FIXED_WING MAV_TYPE_FIXED_WING
-
-#else // MAVLINK10
-
-static uint8_t mav_var_type(enum ap_var_type t)
-{
-	return 0;
-}
-
-#define MAV_MISSION_ACCEPTED 0
-#define MAV_MISSION_UNSUPPORTED       1
-#define MAV_MISSION_UNSUPPORTED_FRAME 1
-#define MAV_MISSION_ERROR             1
-#define MAV_MISSION_INVALID_SEQUENCE  1
-
-/*
-  some functions have some extra params in MAVLink 1.0
- */
-
-static void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon,
-						 int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy,
-						 int16_t vz, uint16_t hdg)
-{
-	mavlink_msg_global_position_int_send(
-		chan,
-		lat,
-		lon,
-		alt,
-		vx, vy, vz);
-}
-
-static void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port,
-						int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled,
-						int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled,
-						int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
-{
-    mavlink_msg_rc_channels_scaled_send(
-        chan,
-	chan1_scaled,
-	chan2_scaled,
-	chan3_scaled,
-	chan4_scaled,
-	chan5_scaled,
-	chan6_scaled,
-	chan7_scaled,
-	chan8_scaled,
-	rssi);
-}
-
-static void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port,
-					     uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw,
-					     uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw,
-					     uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
-{
-	mavlink_msg_rc_channels_raw_send(
-		chan,
-		chan1_raw,
-		chan2_raw,
-		chan3_raw,
-		chan4_raw,
-		chan5_raw,
-		chan6_raw,
-		chan7_raw,
-		chan8_raw,
-		rssi);
-}
-
-
-static void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port,
-					      uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw,
-					      uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw,
-					      uint16_t servo7_raw, uint16_t servo8_raw)
-{
-        mavlink_msg_servo_output_raw_send(
-		chan,
-		servo1_raw,
-		servo2_raw,
-		servo3_raw,
-		servo4_raw,
-		servo5_raw,
-		servo6_raw,
-		servo7_raw,
-		servo8_raw);
-}
-
-static void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text)
-{
-        mavlink_msg_statustext_send(chan, severity, (const int8_t*) text);
-}
-
-static void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id,
-					 float param_value, uint8_t param_type,
-					 uint16_t param_count, uint16_t param_index)
-{
-	mavlink_msg_param_value_send(
-		chan,
-		(int8_t *)param_id,
-		param_value,
-		param_count,
-		param_index);
-}
-#endif // MAVLINK10
@@ -1,150 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from ardupilotmega.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef ARDUPILOTMEGA_H
-#define ARDUPILOTMEGA_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// MESSAGE LENGTHS AND CRCS
-
-#ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
-#endif
-
-#ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 188, 118, 242, 19, 97, 233, 0, 18, 68, 136, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
-#endif
-
-#ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {NULL}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
-#endif
-
-#include "../protocol.h"
-
-#define MAVLINK_ENABLED_ARDUPILOTMEGA
-
-#include "../common/common.h"
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-// ENUM DEFINITIONS
-
-
-/** @brief Enumeration of possible mount operation modes */
-#ifndef HAVE_ENUM_MAV_MOUNT_MODE
-#define HAVE_ENUM_MAV_MOUNT_MODE
-enum MAV_MOUNT_MODE
-{
-	MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | */
-	MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | */
-	MAV_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
-	MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
-	MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
-	MAV_MOUNT_MODE_ENUM_END=5, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_CMD
-#define HAVE_ENUM_MAV_CMD
-enum MAV_CMD
-{
-	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing)| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Turns| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Seconds (decimal)| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the
-            vehicle itself. This can then be used by the vehicles control
-            system to control the vehicle attitude and the attitude of various
-            sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the
-                    vehicle itself. This can then be used by the vehicles control
-                    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|  */
-	MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|  */
-	MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|  */
-	MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|  */
-	MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_ENUM_END=246, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_FENCE_ACTION
-#define HAVE_ENUM_FENCE_ACTION
-enum FENCE_ACTION
-{
-	FENCE_ACTION_NONE=0, /* Disable fenced mode | */
-	FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */
-	FENCE_ACTION_ENUM_END=2, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_FENCE_BREACH
-#define HAVE_ENUM_FENCE_BREACH
-enum FENCE_BREACH
-{
-	FENCE_BREACH_NONE=0, /* No last fence breach | */
-	FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */
-	FENCE_BREACH_MAXALT=2, /* Breached minimum altitude | */
-	FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */
-	FENCE_BREACH_ENUM_END=4, /*  | */
-};
-#endif
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_sensor_offsets.h"
-#include "./mavlink_msg_set_mag_offsets.h"
-#include "./mavlink_msg_meminfo.h"
-#include "./mavlink_msg_ap_adc.h"
-#include "./mavlink_msg_digicam_configure.h"
-#include "./mavlink_msg_digicam_control.h"
-#include "./mavlink_msg_mount_configure.h"
-#include "./mavlink_msg_mount_control.h"
-#include "./mavlink_msg_mount_status.h"
-#include "./mavlink_msg_fence_point.h"
-#include "./mavlink_msg_fence_fetch_point.h"
-#include "./mavlink_msg_fence_status.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // ARDUPILOTMEGA_H
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from ardupilotmega.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 85
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 0
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 0
-#endif
-
-#include "version.h"
-#include "ardupilotmega.h"
-
-#endif // MAVLINK_H
@@ -1,254 +0,0 @@
-// MESSAGE AP_ADC PACKING
-
-#define MAVLINK_MSG_ID_AP_ADC 153
-
-typedef struct __mavlink_ap_adc_t
-{
- uint16_t adc1; ///< ADC output 1
- uint16_t adc2; ///< ADC output 2
- uint16_t adc3; ///< ADC output 3
- uint16_t adc4; ///< ADC output 4
- uint16_t adc5; ///< ADC output 5
- uint16_t adc6; ///< ADC output 6
-} mavlink_ap_adc_t;
-
-#define MAVLINK_MSG_ID_AP_ADC_LEN 12
-#define MAVLINK_MSG_ID_153_LEN 12
-
-
-
-#define MAVLINK_MESSAGE_INFO_AP_ADC { \
-	"AP_ADC", \
-	6, \
-	{  { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \
-         { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \
-         { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \
-         { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \
-         { "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \
-         { "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a ap_adc 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 adc1 ADC output 1
- * @param adc2 ADC output 2
- * @param adc3 ADC output 3
- * @param adc4 ADC output 4
- * @param adc5 ADC output 5
- * @param adc6 ADC output 6
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_uint16_t(buf, 0, adc1);
-	_mav_put_uint16_t(buf, 2, adc2);
-	_mav_put_uint16_t(buf, 4, adc3);
-	_mav_put_uint16_t(buf, 6, adc4);
-	_mav_put_uint16_t(buf, 8, adc5);
-	_mav_put_uint16_t(buf, 10, adc6);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 12);
-#else
-	mavlink_ap_adc_t packet;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.adc5 = adc5;
-	packet.adc6 = adc6;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AP_ADC;
-	return mavlink_finalize_message(msg, system_id, component_id, 12);
-}
-
-/**
- * @brief Pack a ap_adc 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param adc1 ADC output 1
- * @param adc2 ADC output 2
- * @param adc3 ADC output 3
- * @param adc4 ADC output 4
- * @param adc5 ADC output 5
- * @param adc6 ADC output 6
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_uint16_t(buf, 0, adc1);
-	_mav_put_uint16_t(buf, 2, adc2);
-	_mav_put_uint16_t(buf, 4, adc3);
-	_mav_put_uint16_t(buf, 6, adc4);
-	_mav_put_uint16_t(buf, 8, adc5);
-	_mav_put_uint16_t(buf, 10, adc6);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 12);
-#else
-	mavlink_ap_adc_t packet;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.adc5 = adc5;
-	packet.adc6 = adc6;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AP_ADC;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
-}
-
-/**
- * @brief Encode a ap_adc struct into a 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 ap_adc C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
-{
-	return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
-}
-
-/**
- * @brief Send a ap_adc message
- * @param chan MAVLink channel to send the message
- *
- * @param adc1 ADC output 1
- * @param adc2 ADC output 2
- * @param adc3 ADC output 3
- * @param adc4 ADC output 4
- * @param adc5 ADC output 5
- * @param adc6 ADC output 6
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_uint16_t(buf, 0, adc1);
-	_mav_put_uint16_t(buf, 2, adc2);
-	_mav_put_uint16_t(buf, 4, adc3);
-	_mav_put_uint16_t(buf, 6, adc4);
-	_mav_put_uint16_t(buf, 8, adc5);
-	_mav_put_uint16_t(buf, 10, adc6);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12);
-#else
-	mavlink_ap_adc_t packet;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.adc5 = adc5;
-	packet.adc6 = adc6;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12);
-#endif
-}
-
-#endif
-
-// MESSAGE AP_ADC UNPACKING
-
-
-/**
- * @brief Get field adc1 from ap_adc message
- *
- * @return ADC output 1
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field adc2 from ap_adc message
- *
- * @return ADC output 2
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Get field adc3 from ap_adc message
- *
- * @return ADC output 3
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field adc4 from ap_adc message
- *
- * @return ADC output 4
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field adc5 from ap_adc message
- *
- * @return ADC output 5
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field adc6 from ap_adc message
- *
- * @return ADC output 6
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Decode a ap_adc message into a struct
- *
- * @param msg The message to decode
- * @param ap_adc C-struct to decode the message contents into
- */
-static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg);
-	ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg);
-	ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg);
-	ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg);
-	ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg);
-	ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg);
-#else
-	memcpy(ap_adc, _MAV_PAYLOAD(msg), 12);
-#endif
-}
@@ -1,364 +0,0 @@
-// MESSAGE DIGICAM_CONFIGURE PACKING
-
-#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE 154
-
-typedef struct __mavlink_digicam_configure_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t mode; ///< Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- uint16_t shutter_speed; ///< Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- uint8_t aperture; ///< F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- uint8_t iso; ///< ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- uint8_t exposure_type; ///< Exposure type enumeration from 1 to N (0 means ignore)
- uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- uint8_t engine_cut_off; ///< Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore)
- float extra_value; ///< Correspondent value to given extra_param
-} mavlink_digicam_configure_t;
-
-#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN 15
-#define MAVLINK_MSG_ID_154_LEN 15
-
-
-
-#define MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE { \
-	"DIGICAM_CONFIGURE", \
-	11, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_digicam_configure_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_digicam_configure_t, target_component) }, \
-         { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_digicam_configure_t, mode) }, \
-         { "shutter_speed", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_digicam_configure_t, shutter_speed) }, \
-         { "aperture", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_configure_t, aperture) }, \
-         { "iso", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_configure_t, iso) }, \
-         { "exposure_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_configure_t, exposure_type) }, \
-         { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_configure_t, command_id) }, \
-         { "engine_cut_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_configure_t, engine_cut_off) }, \
-         { "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_configure_t, extra_param) }, \
-         { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 11, offsetof(mavlink_digicam_configure_t, extra_value) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a digicam_configure 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_system System ID
- * @param target_component Component ID
- * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[15];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mode);
-	_mav_put_uint16_t(buf, 3, shutter_speed);
-	_mav_put_uint8_t(buf, 5, aperture);
-	_mav_put_uint8_t(buf, 6, iso);
-	_mav_put_uint8_t(buf, 7, exposure_type);
-	_mav_put_uint8_t(buf, 8, command_id);
-	_mav_put_uint8_t(buf, 9, engine_cut_off);
-	_mav_put_uint8_t(buf, 10, extra_param);
-	_mav_put_float(buf, 11, extra_value);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 15);
-#else
-	mavlink_digicam_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mode = mode;
-	packet.shutter_speed = shutter_speed;
-	packet.aperture = aperture;
-	packet.iso = iso;
-	packet.exposure_type = exposure_type;
-	packet.command_id = command_id;
-	packet.engine_cut_off = engine_cut_off;
-	packet.extra_param = extra_param;
-	packet.extra_value = extra_value;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 15);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
-	return mavlink_finalize_message(msg, system_id, component_id, 15);
-}
-
-/**
- * @brief Pack a digicam_configure 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t mode,uint16_t shutter_speed,uint8_t aperture,uint8_t iso,uint8_t exposure_type,uint8_t command_id,uint8_t engine_cut_off,uint8_t extra_param,float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[15];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mode);
-	_mav_put_uint16_t(buf, 3, shutter_speed);
-	_mav_put_uint8_t(buf, 5, aperture);
-	_mav_put_uint8_t(buf, 6, iso);
-	_mav_put_uint8_t(buf, 7, exposure_type);
-	_mav_put_uint8_t(buf, 8, command_id);
-	_mav_put_uint8_t(buf, 9, engine_cut_off);
-	_mav_put_uint8_t(buf, 10, extra_param);
-	_mav_put_float(buf, 11, extra_value);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 15);
-#else
-	mavlink_digicam_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mode = mode;
-	packet.shutter_speed = shutter_speed;
-	packet.aperture = aperture;
-	packet.iso = iso;
-	packet.exposure_type = exposure_type;
-	packet.command_id = command_id;
-	packet.engine_cut_off = engine_cut_off;
-	packet.extra_param = extra_param;
-	packet.extra_value = extra_value;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 15);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15);
-}
-
-/**
- * @brief Encode a digicam_configure struct into a 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 digicam_configure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_digicam_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_configure_t* digicam_configure)
-{
-	return mavlink_msg_digicam_configure_pack(system_id, component_id, msg, digicam_configure->target_system, digicam_configure->target_component, digicam_configure->mode, digicam_configure->shutter_speed, digicam_configure->aperture, digicam_configure->iso, digicam_configure->exposure_type, digicam_configure->command_id, digicam_configure->engine_cut_off, digicam_configure->extra_param, digicam_configure->extra_value);
-}
-
-/**
- * @brief Send a digicam_configure message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_digicam_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[15];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mode);
-	_mav_put_uint16_t(buf, 3, shutter_speed);
-	_mav_put_uint8_t(buf, 5, aperture);
-	_mav_put_uint8_t(buf, 6, iso);
-	_mav_put_uint8_t(buf, 7, exposure_type);
-	_mav_put_uint8_t(buf, 8, command_id);
-	_mav_put_uint8_t(buf, 9, engine_cut_off);
-	_mav_put_uint8_t(buf, 10, extra_param);
-	_mav_put_float(buf, 11, extra_value);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, 15);
-#else
-	mavlink_digicam_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mode = mode;
-	packet.shutter_speed = shutter_speed;
-	packet.aperture = aperture;
-	packet.iso = iso;
-	packet.exposure_type = exposure_type;
-	packet.command_id = command_id;
-	packet.engine_cut_off = engine_cut_off;
-	packet.extra_param = extra_param;
-	packet.extra_value = extra_value;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)&packet, 15);
-#endif
-}
-
-#endif
-
-// MESSAGE DIGICAM_CONFIGURE UNPACKING
-
-
-/**
- * @brief Get field target_system from digicam_configure message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from digicam_configure message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field mode from digicam_configure message
- *
- * @return Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field shutter_speed from digicam_configure message
- *
- * @return Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- */
-static inline uint16_t mavlink_msg_digicam_configure_get_shutter_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  3);
-}
-
-/**
- * @brief Get field aperture from digicam_configure message
- *
- * @return F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_aperture(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field iso from digicam_configure message
- *
- * @return ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_iso(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field exposure_type from digicam_configure message
- *
- * @return Exposure type enumeration from 1 to N (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_exposure_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field command_id from digicam_configure message
- *
- * @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_command_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field engine_cut_off from digicam_configure message
- *
- * @return Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_engine_cut_off(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  9);
-}
-
-/**
- * @brief Get field extra_param from digicam_configure message
- *
- * @return Extra parameters enumeration (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_extra_param(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field extra_value from digicam_configure message
- *
- * @return Correspondent value to given extra_param
- */
-static inline float mavlink_msg_digicam_configure_get_extra_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  11);
-}
-
-/**
- * @brief Decode a digicam_configure message into a struct
- *
- * @param msg The message to decode
- * @param digicam_configure C-struct to decode the message contents into
- */
-static inline void mavlink_msg_digicam_configure_decode(const mavlink_message_t* msg, mavlink_digicam_configure_t* digicam_configure)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	digicam_configure->target_system = mavlink_msg_digicam_configure_get_target_system(msg);
-	digicam_configure->target_component = mavlink_msg_digicam_configure_get_target_component(msg);
-	digicam_configure->mode = mavlink_msg_digicam_configure_get_mode(msg);
-	digicam_configure->shutter_speed = mavlink_msg_digicam_configure_get_shutter_speed(msg);
-	digicam_configure->aperture = mavlink_msg_digicam_configure_get_aperture(msg);
-	digicam_configure->iso = mavlink_msg_digicam_configure_get_iso(msg);
-	digicam_configure->exposure_type = mavlink_msg_digicam_configure_get_exposure_type(msg);
-	digicam_configure->command_id = mavlink_msg_digicam_configure_get_command_id(msg);
-	digicam_configure->engine_cut_off = mavlink_msg_digicam_configure_get_engine_cut_off(msg);
-	digicam_configure->extra_param = mavlink_msg_digicam_configure_get_extra_param(msg);
-	digicam_configure->extra_value = mavlink_msg_digicam_configure_get_extra_value(msg);
-#else
-	memcpy(digicam_configure, _MAV_PAYLOAD(msg), 15);
-#endif
-}
@@ -1,342 +0,0 @@
-// MESSAGE DIGICAM_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_DIGICAM_CONTROL 155
-
-typedef struct __mavlink_digicam_control_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t session; ///< 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- uint8_t zoom_pos; ///< 1 to N //Zoom's absolute position (0 means ignore)
- int8_t zoom_step; ///< -100 to 100 //Zooming step value to offset zoom from the current position
- uint8_t focus_lock; ///< 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- uint8_t shot; ///< 0: ignore, 1: shot or start filming
- uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore)
- float extra_value; ///< Correspondent value to given extra_param
-} mavlink_digicam_control_t;
-
-#define MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN 13
-#define MAVLINK_MSG_ID_155_LEN 13
-
-
-
-#define MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL { \
-	"DIGICAM_CONTROL", \
-	10, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_digicam_control_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_digicam_control_t, target_component) }, \
-         { "session", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_digicam_control_t, session) }, \
-         { "zoom_pos", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_digicam_control_t, zoom_pos) }, \
-         { "zoom_step", NULL, MAVLINK_TYPE_INT8_T, 0, 4, offsetof(mavlink_digicam_control_t, zoom_step) }, \
-         { "focus_lock", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_control_t, focus_lock) }, \
-         { "shot", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_control_t, shot) }, \
-         { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_control_t, command_id) }, \
-         { "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_control_t, extra_param) }, \
-         { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_digicam_control_t, extra_value) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a digicam_control 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_system System ID
- * @param target_component Component ID
- * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
- * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
- * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- * @param shot 0: ignore, 1: shot or start filming
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[13];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, session);
-	_mav_put_uint8_t(buf, 3, zoom_pos);
-	_mav_put_int8_t(buf, 4, zoom_step);
-	_mav_put_uint8_t(buf, 5, focus_lock);
-	_mav_put_uint8_t(buf, 6, shot);
-	_mav_put_uint8_t(buf, 7, command_id);
-	_mav_put_uint8_t(buf, 8, extra_param);
-	_mav_put_float(buf, 9, extra_value);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 13);
-#else
-	mavlink_digicam_control_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.session = session;
-	packet.zoom_pos = zoom_pos;
-	packet.zoom_step = zoom_step;
-	packet.focus_lock = focus_lock;
-	packet.shot = shot;
-	packet.command_id = command_id;
-	packet.extra_param = extra_param;
-	packet.extra_value = extra_value;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 13);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
-	return mavlink_finalize_message(msg, system_id, component_id, 13);
-}
-
-/**
- * @brief Pack a digicam_control 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
- * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
- * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- * @param shot 0: ignore, 1: shot or start filming
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t session,uint8_t zoom_pos,int8_t zoom_step,uint8_t focus_lock,uint8_t shot,uint8_t command_id,uint8_t extra_param,float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[13];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, session);
-	_mav_put_uint8_t(buf, 3, zoom_pos);
-	_mav_put_int8_t(buf, 4, zoom_step);
-	_mav_put_uint8_t(buf, 5, focus_lock);
-	_mav_put_uint8_t(buf, 6, shot);
-	_mav_put_uint8_t(buf, 7, command_id);
-	_mav_put_uint8_t(buf, 8, extra_param);
-	_mav_put_float(buf, 9, extra_value);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 13);
-#else
-	mavlink_digicam_control_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.session = session;
-	packet.zoom_pos = zoom_pos;
-	packet.zoom_step = zoom_step;
-	packet.focus_lock = focus_lock;
-	packet.shot = shot;
-	packet.command_id = command_id;
-	packet.extra_param = extra_param;
-	packet.extra_value = extra_value;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 13);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 13);
-}
-
-/**
- * @brief Encode a digicam_control struct into a 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 digicam_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_digicam_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_control_t* digicam_control)
-{
-	return mavlink_msg_digicam_control_pack(system_id, component_id, msg, digicam_control->target_system, digicam_control->target_component, digicam_control->session, digicam_control->zoom_pos, digicam_control->zoom_step, digicam_control->focus_lock, digicam_control->shot, digicam_control->command_id, digicam_control->extra_param, digicam_control->extra_value);
-}
-
-/**
- * @brief Send a digicam_control message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
- * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
- * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- * @param shot 0: ignore, 1: shot or start filming
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_digicam_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[13];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, session);
-	_mav_put_uint8_t(buf, 3, zoom_pos);
-	_mav_put_int8_t(buf, 4, zoom_step);
-	_mav_put_uint8_t(buf, 5, focus_lock);
-	_mav_put_uint8_t(buf, 6, shot);
-	_mav_put_uint8_t(buf, 7, command_id);
-	_mav_put_uint8_t(buf, 8, extra_param);
-	_mav_put_float(buf, 9, extra_value);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, 13);
-#else
-	mavlink_digicam_control_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.session = session;
-	packet.zoom_pos = zoom_pos;
-	packet.zoom_step = zoom_step;
-	packet.focus_lock = focus_lock;
-	packet.shot = shot;
-	packet.command_id = command_id;
-	packet.extra_param = extra_param;
-	packet.extra_value = extra_value;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)&packet, 13);
-#endif
-}
-
-#endif
-
-// MESSAGE DIGICAM_CONTROL UNPACKING
-
-
-/**
- * @brief Get field target_system from digicam_control message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_digicam_control_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from digicam_control message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_digicam_control_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field session from digicam_control message
- *
- * @return 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- */
-static inline uint8_t mavlink_msg_digicam_control_get_session(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field zoom_pos from digicam_control message
- *
- * @return 1 to N //Zoom's absolute position (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_control_get_zoom_pos(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field zoom_step from digicam_control message
- *
- * @return -100 to 100 //Zooming step value to offset zoom from the current position
- */
-static inline int8_t mavlink_msg_digicam_control_get_zoom_step(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int8_t(msg,  4);
-}
-
-/**
- * @brief Get field focus_lock from digicam_control message
- *
- * @return 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- */
-static inline uint8_t mavlink_msg_digicam_control_get_focus_lock(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field shot from digicam_control message
- *
- * @return 0: ignore, 1: shot or start filming
- */
-static inline uint8_t mavlink_msg_digicam_control_get_shot(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field command_id from digicam_control message
- *
- * @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- */
-static inline uint8_t mavlink_msg_digicam_control_get_command_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field extra_param from digicam_control message
- *
- * @return Extra parameters enumeration (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_control_get_extra_param(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field extra_value from digicam_control message
- *
- * @return Correspondent value to given extra_param
- */
-static inline float mavlink_msg_digicam_control_get_extra_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  9);
-}
-
-/**
- * @brief Decode a digicam_control message into a struct
- *
- * @param msg The message to decode
- * @param digicam_control C-struct to decode the message contents into
- */
-static inline void mavlink_msg_digicam_control_decode(const mavlink_message_t* msg, mavlink_digicam_control_t* digicam_control)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	digicam_control->target_system = mavlink_msg_digicam_control_get_target_system(msg);
-	digicam_control->target_component = mavlink_msg_digicam_control_get_target_component(msg);
-	digicam_control->session = mavlink_msg_digicam_control_get_session(msg);
-	digicam_control->zoom_pos = mavlink_msg_digicam_control_get_zoom_pos(msg);
-	digicam_control->zoom_step = mavlink_msg_digicam_control_get_zoom_step(msg);
-	digicam_control->focus_lock = mavlink_msg_digicam_control_get_focus_lock(msg);
-	digicam_control->shot = mavlink_msg_digicam_control_get_shot(msg);
-	digicam_control->command_id = mavlink_msg_digicam_control_get_command_id(msg);
-	digicam_control->extra_param = mavlink_msg_digicam_control_get_extra_param(msg);
-	digicam_control->extra_value = mavlink_msg_digicam_control_get_extra_value(msg);
-#else
-	memcpy(digicam_control, _MAV_PAYLOAD(msg), 13);
-#endif
-}
@@ -1,188 +0,0 @@
-// MESSAGE FENCE_FETCH_POINT PACKING
-
-#define MAVLINK_MSG_ID_FENCE_FETCH_POINT 161
-
-typedef struct __mavlink_fence_fetch_point_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t idx; ///< point index (first point is 1, 0 is for return point)
-} mavlink_fence_fetch_point_t;
-
-#define MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN 3
-#define MAVLINK_MSG_ID_161_LEN 3
-
-
-
-#define MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT { \
-	"FENCE_FETCH_POINT", \
-	3, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_fetch_point_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_fetch_point_t, target_component) }, \
-         { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_fetch_point_t, idx) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a fence_fetch_point 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_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 3);
-#else
-	mavlink_fence_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
-	return mavlink_finalize_message(msg, system_id, component_id, 3);
-}
-
-/**
- * @brief Pack a fence_fetch_point 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 3);
-#else
-	mavlink_fence_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
-}
-
-/**
- * @brief Encode a fence_fetch_point struct into a 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 fence_fetch_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point)
-{
-	return mavlink_msg_fence_fetch_point_pack(system_id, component_id, msg, fence_fetch_point->target_system, fence_fetch_point->target_component, fence_fetch_point->idx);
-}
-
-/**
- * @brief Send a fence_fetch_point message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_fence_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, 3);
-#else
-	mavlink_fence_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, 3);
-#endif
-}
-
-#endif
-
-// MESSAGE FENCE_FETCH_POINT UNPACKING
-
-
-/**
- * @brief Get field target_system from fence_fetch_point message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_fence_fetch_point_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from fence_fetch_point message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_fence_fetch_point_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field idx from fence_fetch_point message
- *
- * @return point index (first point is 1, 0 is for return point)
- */
-static inline uint8_t mavlink_msg_fence_fetch_point_get_idx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a fence_fetch_point message into a struct
- *
- * @param msg The message to decode
- * @param fence_fetch_point C-struct to decode the message contents into
- */
-static inline void mavlink_msg_fence_fetch_point_decode(const mavlink_message_t* msg, mavlink_fence_fetch_point_t* fence_fetch_point)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	fence_fetch_point->target_system = mavlink_msg_fence_fetch_point_get_target_system(msg);
-	fence_fetch_point->target_component = mavlink_msg_fence_fetch_point_get_target_component(msg);
-	fence_fetch_point->idx = mavlink_msg_fence_fetch_point_get_idx(msg);
-#else
-	memcpy(fence_fetch_point, _MAV_PAYLOAD(msg), 3);
-#endif
-}
@@ -1,254 +0,0 @@
-// MESSAGE FENCE_POINT PACKING
-
-#define MAVLINK_MSG_ID_FENCE_POINT 160
-
-typedef struct __mavlink_fence_point_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t idx; ///< point index (first point is 1, 0 is for return point)
- uint8_t count; ///< total number of points (for sanity checking)
- float lat; ///< Latitude of point
- float lng; ///< Longitude of point
-} mavlink_fence_point_t;
-
-#define MAVLINK_MSG_ID_FENCE_POINT_LEN 12
-#define MAVLINK_MSG_ID_160_LEN 12
-
-
-
-#define MAVLINK_MESSAGE_INFO_FENCE_POINT { \
-	"FENCE_POINT", \
-	6, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_point_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_point_t, target_component) }, \
-         { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_point_t, idx) }, \
-         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_fence_point_t, count) }, \
-         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fence_point_t, lat) }, \
-         { "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fence_point_t, lng) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a fence_point 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_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-	_mav_put_uint8_t(buf, 3, count);
-	_mav_put_float(buf, 4, lat);
-	_mav_put_float(buf, 8, lng);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 12);
-#else
-	mavlink_fence_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-	packet.lat = lat;
-	packet.lng = lng;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
-	return mavlink_finalize_message(msg, system_id, component_id, 12);
-}
-
-/**
- * @brief Pack a fence_point 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,float lat,float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-	_mav_put_uint8_t(buf, 3, count);
-	_mav_put_float(buf, 4, lat);
-	_mav_put_float(buf, 8, lng);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 12);
-#else
-	mavlink_fence_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-	packet.lat = lat;
-	packet.lng = lng;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
-}
-
-/**
- * @brief Encode a fence_point struct into a 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 fence_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point)
-{
-	return mavlink_msg_fence_point_pack(system_id, component_id, msg, fence_point->target_system, fence_point->target_component, fence_point->idx, fence_point->count, fence_point->lat, fence_point->lng);
-}
-
-/**
- * @brief Send a fence_point message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_fence_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-	_mav_put_uint8_t(buf, 3, count);
-	_mav_put_float(buf, 4, lat);
-	_mav_put_float(buf, 8, lng);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, 12);
-#else
-	mavlink_fence_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-	packet.lat = lat;
-	packet.lng = lng;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)&packet, 12);
-#endif
-}
-
-#endif
-
-// MESSAGE FENCE_POINT UNPACKING
-
-
-/**
- * @brief Get field target_system from fence_point message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_fence_point_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from fence_point message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_fence_point_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field idx from fence_point message
- *
- * @return point index (first point is 1, 0 is for return point)
- */
-static inline uint8_t mavlink_msg_fence_point_get_idx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field count from fence_point message
- *
- * @return total number of points (for sanity checking)
- */
-static inline uint8_t mavlink_msg_fence_point_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field lat from fence_point message
- *
- * @return Latitude of point
- */
-static inline float mavlink_msg_fence_point_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field lng from fence_point message
- *
- * @return Longitude of point
- */
-static inline float mavlink_msg_fence_point_get_lng(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Decode a fence_point message into a struct
- *
- * @param msg The message to decode
- * @param fence_point C-struct to decode the message contents into
- */
-static inline void mavlink_msg_fence_point_decode(const mavlink_message_t* msg, mavlink_fence_point_t* fence_point)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	fence_point->target_system = mavlink_msg_fence_point_get_target_system(msg);
-	fence_point->target_component = mavlink_msg_fence_point_get_target_component(msg);
-	fence_point->idx = mavlink_msg_fence_point_get_idx(msg);
-	fence_point->count = mavlink_msg_fence_point_get_count(msg);
-	fence_point->lat = mavlink_msg_fence_point_get_lat(msg);
-	fence_point->lng = mavlink_msg_fence_point_get_lng(msg);
-#else
-	memcpy(fence_point, _MAV_PAYLOAD(msg), 12);
-#endif
-}
@@ -1,210 +0,0 @@
-// MESSAGE FENCE_STATUS PACKING
-
-#define MAVLINK_MSG_ID_FENCE_STATUS 162
-
-typedef struct __mavlink_fence_status_t
-{
- uint8_t breach_status; ///< 0 if currently inside fence, 1 if outside
- uint16_t breach_count; ///< number of fence breaches
- uint8_t breach_type; ///< last breach type (see FENCE_BREACH_* enum)
- uint32_t breach_time; ///< time of last breach in milliseconds since boot
-} mavlink_fence_status_t;
-
-#define MAVLINK_MSG_ID_FENCE_STATUS_LEN 8
-#define MAVLINK_MSG_ID_162_LEN 8
-
-
-
-#define MAVLINK_MESSAGE_INFO_FENCE_STATUS { \
-	"FENCE_STATUS", \
-	4, \
-	{  { "breach_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_status_t, breach_status) }, \
-         { "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 1, offsetof(mavlink_fence_status_t, breach_count) }, \
-         { "breach_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_fence_status_t, breach_type) }, \
-         { "breach_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_fence_status_t, breach_time) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a fence_status 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 breach_status 0 if currently inside fence, 1 if outside
- * @param breach_count number of fence breaches
- * @param breach_type last breach type (see FENCE_BREACH_* enum)
- * @param breach_time time of last breach in milliseconds since boot
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, breach_status);
-	_mav_put_uint16_t(buf, 1, breach_count);
-	_mav_put_uint8_t(buf, 3, breach_type);
-	_mav_put_uint32_t(buf, 4, breach_time);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
-#else
-	mavlink_fence_status_t packet;
-	packet.breach_status = breach_status;
-	packet.breach_count = breach_count;
-	packet.breach_type = breach_type;
-	packet.breach_time = breach_time;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
-	return mavlink_finalize_message(msg, system_id, component_id, 8);
-}
-
-/**
- * @brief Pack a fence_status 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param breach_status 0 if currently inside fence, 1 if outside
- * @param breach_count number of fence breaches
- * @param breach_type last breach type (see FENCE_BREACH_* enum)
- * @param breach_time time of last breach in milliseconds since boot
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t breach_status,uint16_t breach_count,uint8_t breach_type,uint32_t breach_time)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, breach_status);
-	_mav_put_uint16_t(buf, 1, breach_count);
-	_mav_put_uint8_t(buf, 3, breach_type);
-	_mav_put_uint32_t(buf, 4, breach_time);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
-#else
-	mavlink_fence_status_t packet;
-	packet.breach_status = breach_status;
-	packet.breach_count = breach_count;
-	packet.breach_type = breach_type;
-	packet.breach_time = breach_time;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
-}
-
-/**
- * @brief Encode a fence_status struct into a 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 fence_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
-{
-	return mavlink_msg_fence_status_pack(system_id, component_id, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
-}
-
-/**
- * @brief Send a fence_status message
- * @param chan MAVLink channel to send the message
- *
- * @param breach_status 0 if currently inside fence, 1 if outside
- * @param breach_count number of fence breaches
- * @param breach_type last breach type (see FENCE_BREACH_* enum)
- * @param breach_time time of last breach in milliseconds since boot
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_fence_status_send(mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, breach_status);
-	_mav_put_uint16_t(buf, 1, breach_count);
-	_mav_put_uint8_t(buf, 3, breach_type);
-	_mav_put_uint32_t(buf, 4, breach_time);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, 8);
-#else
-	mavlink_fence_status_t packet;
-	packet.breach_status = breach_status;
-	packet.breach_count = breach_count;
-	packet.breach_type = breach_type;
-	packet.breach_time = breach_time;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, 8);
-#endif
-}
-
-#endif
-
-// MESSAGE FENCE_STATUS UNPACKING
-
-
-/**
- * @brief Get field breach_status from fence_status message
- *
- * @return 0 if currently inside fence, 1 if outside
- */
-static inline uint8_t mavlink_msg_fence_status_get_breach_status(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field breach_count from fence_status message
- *
- * @return number of fence breaches
- */
-static inline uint16_t mavlink_msg_fence_status_get_breach_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  1);
-}
-
-/**
- * @brief Get field breach_type from fence_status message
- *
- * @return last breach type (see FENCE_BREACH_* enum)
- */
-static inline uint8_t mavlink_msg_fence_status_get_breach_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field breach_time from fence_status message
- *
- * @return time of last breach in milliseconds since boot
- */
-static inline uint32_t mavlink_msg_fence_status_get_breach_time(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  4);
-}
-
-/**
- * @brief Decode a fence_status message into a struct
- *
- * @param msg The message to decode
- * @param fence_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_fence_status_decode(const mavlink_message_t* msg, mavlink_fence_status_t* fence_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	fence_status->breach_status = mavlink_msg_fence_status_get_breach_status(msg);
-	fence_status->breach_count = mavlink_msg_fence_status_get_breach_count(msg);
-	fence_status->breach_type = mavlink_msg_fence_status_get_breach_type(msg);
-	fence_status->breach_time = mavlink_msg_fence_status_get_breach_time(msg);
-#else
-	memcpy(fence_status, _MAV_PAYLOAD(msg), 8);
-#endif
-}
@@ -1,144 +0,0 @@
-// MESSAGE FENCED_FETCH_POINT PACKING
-
-#define MAVLINK_MSG_ID_FENCED_FETCH_POINT 161
-
-typedef struct __mavlink_fenced_fetch_point_t
-{
- uint8_t idx; ///< point index (first point is 1, 0 is for return point)
-} mavlink_fenced_fetch_point_t;
-
-#define MAVLINK_MSG_ID_FENCED_FETCH_POINT_LEN 1
-#define MAVLINK_MSG_ID_161_LEN 1
-
-
-
-#define MAVLINK_MESSAGE_INFO_FENCED_FETCH_POINT { \
-	"FENCED_FETCH_POINT", \
-	1, \
-	{  { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fenced_fetch_point_t, idx) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a fenced_fetch_point 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 idx point index (first point is 1, 0 is for return point)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fenced_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[1];
-	_mav_put_uint8_t(buf, 0, idx);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 1);
-#else
-	mavlink_fenced_fetch_point_t packet;
-	packet.idx = idx;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 1);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCED_FETCH_POINT;
-	return mavlink_finalize_message(msg, system_id, component_id, 1);
-}
-
-/**
- * @brief Pack a fenced_fetch_point 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param idx point index (first point is 1, 0 is for return point)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fenced_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[1];
-	_mav_put_uint8_t(buf, 0, idx);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 1);
-#else
-	mavlink_fenced_fetch_point_t packet;
-	packet.idx = idx;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 1);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCED_FETCH_POINT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 1);
-}
-
-/**
- * @brief Encode a fenced_fetch_point struct into a 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 fenced_fetch_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fenced_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fenced_fetch_point_t* fenced_fetch_point)
-{
-	return mavlink_msg_fenced_fetch_point_pack(system_id, component_id, msg, fenced_fetch_point->idx);
-}
-
-/**
- * @brief Send a fenced_fetch_point message
- * @param chan MAVLink channel to send the message
- *
- * @param idx point index (first point is 1, 0 is for return point)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_fenced_fetch_point_send(mavlink_channel_t chan, uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[1];
-	_mav_put_uint8_t(buf, 0, idx);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_FETCH_POINT, buf, 1);
-#else
-	mavlink_fenced_fetch_point_t packet;
-	packet.idx = idx;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_FETCH_POINT, (const char *)&packet, 1);
-#endif
-}
-
-#endif
-
-// MESSAGE FENCED_FETCH_POINT UNPACKING
-
-
-/**
- * @brief Get field idx from fenced_fetch_point message
- *
- * @return point index (first point is 1, 0 is for return point)
- */
-static inline uint8_t mavlink_msg_fenced_fetch_point_get_idx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Decode a fenced_fetch_point message into a struct
- *
- * @param msg The message to decode
- * @param fenced_fetch_point C-struct to decode the message contents into
- */
-static inline void mavlink_msg_fenced_fetch_point_decode(const mavlink_message_t* msg, mavlink_fenced_fetch_point_t* fenced_fetch_point)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	fenced_fetch_point->idx = mavlink_msg_fenced_fetch_point_get_idx(msg);
-#else
-	memcpy(fenced_fetch_point, _MAV_PAYLOAD(msg), 1);
-#endif
-}
@@ -1,210 +0,0 @@
-// MESSAGE FENCED_POINT PACKING
-
-#define MAVLINK_MSG_ID_FENCED_POINT 160
-
-typedef struct __mavlink_fenced_point_t
-{
- uint8_t idx; ///< point index (first point is 1, 0 is for return point)
- uint8_t count; ///< total number of points (for sanity checking)
- float lat; ///< Latitude of point
- float lng; ///< Longitude of point
-} mavlink_fenced_point_t;
-
-#define MAVLINK_MSG_ID_FENCED_POINT_LEN 10
-#define MAVLINK_MSG_ID_160_LEN 10
-
-
-
-#define MAVLINK_MESSAGE_INFO_FENCED_POINT { \
-	"FENCED_POINT", \
-	4, \
-	{  { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fenced_point_t, idx) }, \
-         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fenced_point_t, count) }, \
-         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_fenced_point_t, lat) }, \
-         { "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_fenced_point_t, lng) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a fenced_point 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 idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fenced_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t idx, uint8_t count, float lat, float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[10];
-	_mav_put_uint8_t(buf, 0, idx);
-	_mav_put_uint8_t(buf, 1, count);
-	_mav_put_float(buf, 2, lat);
-	_mav_put_float(buf, 6, lng);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 10);
-#else
-	mavlink_fenced_point_t packet;
-	packet.idx = idx;
-	packet.count = count;
-	packet.lat = lat;
-	packet.lng = lng;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 10);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCED_POINT;
-	return mavlink_finalize_message(msg, system_id, component_id, 10);
-}
-
-/**
- * @brief Pack a fenced_point 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fenced_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t idx,uint8_t count,float lat,float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[10];
-	_mav_put_uint8_t(buf, 0, idx);
-	_mav_put_uint8_t(buf, 1, count);
-	_mav_put_float(buf, 2, lat);
-	_mav_put_float(buf, 6, lng);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 10);
-#else
-	mavlink_fenced_point_t packet;
-	packet.idx = idx;
-	packet.count = count;
-	packet.lat = lat;
-	packet.lng = lng;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 10);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCED_POINT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 10);
-}
-
-/**
- * @brief Encode a fenced_point struct into a 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 fenced_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fenced_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fenced_point_t* fenced_point)
-{
-	return mavlink_msg_fenced_point_pack(system_id, component_id, msg, fenced_point->idx, fenced_point->count, fenced_point->lat, fenced_point->lng);
-}
-
-/**
- * @brief Send a fenced_point message
- * @param chan MAVLink channel to send the message
- *
- * @param idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_fenced_point_send(mavlink_channel_t chan, uint8_t idx, uint8_t count, float lat, float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[10];
-	_mav_put_uint8_t(buf, 0, idx);
-	_mav_put_uint8_t(buf, 1, count);
-	_mav_put_float(buf, 2, lat);
-	_mav_put_float(buf, 6, lng);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_POINT, buf, 10);
-#else
-	mavlink_fenced_point_t packet;
-	packet.idx = idx;
-	packet.count = count;
-	packet.lat = lat;
-	packet.lng = lng;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_POINT, (const char *)&packet, 10);
-#endif
-}
-
-#endif
-
-// MESSAGE FENCED_POINT UNPACKING
-
-
-/**
- * @brief Get field idx from fenced_point message
- *
- * @return point index (first point is 1, 0 is for return point)
- */
-static inline uint8_t mavlink_msg_fenced_point_get_idx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field count from fenced_point message
- *
- * @return total number of points (for sanity checking)
- */
-static inline uint8_t mavlink_msg_fenced_point_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field lat from fenced_point message
- *
- * @return Latitude of point
- */
-static inline float mavlink_msg_fenced_point_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  2);
-}
-
-/**
- * @brief Get field lng from fenced_point message
- *
- * @return Longitude of point
- */
-static inline float mavlink_msg_fenced_point_get_lng(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  6);
-}
-
-/**
- * @brief Decode a fenced_point message into a struct
- *
- * @param msg The message to decode
- * @param fenced_point C-struct to decode the message contents into
- */
-static inline void mavlink_msg_fenced_point_decode(const mavlink_message_t* msg, mavlink_fenced_point_t* fenced_point)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	fenced_point->idx = mavlink_msg_fenced_point_get_idx(msg);
-	fenced_point->count = mavlink_msg_fenced_point_get_count(msg);
-	fenced_point->lat = mavlink_msg_fenced_point_get_lat(msg);
-	fenced_point->lng = mavlink_msg_fenced_point_get_lng(msg);
-#else
-	memcpy(fenced_point, _MAV_PAYLOAD(msg), 10);
-#endif
-}
@@ -1,166 +0,0 @@
-// MESSAGE MEMINFO PACKING
-
-#define MAVLINK_MSG_ID_MEMINFO 152
-
-typedef struct __mavlink_meminfo_t
-{
- uint16_t brkval; ///< heap top
- uint16_t freemem; ///< free memory
-} mavlink_meminfo_t;
-
-#define MAVLINK_MSG_ID_MEMINFO_LEN 4
-#define MAVLINK_MSG_ID_152_LEN 4
-
-
-
-#define MAVLINK_MESSAGE_INFO_MEMINFO { \
-	"MEMINFO", \
-	2, \
-	{  { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \
-         { "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a meminfo 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 brkval heap top
- * @param freemem free memory
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t brkval, uint16_t freemem)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_uint16_t(buf, 0, brkval);
-	_mav_put_uint16_t(buf, 2, freemem);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 4);
-#else
-	mavlink_meminfo_t packet;
-	packet.brkval = brkval;
-	packet.freemem = freemem;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 4);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MEMINFO;
-	return mavlink_finalize_message(msg, system_id, component_id, 4);
-}
-
-/**
- * @brief Pack a meminfo 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param brkval heap top
- * @param freemem free memory
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t brkval,uint16_t freemem)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_uint16_t(buf, 0, brkval);
-	_mav_put_uint16_t(buf, 2, freemem);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 4);
-#else
-	mavlink_meminfo_t packet;
-	packet.brkval = brkval;
-	packet.freemem = freemem;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 4);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MEMINFO;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
-}
-
-/**
- * @brief Encode a meminfo struct into a 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 meminfo C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
-{
-	return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem);
-}
-
-/**
- * @brief Send a meminfo message
- * @param chan MAVLink channel to send the message
- *
- * @param brkval heap top
- * @param freemem free memory
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_uint16_t(buf, 0, brkval);
-	_mav_put_uint16_t(buf, 2, freemem);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, 4);
-#else
-	mavlink_meminfo_t packet;
-	packet.brkval = brkval;
-	packet.freemem = freemem;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, 4);
-#endif
-}
-
-#endif
-
-// MESSAGE MEMINFO UNPACKING
-
-
-/**
- * @brief Get field brkval from meminfo message
- *
- * @return heap top
- */
-static inline uint16_t mavlink_msg_meminfo_get_brkval(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field freemem from meminfo message
- *
- * @return free memory
- */
-static inline uint16_t mavlink_msg_meminfo_get_freemem(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Decode a meminfo message into a struct
- *
- * @param msg The message to decode
- * @param meminfo C-struct to decode the message contents into
- */
-static inline void mavlink_msg_meminfo_decode(const mavlink_message_t* msg, mavlink_meminfo_t* meminfo)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	meminfo->brkval = mavlink_msg_meminfo_get_brkval(msg);
-	meminfo->freemem = mavlink_msg_meminfo_get_freemem(msg);
-#else
-	memcpy(meminfo, _MAV_PAYLOAD(msg), 4);
-#endif
-}
@@ -1,254 +0,0 @@
-// MESSAGE MOUNT_CONFIGURE PACKING
-
-#define MAVLINK_MSG_ID_MOUNT_CONFIGURE 156
-
-typedef struct __mavlink_mount_configure_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t mount_mode; ///< mount operating mode (see MAV_MOUNT_MODE enum)
- uint8_t stab_roll; ///< (1 = yes, 0 = no)
- uint8_t stab_pitch; ///< (1 = yes, 0 = no)
- uint8_t stab_yaw; ///< (1 = yes, 0 = no)
-} mavlink_mount_configure_t;
-
-#define MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN 6
-#define MAVLINK_MSG_ID_156_LEN 6
-
-
-
-#define MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE { \
-	"MOUNT_CONFIGURE", \
-	6, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_configure_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_configure_t, target_component) }, \
-         { "mount_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mount_configure_t, mount_mode) }, \
-         { "stab_roll", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mount_configure_t, stab_roll) }, \
-         { "stab_pitch", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mount_configure_t, stab_pitch) }, \
-         { "stab_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mount_configure_t, stab_yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mount_configure 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_system System ID
- * @param target_component Component ID
- * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
- * @param stab_roll (1 = yes, 0 = no)
- * @param stab_pitch (1 = yes, 0 = no)
- * @param stab_yaw (1 = yes, 0 = no)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[6];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mount_mode);
-	_mav_put_uint8_t(buf, 3, stab_roll);
-	_mav_put_uint8_t(buf, 4, stab_pitch);
-	_mav_put_uint8_t(buf, 5, stab_yaw);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 6);
-#else
-	mavlink_mount_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mount_mode = mount_mode;
-	packet.stab_roll = stab_roll;
-	packet.stab_pitch = stab_pitch;
-	packet.stab_yaw = stab_yaw;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 6);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
-	return mavlink_finalize_message(msg, system_id, component_id, 6);
-}
-
-/**
- * @brief Pack a mount_configure 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
- * @param stab_roll (1 = yes, 0 = no)
- * @param stab_pitch (1 = yes, 0 = no)
- * @param stab_yaw (1 = yes, 0 = no)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t mount_mode,uint8_t stab_roll,uint8_t stab_pitch,uint8_t stab_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[6];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mount_mode);
-	_mav_put_uint8_t(buf, 3, stab_roll);
-	_mav_put_uint8_t(buf, 4, stab_pitch);
-	_mav_put_uint8_t(buf, 5, stab_yaw);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 6);
-#else
-	mavlink_mount_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mount_mode = mount_mode;
-	packet.stab_roll = stab_roll;
-	packet.stab_pitch = stab_pitch;
-	packet.stab_yaw = stab_yaw;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 6);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6);
-}
-
-/**
- * @brief Encode a mount_configure struct into a 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 mount_configure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_configure_t* mount_configure)
-{
-	return mavlink_msg_mount_configure_pack(system_id, component_id, msg, mount_configure->target_system, mount_configure->target_component, mount_configure->mount_mode, mount_configure->stab_roll, mount_configure->stab_pitch, mount_configure->stab_yaw);
-}
-
-/**
- * @brief Send a mount_configure message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
- * @param stab_roll (1 = yes, 0 = no)
- * @param stab_pitch (1 = yes, 0 = no)
- * @param stab_yaw (1 = yes, 0 = no)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mount_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[6];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mount_mode);
-	_mav_put_uint8_t(buf, 3, stab_roll);
-	_mav_put_uint8_t(buf, 4, stab_pitch);
-	_mav_put_uint8_t(buf, 5, stab_yaw);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, 6);
-#else
-	mavlink_mount_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mount_mode = mount_mode;
-	packet.stab_roll = stab_roll;
-	packet.stab_pitch = stab_pitch;
-	packet.stab_yaw = stab_yaw;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)&packet, 6);
-#endif
-}
-
-#endif
-
-// MESSAGE MOUNT_CONFIGURE UNPACKING
-
-
-/**
- * @brief Get field target_system from mount_configure message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mount_configure_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from mount_configure message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mount_configure_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field mount_mode from mount_configure message
- *
- * @return mount operating mode (see MAV_MOUNT_MODE enum)
- */
-static inline uint8_t mavlink_msg_mount_configure_get_mount_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field stab_roll from mount_configure message
- *
- * @return (1 = yes, 0 = no)
- */
-static inline uint8_t mavlink_msg_mount_configure_get_stab_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field stab_pitch from mount_configure message
- *
- * @return (1 = yes, 0 = no)
- */
-static inline uint8_t mavlink_msg_mount_configure_get_stab_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field stab_yaw from mount_configure message
- *
- * @return (1 = yes, 0 = no)
- */
-static inline uint8_t mavlink_msg_mount_configure_get_stab_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Decode a mount_configure message into a struct
- *
- * @param msg The message to decode
- * @param mount_configure C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mount_configure_decode(const mavlink_message_t* msg, mavlink_mount_configure_t* mount_configure)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mount_configure->target_system = mavlink_msg_mount_configure_get_target_system(msg);
-	mount_configure->target_component = mavlink_msg_mount_configure_get_target_component(msg);
-	mount_configure->mount_mode = mavlink_msg_mount_configure_get_mount_mode(msg);
-	mount_configure->stab_roll = mavlink_msg_mount_configure_get_stab_roll(msg);
-	mount_configure->stab_pitch = mavlink_msg_mount_configure_get_stab_pitch(msg);
-	mount_configure->stab_yaw = mavlink_msg_mount_configure_get_stab_yaw(msg);
-#else
-	memcpy(mount_configure, _MAV_PAYLOAD(msg), 6);
-#endif
-}
@@ -1,254 +0,0 @@
-// MESSAGE MOUNT_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_MOUNT_CONTROL 157
-
-typedef struct __mavlink_mount_control_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- int32_t input_a; ///< pitch(deg*100) or lat, depending on mount mode
- int32_t input_b; ///< roll(deg*100) or lon depending on mount mode
- int32_t input_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode
- uint8_t save_position; ///< if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
-} mavlink_mount_control_t;
-
-#define MAVLINK_MSG_ID_MOUNT_CONTROL_LEN 15
-#define MAVLINK_MSG_ID_157_LEN 15
-
-
-
-#define MAVLINK_MESSAGE_INFO_MOUNT_CONTROL { \
-	"MOUNT_CONTROL", \
-	6, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_control_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_control_t, target_component) }, \
-         { "input_a", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_mount_control_t, input_a) }, \
-         { "input_b", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_mount_control_t, input_b) }, \
-         { "input_c", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_mount_control_t, input_c) }, \
-         { "save_position", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_mount_control_t, save_position) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mount_control 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_system System ID
- * @param target_component Component ID
- * @param input_a pitch(deg*100) or lat, depending on mount mode
- * @param input_b roll(deg*100) or lon depending on mount mode
- * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[15];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, input_a);
-	_mav_put_int32_t(buf, 6, input_b);
-	_mav_put_int32_t(buf, 10, input_c);
-	_mav_put_uint8_t(buf, 14, save_position);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 15);
-#else
-	mavlink_mount_control_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.input_a = input_a;
-	packet.input_b = input_b;
-	packet.input_c = input_c;
-	packet.save_position = save_position;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 15);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
-	return mavlink_finalize_message(msg, system_id, component_id, 15);
-}
-
-/**
- * @brief Pack a mount_control 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param input_a pitch(deg*100) or lat, depending on mount mode
- * @param input_b roll(deg*100) or lon depending on mount mode
- * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int32_t input_a,int32_t input_b,int32_t input_c,uint8_t save_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[15];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, input_a);
-	_mav_put_int32_t(buf, 6, input_b);
-	_mav_put_int32_t(buf, 10, input_c);
-	_mav_put_uint8_t(buf, 14, save_position);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 15);
-#else
-	mavlink_mount_control_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.input_a = input_a;
-	packet.input_b = input_b;
-	packet.input_c = input_c;
-	packet.save_position = save_position;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 15);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15);
-}
-
-/**
- * @brief Encode a mount_control struct into a 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 mount_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
-{
-	return mavlink_msg_mount_control_pack(system_id, component_id, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
-}
-
-/**
- * @brief Send a mount_control message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param input_a pitch(deg*100) or lat, depending on mount mode
- * @param input_b roll(deg*100) or lon depending on mount mode
- * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mount_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[15];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, input_a);
-	_mav_put_int32_t(buf, 6, input_b);
-	_mav_put_int32_t(buf, 10, input_c);
-	_mav_put_uint8_t(buf, 14, save_position);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, 15);
-#else
-	mavlink_mount_control_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.input_a = input_a;
-	packet.input_b = input_b;
-	packet.input_c = input_c;
-	packet.save_position = save_position;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, 15);
-#endif
-}
-
-#endif
-
-// MESSAGE MOUNT_CONTROL UNPACKING
-
-
-/**
- * @brief Get field target_system from mount_control message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mount_control_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from mount_control message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mount_control_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field input_a from mount_control message
- *
- * @return pitch(deg*100) or lat, depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_control_get_input_a(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  2);
-}
-
-/**
- * @brief Get field input_b from mount_control message
- *
- * @return roll(deg*100) or lon depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_control_get_input_b(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  6);
-}
-
-/**
- * @brief Get field input_c from mount_control message
- *
- * @return yaw(deg*100) or alt (in cm) depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_control_get_input_c(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  10);
-}
-
-/**
- * @brief Get field save_position from mount_control message
- *
- * @return if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
- */
-static inline uint8_t mavlink_msg_mount_control_get_save_position(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  14);
-}
-
-/**
- * @brief Decode a mount_control message into a struct
- *
- * @param msg The message to decode
- * @param mount_control C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mount_control_decode(const mavlink_message_t* msg, mavlink_mount_control_t* mount_control)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mount_control->target_system = mavlink_msg_mount_control_get_target_system(msg);
-	mount_control->target_component = mavlink_msg_mount_control_get_target_component(msg);
-	mount_control->input_a = mavlink_msg_mount_control_get_input_a(msg);
-	mount_control->input_b = mavlink_msg_mount_control_get_input_b(msg);
-	mount_control->input_c = mavlink_msg_mount_control_get_input_c(msg);
-	mount_control->save_position = mavlink_msg_mount_control_get_save_position(msg);
-#else
-	memcpy(mount_control, _MAV_PAYLOAD(msg), 15);
-#endif
-}
@@ -1,232 +0,0 @@
-// MESSAGE MOUNT_STATUS PACKING
-
-#define MAVLINK_MSG_ID_MOUNT_STATUS 158
-
-typedef struct __mavlink_mount_status_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- int32_t pointing_a; ///< pitch(deg*100) or lat, depending on mount mode
- int32_t pointing_b; ///< roll(deg*100) or lon depending on mount mode
- int32_t pointing_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode
-} mavlink_mount_status_t;
-
-#define MAVLINK_MSG_ID_MOUNT_STATUS_LEN 14
-#define MAVLINK_MSG_ID_158_LEN 14
-
-
-
-#define MAVLINK_MESSAGE_INFO_MOUNT_STATUS { \
-	"MOUNT_STATUS", \
-	5, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_status_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_status_t, target_component) }, \
-         { "pointing_a", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_mount_status_t, pointing_a) }, \
-         { "pointing_b", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_mount_status_t, pointing_b) }, \
-         { "pointing_c", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_mount_status_t, pointing_c) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mount_status 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_system System ID
- * @param target_component Component ID
- * @param pointing_a pitch(deg*100) or lat, depending on mount mode
- * @param pointing_b roll(deg*100) or lon depending on mount mode
- * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[14];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, pointing_a);
-	_mav_put_int32_t(buf, 6, pointing_b);
-	_mav_put_int32_t(buf, 10, pointing_c);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 14);
-#else
-	mavlink_mount_status_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.pointing_a = pointing_a;
-	packet.pointing_b = pointing_b;
-	packet.pointing_c = pointing_c;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 14);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
-	return mavlink_finalize_message(msg, system_id, component_id, 14);
-}
-
-/**
- * @brief Pack a mount_status 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param pointing_a pitch(deg*100) or lat, depending on mount mode
- * @param pointing_b roll(deg*100) or lon depending on mount mode
- * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int32_t pointing_a,int32_t pointing_b,int32_t pointing_c)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[14];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, pointing_a);
-	_mav_put_int32_t(buf, 6, pointing_b);
-	_mav_put_int32_t(buf, 10, pointing_c);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 14);
-#else
-	mavlink_mount_status_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.pointing_a = pointing_a;
-	packet.pointing_b = pointing_b;
-	packet.pointing_c = pointing_c;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 14);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
-}
-
-/**
- * @brief Encode a mount_status struct into a 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 mount_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_status_t* mount_status)
-{
-	return mavlink_msg_mount_status_pack(system_id, component_id, msg, mount_status->target_system, mount_status->target_component, mount_status->pointing_a, mount_status->pointing_b, mount_status->pointing_c);
-}
-
-/**
- * @brief Send a mount_status message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param pointing_a pitch(deg*100) or lat, depending on mount mode
- * @param pointing_b roll(deg*100) or lon depending on mount mode
- * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mount_status_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[14];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, pointing_a);
-	_mav_put_int32_t(buf, 6, pointing_b);
-	_mav_put_int32_t(buf, 10, pointing_c);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, 14);
-#else
-	mavlink_mount_status_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.pointing_a = pointing_a;
-	packet.pointing_b = pointing_b;
-	packet.pointing_c = pointing_c;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)&packet, 14);
-#endif
-}
-
-#endif
-
-// MESSAGE MOUNT_STATUS UNPACKING
-
-
-/**
- * @brief Get field target_system from mount_status message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mount_status_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from mount_status message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mount_status_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field pointing_a from mount_status message
- *
- * @return pitch(deg*100) or lat, depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_status_get_pointing_a(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  2);
-}
-
-/**
- * @brief Get field pointing_b from mount_status message
- *
- * @return roll(deg*100) or lon depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_status_get_pointing_b(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  6);
-}
-
-/**
- * @brief Get field pointing_c from mount_status message
- *
- * @return yaw(deg*100) or alt (in cm) depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_status_get_pointing_c(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  10);
-}
-
-/**
- * @brief Decode a mount_status message into a struct
- *
- * @param msg The message to decode
- * @param mount_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mount_status_decode(const mavlink_message_t* msg, mavlink_mount_status_t* mount_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mount_status->target_system = mavlink_msg_mount_status_get_target_system(msg);
-	mount_status->target_component = mavlink_msg_mount_status_get_target_component(msg);
-	mount_status->pointing_a = mavlink_msg_mount_status_get_pointing_a(msg);
-	mount_status->pointing_b = mavlink_msg_mount_status_get_pointing_b(msg);
-	mount_status->pointing_c = mavlink_msg_mount_status_get_pointing_c(msg);
-#else
-	memcpy(mount_status, _MAV_PAYLOAD(msg), 14);
-#endif
-}
@@ -1,386 +0,0 @@
-// MESSAGE SENSOR_OFFSETS PACKING
-
-#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
-
-typedef struct __mavlink_sensor_offsets_t
-{
- int16_t mag_ofs_x; ///< magnetometer X offset
- int16_t mag_ofs_y; ///< magnetometer Y offset
- int16_t mag_ofs_z; ///< magnetometer Z offset
- float mag_declination; ///< magnetic declination (radians)
- int32_t raw_press; ///< raw pressure from barometer
- int32_t raw_temp; ///< raw temperature from barometer
- float gyro_cal_x; ///< gyro X calibration
- float gyro_cal_y; ///< gyro Y calibration
- float gyro_cal_z; ///< gyro Z calibration
- float accel_cal_x; ///< accel X calibration
- float accel_cal_y; ///< accel Y calibration
- float accel_cal_z; ///< accel Z calibration
-} mavlink_sensor_offsets_t;
-
-#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42
-#define MAVLINK_MSG_ID_150_LEN 42
-
-
-
-#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \
-	"SENSOR_OFFSETS", \
-	12, \
-	{  { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \
-         { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \
-         { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \
-         { "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \
-         { "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_sensor_offsets_t, raw_press) }, \
-         { "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 14, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \
-         { "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \
-         { "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \
-         { "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \
-         { "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 30, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \
-         { "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 34, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \
-         { "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 38, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a sensor_offsets 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 mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @param mag_declination magnetic declination (radians)
- * @param raw_press raw pressure from barometer
- * @param raw_temp raw temperature from barometer
- * @param gyro_cal_x gyro X calibration
- * @param gyro_cal_y gyro Y calibration
- * @param gyro_cal_z gyro Z calibration
- * @param accel_cal_x accel X calibration
- * @param accel_cal_y accel Y calibration
- * @param accel_cal_z accel Z calibration
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[42];
-	_mav_put_int16_t(buf, 0, mag_ofs_x);
-	_mav_put_int16_t(buf, 2, mag_ofs_y);
-	_mav_put_int16_t(buf, 4, mag_ofs_z);
-	_mav_put_float(buf, 6, mag_declination);
-	_mav_put_int32_t(buf, 10, raw_press);
-	_mav_put_int32_t(buf, 14, raw_temp);
-	_mav_put_float(buf, 18, gyro_cal_x);
-	_mav_put_float(buf, 22, gyro_cal_y);
-	_mav_put_float(buf, 26, gyro_cal_z);
-	_mav_put_float(buf, 30, accel_cal_x);
-	_mav_put_float(buf, 34, accel_cal_y);
-	_mav_put_float(buf, 38, accel_cal_z);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 42);
-#else
-	mavlink_sensor_offsets_t packet;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-	packet.mag_declination = mag_declination;
-	packet.raw_press = raw_press;
-	packet.raw_temp = raw_temp;
-	packet.gyro_cal_x = gyro_cal_x;
-	packet.gyro_cal_y = gyro_cal_y;
-	packet.gyro_cal_z = gyro_cal_z;
-	packet.accel_cal_x = accel_cal_x;
-	packet.accel_cal_y = accel_cal_y;
-	packet.accel_cal_z = accel_cal_z;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 42);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
-	return mavlink_finalize_message(msg, system_id, component_id, 42);
-}
-
-/**
- * @brief Pack a sensor_offsets 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @param mag_declination magnetic declination (radians)
- * @param raw_press raw pressure from barometer
- * @param raw_temp raw temperature from barometer
- * @param gyro_cal_x gyro X calibration
- * @param gyro_cal_y gyro Y calibration
- * @param gyro_cal_z gyro Z calibration
- * @param accel_cal_x accel X calibration
- * @param accel_cal_y accel Y calibration
- * @param accel_cal_z accel Z calibration
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z,float mag_declination,int32_t raw_press,int32_t raw_temp,float gyro_cal_x,float gyro_cal_y,float gyro_cal_z,float accel_cal_x,float accel_cal_y,float accel_cal_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[42];
-	_mav_put_int16_t(buf, 0, mag_ofs_x);
-	_mav_put_int16_t(buf, 2, mag_ofs_y);
-	_mav_put_int16_t(buf, 4, mag_ofs_z);
-	_mav_put_float(buf, 6, mag_declination);
-	_mav_put_int32_t(buf, 10, raw_press);
-	_mav_put_int32_t(buf, 14, raw_temp);
-	_mav_put_float(buf, 18, gyro_cal_x);
-	_mav_put_float(buf, 22, gyro_cal_y);
-	_mav_put_float(buf, 26, gyro_cal_z);
-	_mav_put_float(buf, 30, accel_cal_x);
-	_mav_put_float(buf, 34, accel_cal_y);
-	_mav_put_float(buf, 38, accel_cal_z);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 42);
-#else
-	mavlink_sensor_offsets_t packet;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-	packet.mag_declination = mag_declination;
-	packet.raw_press = raw_press;
-	packet.raw_temp = raw_temp;
-	packet.gyro_cal_x = gyro_cal_x;
-	packet.gyro_cal_y = gyro_cal_y;
-	packet.gyro_cal_z = gyro_cal_z;
-	packet.accel_cal_x = accel_cal_x;
-	packet.accel_cal_y = accel_cal_y;
-	packet.accel_cal_z = accel_cal_z;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 42);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42);
-}
-
-/**
- * @brief Encode a sensor_offsets struct into a 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 sensor_offsets C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
-{
-	return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
-}
-
-/**
- * @brief Send a sensor_offsets message
- * @param chan MAVLink channel to send the message
- *
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @param mag_declination magnetic declination (radians)
- * @param raw_press raw pressure from barometer
- * @param raw_temp raw temperature from barometer
- * @param gyro_cal_x gyro X calibration
- * @param gyro_cal_y gyro Y calibration
- * @param gyro_cal_z gyro Z calibration
- * @param accel_cal_x accel X calibration
- * @param accel_cal_y accel Y calibration
- * @param accel_cal_z accel Z calibration
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[42];
-	_mav_put_int16_t(buf, 0, mag_ofs_x);
-	_mav_put_int16_t(buf, 2, mag_ofs_y);
-	_mav_put_int16_t(buf, 4, mag_ofs_z);
-	_mav_put_float(buf, 6, mag_declination);
-	_mav_put_int32_t(buf, 10, raw_press);
-	_mav_put_int32_t(buf, 14, raw_temp);
-	_mav_put_float(buf, 18, gyro_cal_x);
-	_mav_put_float(buf, 22, gyro_cal_y);
-	_mav_put_float(buf, 26, gyro_cal_z);
-	_mav_put_float(buf, 30, accel_cal_x);
-	_mav_put_float(buf, 34, accel_cal_y);
-	_mav_put_float(buf, 38, accel_cal_z);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, 42);
-#else
-	mavlink_sensor_offsets_t packet;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-	packet.mag_declination = mag_declination;
-	packet.raw_press = raw_press;
-	packet.raw_temp = raw_temp;
-	packet.gyro_cal_x = gyro_cal_x;
-	packet.gyro_cal_y = gyro_cal_y;
-	packet.gyro_cal_z = gyro_cal_z;
-	packet.accel_cal_x = accel_cal_x;
-	packet.accel_cal_y = accel_cal_y;
-	packet.accel_cal_z = accel_cal_z;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, 42);
-#endif
-}
-
-#endif
-
-// MESSAGE SENSOR_OFFSETS UNPACKING
-
-
-/**
- * @brief Get field mag_ofs_x from sensor_offsets message
- *
- * @return magnetometer X offset
- */
-static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  0);
-}
-
-/**
- * @brief Get field mag_ofs_y from sensor_offsets message
- *
- * @return magnetometer Y offset
- */
-static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  2);
-}
-
-/**
- * @brief Get field mag_ofs_z from sensor_offsets message
- *
- * @return magnetometer Z offset
- */
-static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Get field mag_declination from sensor_offsets message
- *
- * @return magnetic declination (radians)
- */
-static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  6);
-}
-
-/**
- * @brief Get field raw_press from sensor_offsets message
- *
- * @return raw pressure from barometer
- */
-static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  10);
-}
-
-/**
- * @brief Get field raw_temp from sensor_offsets message
- *
- * @return raw temperature from barometer
- */
-static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  14);
-}
-
-/**
- * @brief Get field gyro_cal_x from sensor_offsets message
- *
- * @return gyro X calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  18);
-}
-
-/**
- * @brief Get field gyro_cal_y from sensor_offsets message
- *
- * @return gyro Y calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  22);
-}
-
-/**
- * @brief Get field gyro_cal_z from sensor_offsets message
- *
- * @return gyro Z calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  26);
-}
-
-/**
- * @brief Get field accel_cal_x from sensor_offsets message
- *
- * @return accel X calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  30);
-}
-
-/**
- * @brief Get field accel_cal_y from sensor_offsets message
- *
- * @return accel Y calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  34);
-}
-
-/**
- * @brief Get field accel_cal_z from sensor_offsets message
- *
- * @return accel Z calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  38);
-}
-
-/**
- * @brief Decode a sensor_offsets message into a struct
- *
- * @param msg The message to decode
- * @param sensor_offsets C-struct to decode the message contents into
- */
-static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg);
-	sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg);
-	sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg);
-	sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg);
-	sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg);
-	sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg);
-	sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg);
-	sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg);
-	sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg);
-	sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg);
-	sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg);
-	sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg);
-#else
-	memcpy(sensor_offsets, _MAV_PAYLOAD(msg), 42);
-#endif
-}
@@ -1,232 +0,0 @@
-// MESSAGE SET_MAG_OFFSETS PACKING
-
-#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151
-
-typedef struct __mavlink_set_mag_offsets_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- int16_t mag_ofs_x; ///< magnetometer X offset
- int16_t mag_ofs_y; ///< magnetometer Y offset
- int16_t mag_ofs_z; ///< magnetometer Z offset
-} mavlink_set_mag_offsets_t;
-
-#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8
-#define MAVLINK_MSG_ID_151_LEN 8
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS { \
-	"SET_MAG_OFFSETS", \
-	5, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_mag_offsets_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_mag_offsets_t, target_component) }, \
-         { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_set_mag_offsets_t, mag_ofs_x) }, \
-         { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_set_mag_offsets_t, mag_ofs_y) }, \
-         { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_set_mag_offsets_t, mag_ofs_z) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_mag_offsets 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_system System ID
- * @param target_component Component ID
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int16_t(buf, 2, mag_ofs_x);
-	_mav_put_int16_t(buf, 4, mag_ofs_y);
-	_mav_put_int16_t(buf, 6, mag_ofs_z);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
-#else
-	mavlink_set_mag_offsets_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
-	return mavlink_finalize_message(msg, system_id, component_id, 8);
-}
-
-/**
- * @brief Pack a set_mag_offsets 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int16_t(buf, 2, mag_ofs_x);
-	_mav_put_int16_t(buf, 4, mag_ofs_y);
-	_mav_put_int16_t(buf, 6, mag_ofs_z);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
-#else
-	mavlink_set_mag_offsets_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
-}
-
-/**
- * @brief Encode a set_mag_offsets struct into a 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 set_mag_offsets C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
-{
-	return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
-}
-
-/**
- * @brief Send a set_mag_offsets message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int16_t(buf, 2, mag_ofs_x);
-	_mav_put_int16_t(buf, 4, mag_ofs_y);
-	_mav_put_int16_t(buf, 6, mag_ofs_z);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, 8);
-#else
-	mavlink_set_mag_offsets_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, 8);
-#endif
-}
-
-#endif
-
-// MESSAGE SET_MAG_OFFSETS UNPACKING
-
-
-/**
- * @brief Get field target_system from set_mag_offsets message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from set_mag_offsets message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field mag_ofs_x from set_mag_offsets message
- *
- * @return magnetometer X offset
- */
-static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  2);
-}
-
-/**
- * @brief Get field mag_ofs_y from set_mag_offsets message
- *
- * @return magnetometer Y offset
- */
-static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Get field mag_ofs_z from set_mag_offsets message
- *
- * @return magnetometer Z offset
- */
-static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  6);
-}
-
-/**
- * @brief Decode a set_mag_offsets message into a struct
- *
- * @param msg The message to decode
- * @param set_mag_offsets C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg);
-	set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg);
-	set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg);
-	set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg);
-	set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg);
-#else
-	memcpy(set_mag_offsets, _MAV_PAYLOAD(msg), 8);
-#endif
-}
@@ -1,690 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef ARDUPILOTMEGA_TESTSUITE_H
-#define ARDUPILOTMEGA_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
-static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_common(system_id, component_id, last_msg);
-	mavlink_test_ardupilotmega(system_id, component_id, last_msg);
-}
-#endif
-
-#include "../common/testsuite.h"
-
-
-static void mavlink_test_sensor_offsets(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_sensor_offsets_t packet_in = {
-		17235,
-	17339,
-	17443,
-	59.0,
-	963497984,
-	963498192,
-	143.0,
-	171.0,
-	199.0,
-	227.0,
-	255.0,
-	283.0,
-	};
-	mavlink_sensor_offsets_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.mag_ofs_x = packet_in.mag_ofs_x;
-        	packet1.mag_ofs_y = packet_in.mag_ofs_y;
-        	packet1.mag_ofs_z = packet_in.mag_ofs_z;
-        	packet1.mag_declination = packet_in.mag_declination;
-        	packet1.raw_press = packet_in.raw_press;
-        	packet1.raw_temp = packet_in.raw_temp;
-        	packet1.gyro_cal_x = packet_in.gyro_cal_x;
-        	packet1.gyro_cal_y = packet_in.gyro_cal_y;
-        	packet1.gyro_cal_z = packet_in.gyro_cal_z;
-        	packet1.accel_cal_x = packet_in.accel_cal_x;
-        	packet1.accel_cal_y = packet_in.accel_cal_y;
-        	packet1.accel_cal_z = packet_in.accel_cal_z;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
-	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
-	mavlink_msg_sensor_offsets_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_sensor_offsets_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
-	mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_mag_offsets(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_set_mag_offsets_t packet_in = {
-		5,
-	72,
-	17339,
-	17443,
-	17547,
-	};
-	mavlink_set_mag_offsets_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.mag_ofs_x = packet_in.mag_ofs_x;
-        	packet1.mag_ofs_y = packet_in.mag_ofs_y;
-        	packet1.mag_ofs_z = packet_in.mag_ofs_z;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
-	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
-	mavlink_msg_set_mag_offsets_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_set_mag_offsets_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
-	mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_meminfo(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_meminfo_t packet_in = {
-		17235,
-	17339,
-	};
-	mavlink_meminfo_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.brkval = packet_in.brkval;
-        	packet1.freemem = packet_in.freemem;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_meminfo_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
-	mavlink_msg_meminfo_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
-	mavlink_msg_meminfo_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_meminfo_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
-	mavlink_msg_meminfo_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_ap_adc(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_ap_adc_t packet_in = {
-		17235,
-	17339,
-	17443,
-	17547,
-	17651,
-	17755,
-	};
-	mavlink_ap_adc_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.adc1 = packet_in.adc1;
-        	packet1.adc2 = packet_in.adc2;
-        	packet1.adc3 = packet_in.adc3;
-        	packet1.adc4 = packet_in.adc4;
-        	packet1.adc5 = packet_in.adc5;
-        	packet1.adc6 = packet_in.adc6;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_ap_adc_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
-	mavlink_msg_ap_adc_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
-	mavlink_msg_ap_adc_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_ap_adc_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
-	mavlink_msg_ap_adc_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_digicam_configure(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_digicam_configure_t packet_in = {
-		5,
-	72,
-	139,
-	17391,
-	84,
-	151,
-	218,
-	29,
-	96,
-	163,
-	94.0,
-	};
-	mavlink_digicam_configure_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.mode = packet_in.mode;
-        	packet1.shutter_speed = packet_in.shutter_speed;
-        	packet1.aperture = packet_in.aperture;
-        	packet1.iso = packet_in.iso;
-        	packet1.exposure_type = packet_in.exposure_type;
-        	packet1.command_id = packet_in.command_id;
-        	packet1.engine_cut_off = packet_in.engine_cut_off;
-        	packet1.extra_param = packet_in.extra_param;
-        	packet1.extra_value = packet_in.extra_value;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_configure_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_digicam_configure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_configure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_configure_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_digicam_configure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_configure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_digicam_control(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_digicam_control_t packet_in = {
-		5,
-	72,
-	139,
-	206,
-	17,
-	84,
-	151,
-	218,
-	29,
-	80.0,
-	};
-	mavlink_digicam_control_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.session = packet_in.session;
-        	packet1.zoom_pos = packet_in.zoom_pos;
-        	packet1.zoom_step = packet_in.zoom_step;
-        	packet1.focus_lock = packet_in.focus_lock;
-        	packet1.shot = packet_in.shot;
-        	packet1.command_id = packet_in.command_id;
-        	packet1.extra_param = packet_in.extra_param;
-        	packet1.extra_value = packet_in.extra_value;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_control_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_digicam_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_control_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_digicam_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mount_configure(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_mount_configure_t packet_in = {
-		5,
-	72,
-	139,
-	206,
-	17,
-	84,
-	};
-	mavlink_mount_configure_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.mount_mode = packet_in.mount_mode;
-        	packet1.stab_roll = packet_in.stab_roll;
-        	packet1.stab_pitch = packet_in.stab_pitch;
-        	packet1.stab_yaw = packet_in.stab_yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_configure_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mount_configure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
-	mavlink_msg_mount_configure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
-	mavlink_msg_mount_configure_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_mount_configure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
-	mavlink_msg_mount_configure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mount_control(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_mount_control_t packet_in = {
-		5,
-	72,
-	963497568,
-	963497776,
-	963497984,
-	175,
-	};
-	mavlink_mount_control_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.input_a = packet_in.input_a;
-        	packet1.input_b = packet_in.input_b;
-        	packet1.input_c = packet_in.input_c;
-        	packet1.save_position = packet_in.save_position;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_control_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mount_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
-	mavlink_msg_mount_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
-	mavlink_msg_mount_control_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_mount_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
-	mavlink_msg_mount_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mount_status(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_mount_status_t packet_in = {
-		5,
-	72,
-	963497568,
-	963497776,
-	963497984,
-	};
-	mavlink_mount_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.pointing_a = packet_in.pointing_a;
-        	packet1.pointing_b = packet_in.pointing_b;
-        	packet1.pointing_c = packet_in.pointing_c;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mount_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_status_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
-	mavlink_msg_mount_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
-	mavlink_msg_mount_status_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_mount_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_status_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
-	mavlink_msg_mount_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_fence_point(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_fence_point_t packet_in = {
-		5,
-	72,
-	139,
-	206,
-	45.0,
-	73.0,
-	};
-	mavlink_fence_point_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-		packet1.target_system = packet_in.target_system;
-		packet1.target_component = packet_in.target_component;
-		packet1.idx = packet_in.idx;
-		packet1.count = packet_in.count;
-		packet1.lat = packet_in.lat;
-		packet1.lng = packet_in.lng;
-
-
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_point_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_fence_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
-	mavlink_msg_fence_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
-	mavlink_msg_fence_point_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_fence_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
-	mavlink_msg_fence_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_fence_fetch_point(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_fence_fetch_point_t packet_in = {
-		5,
-	72,
-	139,
-	};
-	mavlink_fence_fetch_point_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-		packet1.target_system = packet_in.target_system;
-		packet1.target_component = packet_in.target_component;
-		packet1.idx = packet_in.idx;
-
-
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_fetch_point_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_fence_fetch_point_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_fence_fetch_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_fence_fetch_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_fence_status(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_fence_status_t packet_in = {
-		5,
-	17287,
-	206,
-	963497672,
-	};
-	mavlink_fence_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-		packet1.breach_status = packet_in.breach_status;
-		packet1.breach_count = packet_in.breach_count;
-		packet1.breach_type = packet_in.breach_type;
-		packet1.breach_time = packet_in.breach_time;
-
-
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_fence_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_status_pack(system_id, component_id, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
-	mavlink_msg_fence_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
-	mavlink_msg_fence_status_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_fence_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_status_send(MAVLINK_COMM_1 , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
-	mavlink_msg_fence_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_sensor_offsets(system_id, component_id, last_msg);
-	mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
-	mavlink_test_meminfo(system_id, component_id, last_msg);
-	mavlink_test_ap_adc(system_id, component_id, last_msg);
-	mavlink_test_digicam_configure(system_id, component_id, last_msg);
-	mavlink_test_digicam_control(system_id, component_id, last_msg);
-	mavlink_test_mount_configure(system_id, component_id, last_msg);
-	mavlink_test_mount_control(system_id, component_id, last_msg);
-	mavlink_test_mount_status(system_id, component_id, last_msg);
-	mavlink_test_fence_point(system_id, component_id, last_msg);
-	mavlink_test_fence_fetch_point(system_id, component_id, last_msg);
-	mavlink_test_fence_status(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // ARDUPILOTMEGA_TESTSUITE_H
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from ardupilotmega.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Fri Dec 16 12:39:09 2011"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
- 
-#endif // MAVLINK_VERSION_H
@@ -1,89 +0,0 @@
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef _CHECKSUM_H_
-#define _CHECKSUM_H_
-
-
-/**
- *
- *  CALCULATE THE CHECKSUM
- *
- */
-
-#define X25_INIT_CRC 0xffff
-#define X25_VALIDATE_CRC 0xf0b8
-
-/**
- * @brief Accumulate the X.25 CRC by adding one char at a time.
- *
- * The checksum function adds the hash of one char at a time to the
- * 16 bit checksum (uint16_t).
- *
- * @param data new char to hash
- * @param crcAccum the already accumulated checksum
- **/
-static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
-{
-        /*Accumulate one byte of data into the CRC*/
-        uint8_t tmp;
-
-        tmp = data ^ (uint8_t)(*crcAccum &0xff);
-        tmp ^= (tmp<<4);
-        *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
-}
-
-/**
- * @brief Initiliaze the buffer for the X.25 CRC
- *
- * @param crcAccum the 16 bit X.25 CRC
- */
-static inline void crc_init(uint16_t* crcAccum)
-{
-        *crcAccum = X25_INIT_CRC;
-}
-
-
-/**
- * @brief Calculates the X.25 checksum on a byte buffer
- *
- * @param  pBuffer buffer containing the byte array to hash
- * @param  length  length of the byte array
- * @return the checksum over the buffer bytes
- **/
-static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
-{
-        uint16_t crcTmp;
-        crc_init(&crcTmp);
-	while (length--) {
-                crc_accumulate(*pBuffer++, &crcTmp);
-        }
-        return crcTmp;
-}
-
-/**
- * @brief Accumulate the X.25 CRC by adding an array of bytes
- *
- * The checksum function adds the hash of one char at a time to the
- * 16 bit checksum (uint16_t).
- *
- * @param data new bytes to hash
- * @param crcAccum the already accumulated checksum
- **/
-static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
-{
-	const uint8_t *p = (const uint8_t *)pBuffer;
-	while (length--) {
-                crc_accumulate(*p++, crcAccum);
-        }
-}
-
-
-
-
-#endif /* _CHECKSUM_H_ */
-
-#ifdef __cplusplus
-}
-#endif
@@ -1,159 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from common.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef COMMON_H
-#define COMMON_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// MESSAGE LENGTHS AND CRCS
-
-#ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
-#endif
-
-#ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
-#endif
-
-#ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
-#endif
-
-#include "../protocol.h"
-
-#define MAVLINK_ENABLED_COMMON
-
-
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-// ENUM DEFINITIONS
-
-
-/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
-     recommendation to the autopilot software. Individual autopilots may or may not obey
-     the recommended messages.
-      */
-#ifndef HAVE_ENUM_MAV_DATA_STREAM
-#define HAVE_ENUM_MAV_DATA_STREAM
-enum MAV_DATA_STREAM
-{
-	MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
-	MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */
-	MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */
-	MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */
-	MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
-	MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
-	MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
-	MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
-	MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
-	MAV_DATA_STREAM_ENUM_END=13, /*  | */
-};
-#endif
-
-/** @brief  The ROI (region of interest) for the vehicle. This can be
-                be used by the vehicle for camera/vehicle attitude alignment (see
-                MAV_CMD_NAV_ROI).
-             */
-#ifndef HAVE_ENUM_MAV_ROI
-#define HAVE_ENUM_MAV_ROI
-enum MAV_ROI
-{
-	MAV_ROI_NONE=0, /* No region of interest. | */
-	MAV_ROI_WPNEXT=1, /* Point toward next waypoint. | */
-	MAV_ROI_WPINDEX=2, /* Point toward given waypoint. | */
-	MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
-	MAV_ROI_TARGET=4, /* Point toward of given id. | */
-	MAV_ROI_ENUM_END=5, /*  | */
-};
-#endif
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_heartbeat.h"
-#include "./mavlink_msg_boot.h"
-#include "./mavlink_msg_system_time.h"
-#include "./mavlink_msg_ping.h"
-#include "./mavlink_msg_system_time_utc.h"
-#include "./mavlink_msg_change_operator_control.h"
-#include "./mavlink_msg_change_operator_control_ack.h"
-#include "./mavlink_msg_auth_key.h"
-#include "./mavlink_msg_action_ack.h"
-#include "./mavlink_msg_action.h"
-#include "./mavlink_msg_set_mode.h"
-#include "./mavlink_msg_set_nav_mode.h"
-#include "./mavlink_msg_param_request_read.h"
-#include "./mavlink_msg_param_request_list.h"
-#include "./mavlink_msg_param_value.h"
-#include "./mavlink_msg_param_set.h"
-#include "./mavlink_msg_gps_raw_int.h"
-#include "./mavlink_msg_scaled_imu.h"
-#include "./mavlink_msg_gps_status.h"
-#include "./mavlink_msg_raw_imu.h"
-#include "./mavlink_msg_raw_pressure.h"
-#include "./mavlink_msg_scaled_pressure.h"
-#include "./mavlink_msg_attitude.h"
-#include "./mavlink_msg_local_position.h"
-#include "./mavlink_msg_global_position.h"
-#include "./mavlink_msg_gps_raw.h"
-#include "./mavlink_msg_sys_status.h"
-#include "./mavlink_msg_rc_channels_raw.h"
-#include "./mavlink_msg_rc_channels_scaled.h"
-#include "./mavlink_msg_servo_output_raw.h"
-#include "./mavlink_msg_waypoint.h"
-#include "./mavlink_msg_waypoint_request.h"
-#include "./mavlink_msg_waypoint_set_current.h"
-#include "./mavlink_msg_waypoint_current.h"
-#include "./mavlink_msg_waypoint_request_list.h"
-#include "./mavlink_msg_waypoint_count.h"
-#include "./mavlink_msg_waypoint_clear_all.h"
-#include "./mavlink_msg_waypoint_reached.h"
-#include "./mavlink_msg_waypoint_ack.h"
-#include "./mavlink_msg_gps_set_global_origin.h"
-#include "./mavlink_msg_gps_local_origin_set.h"
-#include "./mavlink_msg_local_position_setpoint_set.h"
-#include "./mavlink_msg_local_position_setpoint.h"
-#include "./mavlink_msg_control_status.h"
-#include "./mavlink_msg_safety_set_allowed_area.h"
-#include "./mavlink_msg_safety_allowed_area.h"
-#include "./mavlink_msg_set_roll_pitch_yaw_thrust.h"
-#include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h"
-#include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h"
-#include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h"
-#include "./mavlink_msg_nav_controller_output.h"
-#include "./mavlink_msg_position_target.h"
-#include "./mavlink_msg_state_correction.h"
-#include "./mavlink_msg_set_altitude.h"
-#include "./mavlink_msg_request_data_stream.h"
-#include "./mavlink_msg_hil_state.h"
-#include "./mavlink_msg_hil_controls.h"
-#include "./mavlink_msg_manual_control.h"
-#include "./mavlink_msg_rc_channels_override.h"
-#include "./mavlink_msg_global_position_int.h"
-#include "./mavlink_msg_vfr_hud.h"
-#include "./mavlink_msg_command.h"
-#include "./mavlink_msg_command_ack.h"
-#include "./mavlink_msg_optical_flow.h"
-#include "./mavlink_msg_object_detection_event.h"
-#include "./mavlink_msg_debug_vect.h"
-#include "./mavlink_msg_named_value_float.h"
-#include "./mavlink_msg_named_value_int.h"
-#include "./mavlink_msg_statustext.h"
-#include "./mavlink_msg_debug.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // COMMON_H
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from common.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 85
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 0
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 0
-#endif
-
-#include "version.h"
-#include "common.h"
-
-#endif // MAVLINK_H
@@ -1,188 +0,0 @@
-// MESSAGE ACTION PACKING
-
-#define MAVLINK_MSG_ID_ACTION 10
-
-typedef struct __mavlink_action_t
-{
- uint8_t target; ///< The system executing the action
- uint8_t target_component; ///< The component executing the action
- uint8_t action; ///< The action id
-} mavlink_action_t;
-
-#define MAVLINK_MSG_ID_ACTION_LEN 3
-#define MAVLINK_MSG_ID_10_LEN 3
-
-
-
-#define MAVLINK_MESSAGE_INFO_ACTION { \
-	"ACTION", \
-	3, \
-	{  { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_t, target) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_t, target_component) }, \
-         { "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_action_t, action) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a action 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 The system executing the action
- * @param target_component The component executing the action
- * @param action The action id
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target, uint8_t target_component, uint8_t action)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, target);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, action);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 3);
-#else
-	mavlink_action_t packet;
-	packet.target = target;
-	packet.target_component = target_component;
-	packet.action = action;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ACTION;
-	return mavlink_finalize_message(msg, system_id, component_id, 3);
-}
-
-/**
- * @brief Pack a action 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target The system executing the action
- * @param target_component The component executing the action
- * @param action The action id
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target,uint8_t target_component,uint8_t action)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, target);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, action);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 3);
-#else
-	mavlink_action_t packet;
-	packet.target = target;
-	packet.target_component = target_component;
-	packet.action = action;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ACTION;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
-}
-
-/**
- * @brief Encode a action struct into a 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 action C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action)
-{
-	return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
-}
-
-/**
- * @brief Send a action message
- * @param chan MAVLink channel to send the message
- *
- * @param target The system executing the action
- * @param target_component The component executing the action
- * @param action The action id
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, target);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, action);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, buf, 3);
-#else
-	mavlink_action_t packet;
-	packet.target = target;
-	packet.target_component = target_component;
-	packet.action = action;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, (const char *)&packet, 3);
-#endif
-}
-
-#endif
-
-// MESSAGE ACTION UNPACKING
-
-
-/**
- * @brief Get field target from action message
- *
- * @return The system executing the action
- */
-static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from action message
- *
- * @return The component executing the action
- */
-static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field action from action message
- *
- * @return The action id
- */
-static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a action message into a struct
- *
- * @param msg The message to decode
- * @param action C-struct to decode the message contents into
- */
-static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	action->target = mavlink_msg_action_get_target(msg);
-	action->target_component = mavlink_msg_action_get_target_component(msg);
-	action->action = mavlink_msg_action_get_action(msg);
-#else
-	memcpy(action, _MAV_PAYLOAD(msg), 3);
-#endif
-}
@@ -1,166 +0,0 @@
-// MESSAGE ACTION_ACK PACKING
-
-#define MAVLINK_MSG_ID_ACTION_ACK 9
-
-typedef struct __mavlink_action_ack_t
-{
- uint8_t action; ///< The action id
- uint8_t result; ///< 0: Action DENIED, 1: Action executed
-} mavlink_action_ack_t;
-
-#define MAVLINK_MSG_ID_ACTION_ACK_LEN 2
-#define MAVLINK_MSG_ID_9_LEN 2
-
-
-
-#define MAVLINK_MESSAGE_INFO_ACTION_ACK { \
-	"ACTION_ACK", \
-	2, \
-	{  { "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_ack_t, action) }, \
-         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_ack_t, result) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a action_ack 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 action The action id
- * @param result 0: Action DENIED, 1: Action executed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t action, uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[2];
-	_mav_put_uint8_t(buf, 0, action);
-	_mav_put_uint8_t(buf, 1, result);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 2);
-#else
-	mavlink_action_ack_t packet;
-	packet.action = action;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 2);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
-	return mavlink_finalize_message(msg, system_id, component_id, 2);
-}
-
-/**
- * @brief Pack a action_ack 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param action The action id
- * @param result 0: Action DENIED, 1: Action executed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t action,uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[2];
-	_mav_put_uint8_t(buf, 0, action);
-	_mav_put_uint8_t(buf, 1, result);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 2);
-#else
-	mavlink_action_ack_t packet;
-	packet.action = action;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 2);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
-}
-
-/**
- * @brief Encode a action_ack struct into a 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 action_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack)
-{
-	return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result);
-}
-
-/**
- * @brief Send a action_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param action The action id
- * @param result 0: Action DENIED, 1: Action executed
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[2];
-	_mav_put_uint8_t(buf, 0, action);
-	_mav_put_uint8_t(buf, 1, result);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, buf, 2);
-#else
-	mavlink_action_ack_t packet;
-	packet.action = action;
-	packet.result = result;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, (const char *)&packet, 2);
-#endif
-}
-
-#endif
-
-// MESSAGE ACTION_ACK UNPACKING
-
-
-/**
- * @brief Get field action from action_ack message
- *
- * @return The action id
- */
-static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field result from action_ack message
- *
- * @return 0: Action DENIED, 1: Action executed
- */
-static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Decode a action_ack message into a struct
- *
- * @param msg The message to decode
- * @param action_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	action_ack->action = mavlink_msg_action_ack_get_action(msg);
-	action_ack->result = mavlink_msg_action_ack_get_result(msg);
-#else
-	memcpy(action_ack, _MAV_PAYLOAD(msg), 2);
-#endif
-}
@@ -1,276 +0,0 @@
-// MESSAGE ATTITUDE PACKING
-
-#define MAVLINK_MSG_ID_ATTITUDE 30
-
-typedef struct __mavlink_attitude_t
-{
- uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- float roll; ///< Roll angle (rad)
- float pitch; ///< Pitch angle (rad)
- float yaw; ///< Yaw angle (rad)
- float rollspeed; ///< Roll angular speed (rad/s)
- float pitchspeed; ///< Pitch angular speed (rad/s)
- float yawspeed; ///< Yaw angular speed (rad/s)
-} mavlink_attitude_t;
-
-#define MAVLINK_MSG_ID_ATTITUDE_LEN 32
-#define MAVLINK_MSG_ID_30_LEN 32
-
-
-
-#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
-	"ATTITUDE", \
-	7, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_attitude_t, usec) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, yaw) }, \
-         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, rollspeed) }, \
-         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, pitchspeed) }, \
-         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_t, yawspeed) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a attitude 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 32);
-#else
-	mavlink_attitude_t packet;
-	packet.usec = usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
-	return mavlink_finalize_message(msg, system_id, component_id, 32);
-}
-
-/**
- * @brief Pack a attitude 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 32);
-#else
-	mavlink_attitude_t packet;
-	packet.usec = usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
-}
-
-/**
- * @brief Encode a attitude struct into a 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 attitude C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
-{
-	return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
-}
-
-/**
- * @brief Send a attitude message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 32);
-#else
-	mavlink_attitude_t packet;
-	packet.usec = usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 32);
-#endif
-}
-
-#endif
-
-// MESSAGE ATTITUDE UNPACKING
-
-
-/**
- * @brief Get field usec from attitude message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field roll from attitude message
- *
- * @return Roll angle (rad)
- */
-static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field pitch from attitude message
- *
- * @return Pitch angle (rad)
- */
-static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field yaw from attitude message
- *
- * @return Yaw angle (rad)
- */
-static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field rollspeed from attitude message
- *
- * @return Roll angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field pitchspeed from attitude message
- *
- * @return Pitch angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field yawspeed from attitude message
- *
- * @return Yaw angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a attitude message into a struct
- *
- * @param msg The message to decode
- * @param attitude C-struct to decode the message contents into
- */
-static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	attitude->usec = mavlink_msg_attitude_get_usec(msg);
-	attitude->roll = mavlink_msg_attitude_get_roll(msg);
-	attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
-	attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
-	attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
-	attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
-	attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
-#else
-	memcpy(attitude, _MAV_PAYLOAD(msg), 32);
-#endif
-}
@@ -1,144 +0,0 @@
-// MESSAGE AUTH_KEY PACKING
-
-#define MAVLINK_MSG_ID_AUTH_KEY 7
-
-typedef struct __mavlink_auth_key_t
-{
- char key[32]; ///< key
-} mavlink_auth_key_t;
-
-#define MAVLINK_MSG_ID_AUTH_KEY_LEN 32
-#define MAVLINK_MSG_ID_7_LEN 32
-
-#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32
-
-#define MAVLINK_MESSAGE_INFO_AUTH_KEY { \
-	"AUTH_KEY", \
-	1, \
-	{  { "key", NULL, MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a auth_key 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 key key
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const char *key)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-
-	_mav_put_char_array(buf, 0, key, 32);
-        memcpy(_MAV_PAYLOAD(msg), buf, 32);
-#else
-	mavlink_auth_key_t packet;
-
-	mav_array_memcpy(packet.key, key, sizeof(char)*32);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
-	return mavlink_finalize_message(msg, system_id, component_id, 32);
-}
-
-/**
- * @brief Pack a auth_key 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param key key
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const char *key)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-
-	_mav_put_char_array(buf, 0, key, 32);
-        memcpy(_MAV_PAYLOAD(msg), buf, 32);
-#else
-	mavlink_auth_key_t packet;
-
-	mav_array_memcpy(packet.key, key, sizeof(char)*32);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
-}
-
-/**
- * @brief Encode a auth_key struct into a 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 auth_key C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
-{
-	return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key);
-}
-
-/**
- * @brief Send a auth_key message
- * @param chan MAVLink channel to send the message
- *
- * @param key key
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-
-	_mav_put_char_array(buf, 0, key, 32);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, 32);
-#else
-	mavlink_auth_key_t packet;
-
-	mav_array_memcpy(packet.key, key, sizeof(char)*32);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, 32);
-#endif
-}
-
-#endif
-
-// MESSAGE AUTH_KEY UNPACKING
-
-
-/**
- * @brief Get field key from auth_key message
- *
- * @return key
- */
-static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key)
-{
-	return _MAV_RETURN_char_array(msg, key, 32,  0);
-}
-
-/**
- * @brief Decode a auth_key message into a struct
- *
- * @param msg The message to decode
- * @param auth_key C-struct to decode the message contents into
- */
-static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_auth_key_get_key(msg, auth_key->key);
-#else
-	memcpy(auth_key, _MAV_PAYLOAD(msg), 32);
-#endif
-}
@@ -1,144 +0,0 @@
-// MESSAGE BOOT PACKING
-
-#define MAVLINK_MSG_ID_BOOT 1
-
-typedef struct __mavlink_boot_t
-{
- uint32_t version; ///< The onboard software version
-} mavlink_boot_t;
-
-#define MAVLINK_MSG_ID_BOOT_LEN 4
-#define MAVLINK_MSG_ID_1_LEN 4
-
-
-
-#define MAVLINK_MESSAGE_INFO_BOOT { \
-	"BOOT", \
-	1, \
-	{  { "version", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a boot 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 version The onboard software version
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t version)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_uint32_t(buf, 0, version);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 4);
-#else
-	mavlink_boot_t packet;
-	packet.version = version;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 4);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_BOOT;
-	return mavlink_finalize_message(msg, system_id, component_id, 4);
-}
-
-/**
- * @brief Pack a boot 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param version The onboard software version
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t version)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_uint32_t(buf, 0, version);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 4);
-#else
-	mavlink_boot_t packet;
-	packet.version = version;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 4);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_BOOT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
-}
-
-/**
- * @brief Encode a boot struct into a 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 boot C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot)
-{
-	return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
-}
-
-/**
- * @brief Send a boot message
- * @param chan MAVLink channel to send the message
- *
- * @param version The onboard software version
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_uint32_t(buf, 0, version);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, 4);
-#else
-	mavlink_boot_t packet;
-	packet.version = version;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, 4);
-#endif
-}
-
-#endif
-
-// MESSAGE BOOT UNPACKING
-
-
-/**
- * @brief Get field version from boot message
- *
- * @return The onboard software version
- */
-static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Decode a boot message into a struct
- *
- * @param msg The message to decode
- * @param boot C-struct to decode the message contents into
- */
-static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	boot->version = mavlink_msg_boot_get_version(msg);
-#else
-	memcpy(boot, _MAV_PAYLOAD(msg), 4);
-#endif
-}
@@ -1,204 +0,0 @@
-// MESSAGE CHANGE_OPERATOR_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5
-
-typedef struct __mavlink_change_operator_control_t
-{
- uint8_t target_system; ///< System the GCS requests control for
- uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
- uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
-} mavlink_change_operator_control_t;
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN 28
-#define MAVLINK_MSG_ID_5_LEN 28
-
-#define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25
-
-#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL { \
-	"CHANGE_OPERATOR_CONTROL", \
-	4, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_t, target_system) }, \
-         { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_t, control_request) }, \
-         { "version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_t, version) }, \
-         { "passkey", NULL, MAVLINK_TYPE_CHAR, 25, 3, offsetof(mavlink_change_operator_control_t, passkey) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a change_operator_control 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_system System the GCS requests control for
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[28];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, version);
-	_mav_put_char_array(buf, 3, passkey, 25);
-        memcpy(_MAV_PAYLOAD(msg), buf, 28);
-#else
-	mavlink_change_operator_control_t packet;
-	packet.target_system = target_system;
-	packet.control_request = control_request;
-	packet.version = version;
-	mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
-	return mavlink_finalize_message(msg, system_id, component_id, 28);
-}
-
-/**
- * @brief Pack a change_operator_control 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System the GCS requests control for
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t control_request,uint8_t version,const char *passkey)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[28];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, version);
-	_mav_put_char_array(buf, 3, passkey, 25);
-        memcpy(_MAV_PAYLOAD(msg), buf, 28);
-#else
-	mavlink_change_operator_control_t packet;
-	packet.target_system = target_system;
-	packet.control_request = control_request;
-	packet.version = version;
-	mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28);
-}
-
-/**
- * @brief Encode a change_operator_control struct into a 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 change_operator_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
-{
-	return mavlink_msg_change_operator_control_pack(system_id, component_id, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
-}
-
-/**
- * @brief Send a change_operator_control message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System the GCS requests control for
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[28];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, version);
-	_mav_put_char_array(buf, 3, passkey, 25);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, 28);
-#else
-	mavlink_change_operator_control_t packet;
-	packet.target_system = target_system;
-	packet.control_request = control_request;
-	packet.version = version;
-	mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, 28);
-#endif
-}
-
-#endif
-
-// MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING
-
-
-/**
- * @brief Get field target_system from change_operator_control message
- *
- * @return System the GCS requests control for
- */
-static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field control_request from change_operator_control message
- *
- * @return 0: request control of this MAV, 1: Release control of this MAV
- */
-static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field version from change_operator_control message
- *
- * @return 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- */
-static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field passkey from change_operator_control message
- *
- * @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
- */
-static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char *passkey)
-{
-	return _MAV_RETURN_char_array(msg, passkey, 25,  3);
-}
-
-/**
- * @brief Decode a change_operator_control message into a struct
- *
- * @param msg The message to decode
- * @param change_operator_control C-struct to decode the message contents into
- */
-static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg);
-	change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg);
-	change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
-	mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
-#else
-	memcpy(change_operator_control, _MAV_PAYLOAD(msg), 28);
-#endif
-}
@@ -1,188 +0,0 @@
-// MESSAGE CHANGE_OPERATOR_CONTROL_ACK PACKING
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK 6
-
-typedef struct __mavlink_change_operator_control_ack_t
-{
- uint8_t gcs_system_id; ///< ID of the GCS this message 
- uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
- uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
-} mavlink_change_operator_control_ack_t;
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN 3
-#define MAVLINK_MSG_ID_6_LEN 3
-
-
-
-#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK { \
-	"CHANGE_OPERATOR_CONTROL_ACK", \
-	3, \
-	{  { "gcs_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_ack_t, gcs_system_id) }, \
-         { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_ack_t, control_request) }, \
-         { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_ack_t, ack) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a change_operator_control_ack 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 gcs_system_id ID of the GCS this message 
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, gcs_system_id);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, ack);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 3);
-#else
-	mavlink_change_operator_control_ack_t packet;
-	packet.gcs_system_id = gcs_system_id;
-	packet.control_request = control_request;
-	packet.ack = ack;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
-	return mavlink_finalize_message(msg, system_id, component_id, 3);
-}
-
-/**
- * @brief Pack a change_operator_control_ack 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param gcs_system_id ID of the GCS this message 
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t gcs_system_id,uint8_t control_request,uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, gcs_system_id);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, ack);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 3);
-#else
-	mavlink_change_operator_control_ack_t packet;
-	packet.gcs_system_id = gcs_system_id;
-	packet.control_request = control_request;
-	packet.ack = ack;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
-}
-
-/**
- * @brief Encode a change_operator_control_ack struct into a 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 change_operator_control_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_change_operator_control_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_ack_t* change_operator_control_ack)
-{
-	return mavlink_msg_change_operator_control_ack_pack(system_id, component_id, msg, change_operator_control_ack->gcs_system_id, change_operator_control_ack->control_request, change_operator_control_ack->ack);
-}
-
-/**
- * @brief Send a change_operator_control_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param gcs_system_id ID of the GCS this message 
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, gcs_system_id);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, ack);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, 3);
-#else
-	mavlink_change_operator_control_ack_t packet;
-	packet.gcs_system_id = gcs_system_id;
-	packet.control_request = control_request;
-	packet.ack = ack;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, 3);
-#endif
-}
-
-#endif
-
-// MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING
-
-
-/**
- * @brief Get field gcs_system_id from change_operator_control_ack message
- *
- * @return ID of the GCS this message 
- */
-static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field control_request from change_operator_control_ack message
- *
- * @return 0: request control of this MAV, 1: Release control of this MAV
- */
-static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_request(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field ack from change_operator_control_ack message
- *
- * @return 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
- */
-static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a change_operator_control_ack message into a struct
- *
- * @param msg The message to decode
- * @param change_operator_control_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_message_t* msg, mavlink_change_operator_control_ack_t* change_operator_control_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	change_operator_control_ack->gcs_system_id = mavlink_msg_change_operator_control_ack_get_gcs_system_id(msg);
-	change_operator_control_ack->control_request = mavlink_msg_change_operator_control_ack_get_control_request(msg);
-	change_operator_control_ack->ack = mavlink_msg_change_operator_control_ack_get_ack(msg);
-#else
-	memcpy(change_operator_control_ack, _MAV_PAYLOAD(msg), 3);
-#endif
-}
@@ -1,298 +0,0 @@
-// MESSAGE COMMAND PACKING
-
-#define MAVLINK_MSG_ID_COMMAND 75
-
-typedef struct __mavlink_command_t
-{
- uint8_t target_system; ///< System which should execute the command
- uint8_t target_component; ///< Component which should execute the command, 0 for all components
- uint8_t command; ///< Command ID, as defined by MAV_CMD enum.
- uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- float param1; ///< Parameter 1, as defined by MAV_CMD enum.
- float param2; ///< Parameter 2, as defined by MAV_CMD enum.
- float param3; ///< Parameter 3, as defined by MAV_CMD enum.
- float param4; ///< Parameter 4, as defined by MAV_CMD enum.
-} mavlink_command_t;
-
-#define MAVLINK_MSG_ID_COMMAND_LEN 20
-#define MAVLINK_MSG_ID_75_LEN 20
-
-
-
-#define MAVLINK_MESSAGE_INFO_COMMAND { \
-	"COMMAND", \
-	8, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \
-         { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \
-         { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \
-         { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \
-         { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \
-         { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \
-         { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a command 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_system System which should execute the command
- * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[20];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, command);
-	_mav_put_uint8_t(buf, 3, confirmation);
-	_mav_put_float(buf, 4, param1);
-	_mav_put_float(buf, 8, param2);
-	_mav_put_float(buf, 12, param3);
-	_mav_put_float(buf, 16, param4);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 20);
-#else
-	mavlink_command_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.command = command;
-	packet.confirmation = confirmation;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 20);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_COMMAND;
-	return mavlink_finalize_message(msg, system_id, component_id, 20);
-}
-
-/**
- * @brief Pack a command 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System which should execute the command
- * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[20];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, command);
-	_mav_put_uint8_t(buf, 3, confirmation);
-	_mav_put_float(buf, 4, param1);
-	_mav_put_float(buf, 8, param2);
-	_mav_put_float(buf, 12, param3);
-	_mav_put_float(buf, 16, param4);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 20);
-#else
-	mavlink_command_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.command = command;
-	packet.confirmation = confirmation;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 20);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_COMMAND;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
-}
-
-/**
- * @brief Encode a command struct into a 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 command C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)
-{
-	return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);
-}
-
-/**
- * @brief Send a command message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System which should execute the command
- * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[20];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, command);
-	_mav_put_uint8_t(buf, 3, confirmation);
-	_mav_put_float(buf, 4, param1);
-	_mav_put_float(buf, 8, param2);
-	_mav_put_float(buf, 12, param3);
-	_mav_put_float(buf, 16, param4);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20);
-#else
-	mavlink_command_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.command = command;
-	packet.confirmation = confirmation;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20);
-#endif
-}
-
-#endif
-
-// MESSAGE COMMAND UNPACKING
-
-
-/**
- * @brief Get field target_system from command message
- *
- * @return System which should execute the command
- */
-static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from command message
- *
- * @return Component which should execute the command, 0 for all components
- */
-static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field command from command message
- *
- * @return Command ID, as defined by MAV_CMD enum.
- */
-static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field confirmation from command message
- *
- * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- */
-static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field param1 from command message
- *
- * @return Parameter 1, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field param2 from command message
- *
- * @return Parameter 2, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field param3 from command message
- *
- * @return Parameter 3, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field param4 from command message
- *
- * @return Parameter 4, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a command message into a struct
- *
- * @param msg The message to decode
- * @param command C-struct to decode the message contents into
- */
-static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	command->target_system = mavlink_msg_command_get_target_system(msg);
-	command->target_component = mavlink_msg_command_get_target_component(msg);
-	command->command = mavlink_msg_command_get_command(msg);
-	command->confirmation = mavlink_msg_command_get_confirmation(msg);
-	command->param1 = mavlink_msg_command_get_param1(msg);
-	command->param2 = mavlink_msg_command_get_param2(msg);
-	command->param3 = mavlink_msg_command_get_param3(msg);
-	command->param4 = mavlink_msg_command_get_param4(msg);
-#else
-	memcpy(command, _MAV_PAYLOAD(msg), 20);
-#endif
-}
@@ -1,166 +0,0 @@
-// MESSAGE COMMAND_ACK PACKING
-
-#define MAVLINK_MSG_ID_COMMAND_ACK 76
-
-typedef struct __mavlink_command_ack_t
-{
- float command; ///< Current airspeed in m/s
- float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
-} mavlink_command_ack_t;
-
-#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8
-#define MAVLINK_MSG_ID_76_LEN 8
-
-
-
-#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
-	"COMMAND_ACK", \
-	2, \
-	{  { "command", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
-         { "result", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_ack_t, result) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a command_ack 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 command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float command, float result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
-#else
-	mavlink_command_ack_t packet;
-	packet.command = command;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
-	return mavlink_finalize_message(msg, system_id, component_id, 8);
-}
-
-/**
- * @brief Pack a command_ack 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float command,float result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
-#else
-	mavlink_command_ack_t packet;
-	packet.command = command;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
-}
-
-/**
- * @brief Encode a command_ack struct into a 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 command_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
-{
-	return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
-}
-
-/**
- * @brief Send a command_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 8);
-#else
-	mavlink_command_ack_t packet;
-	packet.command = command;
-	packet.result = result;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 8);
-#endif
-}
-
-#endif
-
-// MESSAGE COMMAND_ACK UNPACKING
-
-
-/**
- * @brief Get field command from command_ack message
- *
- * @return Current airspeed in m/s
- */
-static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field result from command_ack message
- *
- * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
- */
-static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Decode a command_ack message into a struct
- *
- * @param msg The message to decode
- * @param command_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	command_ack->command = mavlink_msg_command_ack_get_command(msg);
-	command_ack->result = mavlink_msg_command_ack_get_result(msg);
-#else
-	memcpy(command_ack, _MAV_PAYLOAD(msg), 8);
-#endif
-}
@@ -1,298 +0,0 @@
-// MESSAGE CONTROL_STATUS PACKING
-
-#define MAVLINK_MSG_ID_CONTROL_STATUS 52
-
-typedef struct __mavlink_control_status_t
-{
- uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
- uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
- uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
- uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
- uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
- uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
- uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
- uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
-} mavlink_control_status_t;
-
-#define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8
-#define MAVLINK_MSG_ID_52_LEN 8
-
-
-
-#define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \
-	"CONTROL_STATUS", \
-	8, \
-	{  { "position_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \
-         { "vision_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \
-         { "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \
-         { "ahrs_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \
-         { "control_att", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \
-         { "control_pos_xy", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \
-         { "control_pos_z", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \
-         { "control_pos_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a control_status 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 position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
- * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
- * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
- * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
- * @param control_att 0: Attitude control disabled, 1: enabled
- * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
- * @param control_pos_z 0: Z position control disabled, 1: enabled
- * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, position_fix);
-	_mav_put_uint8_t(buf, 1, vision_fix);
-	_mav_put_uint8_t(buf, 2, gps_fix);
-	_mav_put_uint8_t(buf, 3, ahrs_health);
-	_mav_put_uint8_t(buf, 4, control_att);
-	_mav_put_uint8_t(buf, 5, control_pos_xy);
-	_mav_put_uint8_t(buf, 6, control_pos_z);
-	_mav_put_uint8_t(buf, 7, control_pos_yaw);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
-#else
-	mavlink_control_status_t packet;
-	packet.position_fix = position_fix;
-	packet.vision_fix = vision_fix;
-	packet.gps_fix = gps_fix;
-	packet.ahrs_health = ahrs_health;
-	packet.control_att = control_att;
-	packet.control_pos_xy = control_pos_xy;
-	packet.control_pos_z = control_pos_z;
-	packet.control_pos_yaw = control_pos_yaw;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
-	return mavlink_finalize_message(msg, system_id, component_id, 8);
-}
-
-/**
- * @brief Pack a control_status 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
- * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
- * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
- * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
- * @param control_att 0: Attitude control disabled, 1: enabled
- * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
- * @param control_pos_z 0: Z position control disabled, 1: enabled
- * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t position_fix,uint8_t vision_fix,uint8_t gps_fix,uint8_t ahrs_health,uint8_t control_att,uint8_t control_pos_xy,uint8_t control_pos_z,uint8_t control_pos_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, position_fix);
-	_mav_put_uint8_t(buf, 1, vision_fix);
-	_mav_put_uint8_t(buf, 2, gps_fix);
-	_mav_put_uint8_t(buf, 3, ahrs_health);
-	_mav_put_uint8_t(buf, 4, control_att);
-	_mav_put_uint8_t(buf, 5, control_pos_xy);
-	_mav_put_uint8_t(buf, 6, control_pos_z);
-	_mav_put_uint8_t(buf, 7, control_pos_yaw);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
-#else
-	mavlink_control_status_t packet;
-	packet.position_fix = position_fix;
-	packet.vision_fix = vision_fix;
-	packet.gps_fix = gps_fix;
-	packet.ahrs_health = ahrs_health;
-	packet.control_att = control_att;
-	packet.control_pos_xy = control_pos_xy;
-	packet.control_pos_z = control_pos_z;
-	packet.control_pos_yaw = control_pos_yaw;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
-}
-
-/**
- * @brief Encode a control_status struct into a 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 control_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status)
-{
-	return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw);
-}
-
-/**
- * @brief Send a control_status message
- * @param chan MAVLink channel to send the message
- *
- * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
- * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
- * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
- * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
- * @param control_att 0: Attitude control disabled, 1: enabled
- * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
- * @param control_pos_z 0: Z position control disabled, 1: enabled
- * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_uint8_t(buf, 0, position_fix);
-	_mav_put_uint8_t(buf, 1, vision_fix);
-	_mav_put_uint8_t(buf, 2, gps_fix);
-	_mav_put_uint8_t(buf, 3, ahrs_health);
-	_mav_put_uint8_t(buf, 4, control_att);
-	_mav_put_uint8_t(buf, 5, control_pos_xy);
-	_mav_put_uint8_t(buf, 6, control_pos_z);
-	_mav_put_uint8_t(buf, 7, control_pos_yaw);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8);
-#else
-	mavlink_control_status_t packet;
-	packet.position_fix = position_fix;
-	packet.vision_fix = vision_fix;
-	packet.gps_fix = gps_fix;
-	packet.ahrs_health = ahrs_health;
-	packet.control_att = control_att;
-	packet.control_pos_xy = control_pos_xy;
-	packet.control_pos_z = control_pos_z;
-	packet.control_pos_yaw = control_pos_yaw;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8);
-#endif
-}
-
-#endif
-
-// MESSAGE CONTROL_STATUS UNPACKING
-
-
-/**
- * @brief Get field position_fix from control_status message
- *
- * @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
- */
-static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field vision_fix from control_status message
- *
- * @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
- */
-static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field gps_fix from control_status message
- *
- * @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
- */
-static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field ahrs_health from control_status message
- *
- * @return Attitude estimation health: 0: poor, 255: excellent
- */
-static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field control_att from control_status message
- *
- * @return 0: Attitude control disabled, 1: enabled
- */
-static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field control_pos_xy from control_status message
- *
- * @return 0: X, Y position control disabled, 1: enabled
- */
-static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field control_pos_z from control_status message
- *
- * @return 0: Z position control disabled, 1: enabled
- */
-static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field control_pos_yaw from control_status message
- *
- * @return 0: Yaw angle control disabled, 1: enabled
- */
-static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Decode a control_status message into a struct
- *
- * @param msg The message to decode
- * @param control_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
-	control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
-	control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
-	control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg);
-	control_status->control_att = mavlink_msg_control_status_get_control_att(msg);
-	control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
-	control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
-	control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
-#else
-	memcpy(control_status, _MAV_PAYLOAD(msg), 8);
-#endif
-}
@@ -1,166 +0,0 @@
-// MESSAGE DEBUG PACKING
-
-#define MAVLINK_MSG_ID_DEBUG 255
-
-typedef struct __mavlink_debug_t
-{
- uint8_t ind; ///< index of debug variable
- float value; ///< DEBUG value
-} mavlink_debug_t;
-
-#define MAVLINK_MSG_ID_DEBUG_LEN 5
-#define MAVLINK_MSG_ID_255_LEN 5
-
-
-
-#define MAVLINK_MESSAGE_INFO_DEBUG { \
-	"DEBUG", \
-	2, \
-	{  { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_debug_t, ind) }, \
-         { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_debug_t, value) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a debug 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 ind index of debug variable
- * @param value DEBUG value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t ind, float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_uint8_t(buf, 0, ind);
-	_mav_put_float(buf, 1, value);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 5);
-#else
-	mavlink_debug_t packet;
-	packet.ind = ind;
-	packet.value = value;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 5);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DEBUG;
-	return mavlink_finalize_message(msg, system_id, component_id, 5);
-}
-
-/**
- * @brief Pack a debug 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param ind index of debug variable
- * @param value DEBUG value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t ind,float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_uint8_t(buf, 0, ind);
-	_mav_put_float(buf, 1, value);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 5);
-#else
-	mavlink_debug_t packet;
-	packet.ind = ind;
-	packet.value = value;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 5);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DEBUG;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5);
-}
-
-/**
- * @brief Encode a debug struct into a 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 debug C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
-{
-	return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
-}
-
-/**
- * @brief Send a debug message
- * @param chan MAVLink channel to send the message
- *
- * @param ind index of debug variable
- * @param value DEBUG value
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_uint8_t(buf, 0, ind);
-	_mav_put_float(buf, 1, value);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 5);
-#else
-	mavlink_debug_t packet;
-	packet.ind = ind;
-	packet.value = value;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 5);
-#endif
-}
-
-#endif
-
-// MESSAGE DEBUG UNPACKING
-
-
-/**
- * @brief Get field ind from debug message
- *
- * @return index of debug variable
- */
-static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field value from debug message
- *
- * @return DEBUG value
- */
-static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  1);
-}
-
-/**
- * @brief Decode a debug message into a struct
- *
- * @param msg The message to decode
- * @param debug C-struct to decode the message contents into
- */
-static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	debug->ind = mavlink_msg_debug_get_ind(msg);
-	debug->value = mavlink_msg_debug_get_value(msg);
-#else
-	memcpy(debug, _MAV_PAYLOAD(msg), 5);
-#endif
-}
@@ -1,226 +0,0 @@
-// MESSAGE DEBUG_VECT PACKING
-
-#define MAVLINK_MSG_ID_DEBUG_VECT 251
-
-typedef struct __mavlink_debug_vect_t
-{
- char name[10]; ///< Name
- uint64_t usec; ///< Timestamp
- float x; ///< x
- float y; ///< y
- float z; ///< z
-} mavlink_debug_vect_t;
-
-#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30
-#define MAVLINK_MSG_ID_251_LEN 30
-
-#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
-
-#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
-	"DEBUG_VECT", \
-	5, \
-	{  { "name", NULL, MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_debug_vect_t, name) }, \
-         { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 10, offsetof(mavlink_debug_vect_t, usec) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_debug_vect_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_debug_vect_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_debug_vect_t, z) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a debug_vect 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 name Name
- * @param usec Timestamp
- * @param x x
- * @param y y
- * @param z z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const char *name, uint64_t usec, float x, float y, float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[30];
-	_mav_put_uint64_t(buf, 10, usec);
-	_mav_put_float(buf, 18, x);
-	_mav_put_float(buf, 22, y);
-	_mav_put_float(buf, 26, z);
-	_mav_put_char_array(buf, 0, name, 10);
-        memcpy(_MAV_PAYLOAD(msg), buf, 30);
-#else
-	mavlink_debug_vect_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 30);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
-	return mavlink_finalize_message(msg, system_id, component_id, 30);
-}
-
-/**
- * @brief Pack a debug_vect 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param name Name
- * @param usec Timestamp
- * @param x x
- * @param y y
- * @param z z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const char *name,uint64_t usec,float x,float y,float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[30];
-	_mav_put_uint64_t(buf, 10, usec);
-	_mav_put_float(buf, 18, x);
-	_mav_put_float(buf, 22, y);
-	_mav_put_float(buf, 26, z);
-	_mav_put_char_array(buf, 0, name, 10);
-        memcpy(_MAV_PAYLOAD(msg), buf, 30);
-#else
-	mavlink_debug_vect_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 30);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30);
-}
-
-/**
- * @brief Encode a debug_vect struct into a 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 debug_vect C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
-{
-	return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->usec, debug_vect->x, debug_vect->y, debug_vect->z);
-}
-
-/**
- * @brief Send a debug_vect message
- * @param chan MAVLink channel to send the message
- *
- * @param name Name
- * @param usec Timestamp
- * @param x x
- * @param y y
- * @param z z
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t usec, float x, float y, float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[30];
-	_mav_put_uint64_t(buf, 10, usec);
-	_mav_put_float(buf, 18, x);
-	_mav_put_float(buf, 22, y);
-	_mav_put_float(buf, 26, z);
-	_mav_put_char_array(buf, 0, name, 10);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, 30);
-#else
-	mavlink_debug_vect_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, 30);
-#endif
-}
-
-#endif
-
-// MESSAGE DEBUG_VECT UNPACKING
-
-
-/**
- * @brief Get field name from debug_vect message
- *
- * @return Name
- */
-static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name)
-{
-	return _MAV_RETURN_char_array(msg, name, 10,  0);
-}
-
-/**
- * @brief Get field usec from debug_vect message
- *
- * @return Timestamp
- */
-static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  10);
-}
-
-/**
- * @brief Get field x from debug_vect message
- *
- * @return x
- */
-static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  18);
-}
-
-/**
- * @brief Get field y from debug_vect message
- *
- * @return y
- */
-static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  22);
-}
-
-/**
- * @brief Get field z from debug_vect message
- *
- * @return z
- */
-static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  26);
-}
-
-/**
- * @brief Decode a debug_vect message into a struct
- *
- * @param msg The message to decode
- * @param debug_vect C-struct to decode the message contents into
- */
-static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
-	debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg);
-	debug_vect->x = mavlink_msg_debug_vect_get_x(msg);
-	debug_vect->y = mavlink_msg_debug_vect_get_y(msg);
-	debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
-#else
-	memcpy(debug_vect, _MAV_PAYLOAD(msg), 30);
-#endif
-}
@@ -1,276 +0,0 @@
-// MESSAGE GLOBAL_POSITION PACKING
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION 33
-
-typedef struct __mavlink_global_position_t
-{
- uint64_t usec; ///< Timestamp (microseconds since unix epoch)
- float lat; ///< Latitude, in degrees
- float lon; ///< Longitude, in degrees
- float alt; ///< Absolute altitude, in meters
- float vx; ///< X Speed (in Latitude direction, positive: going north)
- float vy; ///< Y Speed (in Longitude direction, positive: going east)
- float vz; ///< Z Speed (in Altitude direction, positive: going up)
-} mavlink_global_position_t;
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_LEN 32
-#define MAVLINK_MSG_ID_33_LEN 32
-
-
-
-#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION { \
-	"GLOBAL_POSITION", \
-	7, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_t, usec) }, \
-         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_position_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_position_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_position_t, alt) }, \
-         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_position_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_t, vz) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a global_position 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 usec Timestamp (microseconds since unix epoch)
- * @param lat Latitude, in degrees
- * @param lon Longitude, in degrees
- * @param alt Absolute altitude, in meters
- * @param vx X Speed (in Latitude direction, positive: going north)
- * @param vy Y Speed (in Longitude direction, positive: going east)
- * @param vz Z Speed (in Altitude direction, positive: going up)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, lat);
-	_mav_put_float(buf, 12, lon);
-	_mav_put_float(buf, 16, alt);
-	_mav_put_float(buf, 20, vx);
-	_mav_put_float(buf, 24, vy);
-	_mav_put_float(buf, 28, vz);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 32);
-#else
-	mavlink_global_position_t packet;
-	packet.usec = usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
-	return mavlink_finalize_message(msg, system_id, component_id, 32);
-}
-
-/**
- * @brief Pack a global_position 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds since unix epoch)
- * @param lat Latitude, in degrees
- * @param lon Longitude, in degrees
- * @param alt Absolute altitude, in meters
- * @param vx X Speed (in Latitude direction, positive: going north)
- * @param vy Y Speed (in Longitude direction, positive: going east)
- * @param vz Z Speed (in Altitude direction, positive: going up)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,float lat,float lon,float alt,float vx,float vy,float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, lat);
-	_mav_put_float(buf, 12, lon);
-	_mav_put_float(buf, 16, alt);
-	_mav_put_float(buf, 20, vx);
-	_mav_put_float(buf, 24, vy);
-	_mav_put_float(buf, 28, vz);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 32);
-#else
-	mavlink_global_position_t packet;
-	packet.usec = usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
-}
-
-/**
- * @brief Encode a global_position struct into a 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 global_position C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position)
-{
-	return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz);
-}
-
-/**
- * @brief Send a global_position message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds since unix epoch)
- * @param lat Latitude, in degrees
- * @param lon Longitude, in degrees
- * @param alt Absolute altitude, in meters
- * @param vx X Speed (in Latitude direction, positive: going north)
- * @param vy Y Speed (in Longitude direction, positive: going east)
- * @param vz Z Speed (in Altitude direction, positive: going up)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, lat);
-	_mav_put_float(buf, 12, lon);
-	_mav_put_float(buf, 16, alt);
-	_mav_put_float(buf, 20, vx);
-	_mav_put_float(buf, 24, vy);
-	_mav_put_float(buf, 28, vz);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, buf, 32);
-#else
-	mavlink_global_position_t packet;
-	packet.usec = usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, (const char *)&packet, 32);
-#endif
-}
-
-#endif
-
-// MESSAGE GLOBAL_POSITION UNPACKING
-
-
-/**
- * @brief Get field usec from global_position message
- *
- * @return Timestamp (microseconds since unix epoch)
- */
-static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field lat from global_position message
- *
- * @return Latitude, in degrees
- */
-static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field lon from global_position message
- *
- * @return Longitude, in degrees
- */
-static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field alt from global_position message
- *
- * @return Absolute altitude, in meters
- */
-static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field vx from global_position message
- *
- * @return X Speed (in Latitude direction, positive: going north)
- */
-static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field vy from global_position message
- *
- * @return Y Speed (in Longitude direction, positive: going east)
- */
-static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field vz from global_position message
- *
- * @return Z Speed (in Altitude direction, positive: going up)
- */
-static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a global_position message into a struct
- *
- * @param msg The message to decode
- * @param global_position C-struct to decode the message contents into
- */
-static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	global_position->usec = mavlink_msg_global_position_get_usec(msg);
-	global_position->lat = mavlink_msg_global_position_get_lat(msg);
-	global_position->lon = mavlink_msg_global_position_get_lon(msg);
-	global_position->alt = mavlink_msg_global_position_get_alt(msg);
-	global_position->vx = mavlink_msg_global_position_get_vx(msg);
-	global_position->vy = mavlink_msg_global_position_get_vy(msg);
-	global_position->vz = mavlink_msg_global_position_get_vz(msg);
-#else
-	memcpy(global_position, _MAV_PAYLOAD(msg), 32);
-#endif
-}
@@ -1,254 +0,0 @@
-// MESSAGE GLOBAL_POSITION_INT PACKING
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73
-
-typedef struct __mavlink_global_position_int_t
-{
- int32_t lat; ///< Latitude, expressed as * 1E7
- int32_t lon; ///< Longitude, expressed as * 1E7
- int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
- int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
- int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
- int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
-} mavlink_global_position_int_t;
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 18
-#define MAVLINK_MSG_ID_73_LEN 18
-
-
-
-#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
-	"GLOBAL_POSITION_INT", \
-	6, \
-	{  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_int_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, alt) }, \
-         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_int_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_global_position_int_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_global_position_int_t, vz) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a global_position_int 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 lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
-	_mav_put_int32_t(buf, 0, lat);
-	_mav_put_int32_t(buf, 4, lon);
-	_mav_put_int32_t(buf, 8, alt);
-	_mav_put_int16_t(buf, 12, vx);
-	_mav_put_int16_t(buf, 14, vy);
-	_mav_put_int16_t(buf, 16, vz);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 18);
-#else
-	mavlink_global_position_int_t packet;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 18);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
-	return mavlink_finalize_message(msg, system_id, component_id, 18);
-}
-
-/**
- * @brief Pack a global_position_int 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
-	_mav_put_int32_t(buf, 0, lat);
-	_mav_put_int32_t(buf, 4, lon);
-	_mav_put_int32_t(buf, 8, alt);
-	_mav_put_int16_t(buf, 12, vx);
-	_mav_put_int16_t(buf, 14, vy);
-	_mav_put_int16_t(buf, 16, vz);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 18);
-#else
-	mavlink_global_position_int_t packet;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 18);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
-}
-
-/**
- * @brief Encode a global_position_int struct into a 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 global_position_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
-{
-	return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->vx, global_position_int->vy, global_position_int->vz);
-}
-
-/**
- * @brief Send a global_position_int message
- * @param chan MAVLink channel to send the message
- *
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
-	_mav_put_int32_t(buf, 0, lat);
-	_mav_put_int32_t(buf, 4, lon);
-	_mav_put_int32_t(buf, 8, alt);
-	_mav_put_int16_t(buf, 12, vx);
-	_mav_put_int16_t(buf, 14, vy);
-	_mav_put_int16_t(buf, 16, vz);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 18);
-#else
-	mavlink_global_position_int_t packet;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 18);
-#endif
-}
-
-#endif
-
-// MESSAGE GLOBAL_POSITION_INT UNPACKING
-
-
-/**
- * @brief Get field lat from global_position_int message
- *
- * @return Latitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field lon from global_position_int message
- *
- * @return Longitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field alt from global_position_int message
- *
- * @return Altitude in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field vx from global_position_int message
- *
- * @return Ground X Speed (Latitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field vy from global_position_int message
- *
- * @return Ground Y Speed (Longitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Get field vz from global_position_int message
- *
- * @return Ground Z Speed (Altitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  16);
-}
-
-/**
- * @brief Decode a global_position_int message into a struct
- *
- * @param msg The message to decode
- * @param global_position_int C-struct to decode the message contents into
- */
-static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
-	global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
-	global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
-	global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
-	global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
-	global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
-#else
-	memcpy(global_position_int, _MAV_PAYLOAD(msg), 18);
-#endif
-}
@@ -1,188 +0,0 @@
-// MESSAGE GPS_LOCAL_ORIGIN_SET PACKING
-
-#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49
-
-typedef struct __mavlink_gps_local_origin_set_t
-{
- int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7
- int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7
- int32_t altitude; ///< Altitude(WGS84), expressed as * 1000
-} mavlink_gps_local_origin_set_t;
-
-#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET_LEN 12
-#define MAVLINK_MSG_ID_49_LEN 12
-
-
-
-#define MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET { \
-	"GPS_LOCAL_ORIGIN_SET", \
-	3, \
-	{  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_local_origin_set_t, latitude) }, \
-         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_local_origin_set_t, longitude) }, \
-         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_local_origin_set_t, altitude) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_local_origin_set 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 latitude Latitude (WGS84), expressed as * 1E7
- * @param longitude Longitude (WGS84), expressed as * 1E7
- * @param altitude Altitude(WGS84), expressed as * 1000
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       int32_t latitude, int32_t longitude, int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 12);
-#else
-	mavlink_gps_local_origin_set_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
-	return mavlink_finalize_message(msg, system_id, component_id, 12);
-}
-
-/**
- * @brief Pack a gps_local_origin_set 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param latitude Latitude (WGS84), expressed as * 1E7
- * @param longitude Longitude (WGS84), expressed as * 1E7
- * @param altitude Altitude(WGS84), expressed as * 1000
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           int32_t latitude,int32_t longitude,int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 12);
-#else
-	mavlink_gps_local_origin_set_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
-}
-
-/**
- * @brief Encode a gps_local_origin_set struct into a 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 gps_local_origin_set C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_local_origin_set_t* gps_local_origin_set)
-{
-	return mavlink_msg_gps_local_origin_set_pack(system_id, component_id, msg, gps_local_origin_set->latitude, gps_local_origin_set->longitude, gps_local_origin_set->altitude);
-}
-
-/**
- * @brief Send a gps_local_origin_set message
- * @param chan MAVLink channel to send the message
- *
- * @param latitude Latitude (WGS84), expressed as * 1E7
- * @param longitude Longitude (WGS84), expressed as * 1E7
- * @param altitude Altitude(WGS84), expressed as * 1000
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, buf, 12);
-#else
-	mavlink_gps_local_origin_set_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, (const char *)&packet, 12);
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING
-
-
-/**
- * @brief Get field latitude from gps_local_origin_set message
- *
- * @return Latitude (WGS84), expressed as * 1E7
- */
-static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field longitude from gps_local_origin_set message
- *
- * @return Longitude (WGS84), expressed as * 1E7
- */
-static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field altitude from gps_local_origin_set message
- *
- * @return Altitude(WGS84), expressed as * 1000
- */
-static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Decode a gps_local_origin_set message into a struct
- *
- * @param msg The message to decode
- * @param gps_local_origin_set C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg);
-	gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg);
-	gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg);
-#else
-	memcpy(gps_local_origin_set, _MAV_PAYLOAD(msg), 12);
-#endif
-}
@@ -1,320 +0,0 @@
-// MESSAGE GPS_RAW PACKING
-
-#define MAVLINK_MSG_ID_GPS_RAW 32
-
-typedef struct __mavlink_gps_raw_t
-{
- uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- float lat; ///< Latitude in degrees
- float lon; ///< Longitude in degrees
- float alt; ///< Altitude in meters
- float eph; ///< GPS HDOP
- float epv; ///< GPS VDOP
- float v; ///< GPS ground speed
- float hdg; ///< Compass heading in degrees, 0..360 degrees
-} mavlink_gps_raw_t;
-
-#define MAVLINK_MSG_ID_GPS_RAW_LEN 37
-#define MAVLINK_MSG_ID_32_LEN 37
-
-
-
-#define MAVLINK_MESSAGE_INFO_GPS_RAW { \
-	"GPS_RAW", \
-	9, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \
-         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \
-         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \
-         { "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \
-         { "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \
-         { "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \
-         { "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_t, hdg) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_raw 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude in degrees
- * @param lon Longitude in degrees
- * @param alt Altitude in meters
- * @param eph GPS HDOP
- * @param epv GPS VDOP
- * @param v GPS ground speed
- * @param hdg Compass heading in degrees, 0..360 degrees
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[37];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_uint8_t(buf, 8, fix_type);
-	_mav_put_float(buf, 9, lat);
-	_mav_put_float(buf, 13, lon);
-	_mav_put_float(buf, 17, alt);
-	_mav_put_float(buf, 21, eph);
-	_mav_put_float(buf, 25, epv);
-	_mav_put_float(buf, 29, v);
-	_mav_put_float(buf, 33, hdg);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 37);
-#else
-	mavlink_gps_raw_t packet;
-	packet.usec = usec;
-	packet.fix_type = fix_type;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.v = v;
-	packet.hdg = hdg;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 37);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
-	return mavlink_finalize_message(msg, system_id, component_id, 37);
-}
-
-/**
- * @brief Pack a gps_raw 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude in degrees
- * @param lon Longitude in degrees
- * @param alt Altitude in meters
- * @param eph GPS HDOP
- * @param epv GPS VDOP
- * @param v GPS ground speed
- * @param hdg Compass heading in degrees, 0..360 degrees
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[37];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_uint8_t(buf, 8, fix_type);
-	_mav_put_float(buf, 9, lat);
-	_mav_put_float(buf, 13, lon);
-	_mav_put_float(buf, 17, alt);
-	_mav_put_float(buf, 21, eph);
-	_mav_put_float(buf, 25, epv);
-	_mav_put_float(buf, 29, v);
-	_mav_put_float(buf, 33, hdg);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 37);
-#else
-	mavlink_gps_raw_t packet;
-	packet.usec = usec;
-	packet.fix_type = fix_type;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.v = v;
-	packet.hdg = hdg;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 37);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37);
-}
-
-/**
- * @brief Encode a gps_raw struct into a 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 gps_raw C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_t* gps_raw)
-{
-	return mavlink_msg_gps_raw_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->alt, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg);
-}
-
-/**
- * @brief Send a gps_raw message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude in degrees
- * @param lon Longitude in degrees
- * @param alt Altitude in meters
- * @param eph GPS HDOP
- * @param epv GPS VDOP
- * @param v GPS ground speed
- * @param hdg Compass heading in degrees, 0..360 degrees
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[37];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_uint8_t(buf, 8, fix_type);
-	_mav_put_float(buf, 9, lat);
-	_mav_put_float(buf, 13, lon);
-	_mav_put_float(buf, 17, alt);
-	_mav_put_float(buf, 21, eph);
-	_mav_put_float(buf, 25, epv);
-	_mav_put_float(buf, 29, v);
-	_mav_put_float(buf, 33, hdg);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37);
-#else
-	mavlink_gps_raw_t packet;
-	packet.usec = usec;
-	packet.fix_type = fix_type;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.v = v;
-	packet.hdg = hdg;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37);
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_RAW UNPACKING
-
-
-/**
- * @brief Get field usec from gps_raw message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field fix_type from gps_raw message
- *
- * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- */
-static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field lat from gps_raw message
- *
- * @return Latitude in degrees
- */
-static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  9);
-}
-
-/**
- * @brief Get field lon from gps_raw message
- *
- * @return Longitude in degrees
- */
-static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  13);
-}
-
-/**
- * @brief Get field alt from gps_raw message
- *
- * @return Altitude in meters
- */
-static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  17);
-}
-
-/**
- * @brief Get field eph from gps_raw message
- *
- * @return GPS HDOP
- */
-static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  21);
-}
-
-/**
- * @brief Get field epv from gps_raw message
- *
- * @return GPS VDOP
- */
-static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  25);
-}
-
-/**
- * @brief Get field v from gps_raw message
- *
- * @return GPS ground speed
- */
-static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  29);
-}
-
-/**
- * @brief Get field hdg from gps_raw message
- *
- * @return Compass heading in degrees, 0..360 degrees
- */
-static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  33);
-}
-
-/**
- * @brief Decode a gps_raw message into a struct
- *
- * @param msg The message to decode
- * @param gps_raw C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg);
-	gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg);
-	gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg);
-	gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg);
-	gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg);
-	gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg);
-	gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg);
-	gps_raw->v = mavlink_msg_gps_raw_get_v(msg);
-	gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg);
-#else
-	memcpy(gps_raw, _MAV_PAYLOAD(msg), 37);
-#endif
-}
@@ -1,320 +0,0 @@
-// MESSAGE GPS_RAW_INT PACKING
-
-#define MAVLINK_MSG_ID_GPS_RAW_INT 25
-
-typedef struct __mavlink_gps_raw_int_t
-{
- uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- int32_t lat; ///< Latitude in 1E7 degrees
- int32_t lon; ///< Longitude in 1E7 degrees
- int32_t alt; ///< Altitude in 1E3 meters (millimeters)
- float eph; ///< GPS HDOP
- float epv; ///< GPS VDOP
- float v; ///< GPS ground speed (m/s)
- float hdg; ///< Compass heading in degrees, 0..360 degrees
-} mavlink_gps_raw_int_t;
-
-#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 37
-#define MAVLINK_MSG_ID_25_LEN 37
-
-
-
-#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \
-	"GPS_RAW_INT", \
-	9, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, usec) }, \
-         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_int_t, fix_type) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 9, offsetof(mavlink_gps_raw_int_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 13, offsetof(mavlink_gps_raw_int_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 17, offsetof(mavlink_gps_raw_int_t, alt) }, \
-         { "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_int_t, eph) }, \
-         { "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_int_t, epv) }, \
-         { "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_int_t, v) }, \
-         { "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_int_t, hdg) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_raw_int 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude in 1E7 degrees
- * @param lon Longitude in 1E7 degrees
- * @param alt Altitude in 1E3 meters (millimeters)
- * @param eph GPS HDOP
- * @param epv GPS VDOP
- * @param v GPS ground speed (m/s)
- * @param hdg Compass heading in degrees, 0..360 degrees
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[37];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_uint8_t(buf, 8, fix_type);
-	_mav_put_int32_t(buf, 9, lat);
-	_mav_put_int32_t(buf, 13, lon);
-	_mav_put_int32_t(buf, 17, alt);
-	_mav_put_float(buf, 21, eph);
-	_mav_put_float(buf, 25, epv);
-	_mav_put_float(buf, 29, v);
-	_mav_put_float(buf, 33, hdg);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 37);
-#else
-	mavlink_gps_raw_int_t packet;
-	packet.usec = usec;
-	packet.fix_type = fix_type;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.v = v;
-	packet.hdg = hdg;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 37);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
-	return mavlink_finalize_message(msg, system_id, component_id, 37);
-}
-
-/**
- * @brief Pack a gps_raw_int 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude in 1E7 degrees
- * @param lon Longitude in 1E7 degrees
- * @param alt Altitude in 1E3 meters (millimeters)
- * @param eph GPS HDOP
- * @param epv GPS VDOP
- * @param v GPS ground speed (m/s)
- * @param hdg Compass heading in degrees, 0..360 degrees
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,float eph,float epv,float v,float hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[37];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_uint8_t(buf, 8, fix_type);
-	_mav_put_int32_t(buf, 9, lat);
-	_mav_put_int32_t(buf, 13, lon);
-	_mav_put_int32_t(buf, 17, alt);
-	_mav_put_float(buf, 21, eph);
-	_mav_put_float(buf, 25, epv);
-	_mav_put_float(buf, 29, v);
-	_mav_put_float(buf, 33, hdg);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 37);
-#else
-	mavlink_gps_raw_int_t packet;
-	packet.usec = usec;
-	packet.fix_type = fix_type;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.v = v;
-	packet.hdg = hdg;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 37);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37);
-}
-
-/**
- * @brief Encode a gps_raw_int struct into a 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 gps_raw_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
-{
-	return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->v, gps_raw_int->hdg);
-}
-
-/**
- * @brief Send a gps_raw_int message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude in 1E7 degrees
- * @param lon Longitude in 1E7 degrees
- * @param alt Altitude in 1E3 meters (millimeters)
- * @param eph GPS HDOP
- * @param epv GPS VDOP
- * @param v GPS ground speed (m/s)
- * @param hdg Compass heading in degrees, 0..360 degrees
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[37];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_uint8_t(buf, 8, fix_type);
-	_mav_put_int32_t(buf, 9, lat);
-	_mav_put_int32_t(buf, 13, lon);
-	_mav_put_int32_t(buf, 17, alt);
-	_mav_put_float(buf, 21, eph);
-	_mav_put_float(buf, 25, epv);
-	_mav_put_float(buf, 29, v);
-	_mav_put_float(buf, 33, hdg);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, 37);
-#else
-	mavlink_gps_raw_int_t packet;
-	packet.usec = usec;
-	packet.fix_type = fix_type;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.v = v;
-	packet.hdg = hdg;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, 37);
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_RAW_INT UNPACKING
-
-
-/**
- * @brief Get field usec from gps_raw_int message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field fix_type from gps_raw_int message
- *
- * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- */
-static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field lat from gps_raw_int message
- *
- * @return Latitude in 1E7 degrees
- */
-static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  9);
-}
-
-/**
- * @brief Get field lon from gps_raw_int message
- *
- * @return Longitude in 1E7 degrees
- */
-static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  13);
-}
-
-/**
- * @brief Get field alt from gps_raw_int message
- *
- * @return Altitude in 1E3 meters (millimeters)
- */
-static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  17);
-}
-
-/**
- * @brief Get field eph from gps_raw_int message
- *
- * @return GPS HDOP
- */
-static inline float mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  21);
-}
-
-/**
- * @brief Get field epv from gps_raw_int message
- *
- * @return GPS VDOP
- */
-static inline float mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  25);
-}
-
-/**
- * @brief Get field v from gps_raw_int message
- *
- * @return GPS ground speed (m/s)
- */
-static inline float mavlink_msg_gps_raw_int_get_v(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  29);
-}
-
-/**
- * @brief Get field hdg from gps_raw_int message
- *
- * @return Compass heading in degrees, 0..360 degrees
- */
-static inline float mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  33);
-}
-
-/**
- * @brief Decode a gps_raw_int message into a struct
- *
- * @param msg The message to decode
- * @param gps_raw_int C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_raw_int->usec = mavlink_msg_gps_raw_int_get_usec(msg);
-	gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
-	gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg);
-	gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg);
-	gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg);
-	gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg);
-	gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg);
-	gps_raw_int->v = mavlink_msg_gps_raw_int_get_v(msg);
-	gps_raw_int->hdg = mavlink_msg_gps_raw_int_get_hdg(msg);
-#else
-	memcpy(gps_raw_int, _MAV_PAYLOAD(msg), 37);
-#endif
-}
@@ -1,232 +0,0 @@
-// MESSAGE GPS_SET_GLOBAL_ORIGIN PACKING
-
-#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN 48
-
-typedef struct __mavlink_gps_set_global_origin_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- int32_t latitude; ///< global position * 1E7
- int32_t longitude; ///< global position * 1E7
- int32_t altitude; ///< global position * 1000
-} mavlink_gps_set_global_origin_t;
-
-#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN_LEN 14
-#define MAVLINK_MSG_ID_48_LEN 14
-
-
-
-#define MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN { \
-	"GPS_SET_GLOBAL_ORIGIN", \
-	5, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_set_global_origin_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_set_global_origin_t, target_component) }, \
-         { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_gps_set_global_origin_t, latitude) }, \
-         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_gps_set_global_origin_t, longitude) }, \
-         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_gps_set_global_origin_t, altitude) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_set_global_origin 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_system System ID
- * @param target_component Component ID
- * @param latitude global position * 1E7
- * @param longitude global position * 1E7
- * @param altitude global position * 1000
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[14];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, latitude);
-	_mav_put_int32_t(buf, 6, longitude);
-	_mav_put_int32_t(buf, 10, altitude);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 14);
-#else
-	mavlink_gps_set_global_origin_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 14);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
-	return mavlink_finalize_message(msg, system_id, component_id, 14);
-}
-
-/**
- * @brief Pack a gps_set_global_origin 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param latitude global position * 1E7
- * @param longitude global position * 1E7
- * @param altitude global position * 1000
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_set_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int32_t latitude,int32_t longitude,int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[14];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, latitude);
-	_mav_put_int32_t(buf, 6, longitude);
-	_mav_put_int32_t(buf, 10, altitude);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 14);
-#else
-	mavlink_gps_set_global_origin_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 14);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
-}
-
-/**
- * @brief Encode a gps_set_global_origin struct into a 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 gps_set_global_origin C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_set_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_set_global_origin_t* gps_set_global_origin)
-{
-	return mavlink_msg_gps_set_global_origin_pack(system_id, component_id, msg, gps_set_global_origin->target_system, gps_set_global_origin->target_component, gps_set_global_origin->latitude, gps_set_global_origin->longitude, gps_set_global_origin->altitude);
-}
-
-/**
- * @brief Send a gps_set_global_origin message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param latitude global position * 1E7
- * @param longitude global position * 1E7
- * @param altitude global position * 1000
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_set_global_origin_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[14];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_int32_t(buf, 2, latitude);
-	_mav_put_int32_t(buf, 6, longitude);
-	_mav_put_int32_t(buf, 10, altitude);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, buf, 14);
-#else
-	mavlink_gps_set_global_origin_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, (const char *)&packet, 14);
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_SET_GLOBAL_ORIGIN UNPACKING
-
-
-/**
- * @brief Get field target_system from gps_set_global_origin message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from gps_set_global_origin message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field latitude from gps_set_global_origin message
- *
- * @return global position * 1E7
- */
-static inline int32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  2);
-}
-
-/**
- * @brief Get field longitude from gps_set_global_origin message
- *
- * @return global position * 1E7
- */
-static inline int32_t mavlink_msg_gps_set_global_origin_get_longitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  6);
-}
-
-/**
- * @brief Get field altitude from gps_set_global_origin message
- *
- * @return global position * 1000
- */
-static inline int32_t mavlink_msg_gps_set_global_origin_get_altitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  10);
-}
-
-/**
- * @brief Decode a gps_set_global_origin message into a struct
- *
- * @param msg The message to decode
- * @param gps_set_global_origin C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_set_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_set_global_origin_t* gps_set_global_origin)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_set_global_origin->target_system = mavlink_msg_gps_set_global_origin_get_target_system(msg);
-	gps_set_global_origin->target_component = mavlink_msg_gps_set_global_origin_get_target_component(msg);
-	gps_set_global_origin->latitude = mavlink_msg_gps_set_global_origin_get_latitude(msg);
-	gps_set_global_origin->longitude = mavlink_msg_gps_set_global_origin_get_longitude(msg);
-	gps_set_global_origin->altitude = mavlink_msg_gps_set_global_origin_get_altitude(msg);
-#else
-	memcpy(gps_set_global_origin, _MAV_PAYLOAD(msg), 14);
-#endif
-}
@@ -1,252 +0,0 @@
-// MESSAGE GPS_STATUS PACKING
-
-#define MAVLINK_MSG_ID_GPS_STATUS 27
-
-typedef struct __mavlink_gps_status_t
-{
- uint8_t satellites_visible; ///< Number of satellites visible
- int8_t satellite_prn[20]; ///< Global satellite ID
- int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
- int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
- int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
-} mavlink_gps_status_t;
-
-#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
-#define MAVLINK_MSG_ID_27_LEN 101
-
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
-
-#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
-	"GPS_STATUS", \
-	6, \
-	{  { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
-         { "satellite_prn", NULL, MAVLINK_TYPE_INT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
-         { "satellite_used", NULL, MAVLINK_TYPE_INT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
-         { "satellite_elevation", NULL, MAVLINK_TYPE_INT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
-         { "satellite_azimuth", NULL, MAVLINK_TYPE_INT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
-         { "satellite_snr", NULL, MAVLINK_TYPE_INT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_status 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 satellites_visible Number of satellites visible
- * @param satellite_prn Global satellite ID
- * @param satellite_used 0: Satellite not used, 1: used for localization
- * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
- * @param satellite_snr Signal to noise ratio of satellite
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[101];
-	_mav_put_uint8_t(buf, 0, satellites_visible);
-	_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
-	_mav_put_int8_t_array(buf, 21, satellite_used, 20);
-	_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
-	_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
-	_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
-        memcpy(_MAV_PAYLOAD(msg), buf, 101);
-#else
-	mavlink_gps_status_t packet;
-	packet.satellites_visible = satellites_visible;
-	mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 101);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
-	return mavlink_finalize_message(msg, system_id, component_id, 101);
-}
-
-/**
- * @brief Pack a gps_status 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param satellites_visible Number of satellites visible
- * @param satellite_prn Global satellite ID
- * @param satellite_used 0: Satellite not used, 1: used for localization
- * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
- * @param satellite_snr Signal to noise ratio of satellite
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t satellites_visible,const int8_t *satellite_prn,const int8_t *satellite_used,const int8_t *satellite_elevation,const int8_t *satellite_azimuth,const int8_t *satellite_snr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[101];
-	_mav_put_uint8_t(buf, 0, satellites_visible);
-	_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
-	_mav_put_int8_t_array(buf, 21, satellite_used, 20);
-	_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
-	_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
-	_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
-        memcpy(_MAV_PAYLOAD(msg), buf, 101);
-#else
-	mavlink_gps_status_t packet;
-	packet.satellites_visible = satellites_visible;
-	mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 101);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101);
-}
-
-/**
- * @brief Encode a gps_status struct into a 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 gps_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
-{
-	return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
-}
-
-/**
- * @brief Send a gps_status message
- * @param chan MAVLink channel to send the message
- *
- * @param satellites_visible Number of satellites visible
- * @param satellite_prn Global satellite ID
- * @param satellite_used 0: Satellite not used, 1: used for localization
- * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
- * @param satellite_snr Signal to noise ratio of satellite
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[101];
-	_mav_put_uint8_t(buf, 0, satellites_visible);
-	_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
-	_mav_put_int8_t_array(buf, 21, satellite_used, 20);
-	_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
-	_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
-	_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101);
-#else
-	mavlink_gps_status_t packet;
-	packet.satellites_visible = satellites_visible;
-	mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
-	mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101);
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_STATUS UNPACKING
-
-
-/**
- * @brief Get field satellites_visible from gps_status message
- *
- * @return Number of satellites visible
- */
-static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field satellite_prn from gps_status message
- *
- * @return Global satellite ID
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t *satellite_prn)
-{
-	return _MAV_RETURN_int8_t_array(msg, satellite_prn, 20,  1);
-}
-
-/**
- * @brief Get field satellite_used from gps_status message
- *
- * @return 0: Satellite not used, 1: used for localization
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t *satellite_used)
-{
-	return _MAV_RETURN_int8_t_array(msg, satellite_used, 20,  21);
-}
-
-/**
- * @brief Get field satellite_elevation from gps_status message
- *
- * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t *satellite_elevation)
-{
-	return _MAV_RETURN_int8_t_array(msg, satellite_elevation, 20,  41);
-}
-
-/**
- * @brief Get field satellite_azimuth from gps_status message
- *
- * @return Direction of satellite, 0: 0 deg, 255: 360 deg.
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t *satellite_azimuth)
-{
-	return _MAV_RETURN_int8_t_array(msg, satellite_azimuth, 20,  61);
-}
-
-/**
- * @brief Get field satellite_snr from gps_status message
- *
- * @return Signal to noise ratio of satellite
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t *satellite_snr)
-{
-	return _MAV_RETURN_int8_t_array(msg, satellite_snr, 20,  81);
-}
-
-/**
- * @brief Decode a gps_status message into a struct
- *
- * @param msg The message to decode
- * @param gps_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
-	mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
-	mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
-	mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
-	mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
-	mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
-#else
-	memcpy(gps_status, _MAV_PAYLOAD(msg), 101);
-#endif
-}
@@ -1,185 +0,0 @@
-// MESSAGE HEARTBEAT PACKING
-
-#define MAVLINK_MSG_ID_HEARTBEAT 0
-
-typedef struct __mavlink_heartbeat_t
-{
- uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
- uint8_t mavlink_version; ///< MAVLink version
-} mavlink_heartbeat_t;
-
-#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3
-#define MAVLINK_MSG_ID_0_LEN 3
-
-
-
-#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
-	"HEARTBEAT", \
-	3, \
-	{  { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_heartbeat_t, type) }, \
-         { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_heartbeat_t, autopilot) }, \
-         { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t type, uint8_t autopilot)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, type);
-	_mav_put_uint8_t(buf, 1, autopilot);
-	_mav_put_uint8_t(buf, 2, 2);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 3);
-#else
-	mavlink_heartbeat_t packet;
-	packet.type = type;
-	packet.autopilot = autopilot;
-	packet.mavlink_version = 2;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-	return mavlink_finalize_message(msg, system_id, component_id, 3);
-}
-
-/**
- * @brief Pack a heartbeat 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t type,uint8_t autopilot)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, type);
-	_mav_put_uint8_t(buf, 1, autopilot);
-	_mav_put_uint8_t(buf, 2, 2);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 3);
-#else
-	mavlink_heartbeat_t packet;
-	packet.type = type;
-	packet.autopilot = autopilot;
-	packet.mavlink_version = 2;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
-}
-
-/**
- * @brief Encode a heartbeat struct into a 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 heartbeat C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
-{
-	return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
-}
-
-/**
- * @brief Send a heartbeat message
- * @param chan MAVLink channel to send the message
- *
- * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[3];
-	_mav_put_uint8_t(buf, 0, type);
-	_mav_put_uint8_t(buf, 1, autopilot);
-	_mav_put_uint8_t(buf, 2, 2);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 3);
-#else
-	mavlink_heartbeat_t packet;
-	packet.type = type;
-	packet.autopilot = autopilot;
-	packet.mavlink_version = 2;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 3);
-#endif
-}
-
-#endif
-
-// MESSAGE HEARTBEAT UNPACKING
-
-
-/**
- * @brief Get field type from heartbeat message
- *
- * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- */
-static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field autopilot from heartbeat message
- *
- * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
- */
-static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field mavlink_version from heartbeat message
- *
- * @return MAVLink version
- */
-static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a heartbeat message into a struct
- *
- * @param msg The message to decode
- * @param heartbeat C-struct to decode the message contents into
- */
-static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
-	heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
-	heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
-#else
-	memcpy(heartbeat, _MAV_PAYLOAD(msg), 3);
-#endif
-}
@@ -1,276 +0,0 @@
-// MESSAGE HIL_CONTROLS PACKING
-
-#define MAVLINK_MSG_ID_HIL_CONTROLS 68
-
-typedef struct __mavlink_hil_controls_t
-{
- uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- float roll_ailerons; ///< Control output -3 .. 1
- float pitch_elevator; ///< Control output -1 .. 1
- float yaw_rudder; ///< Control output -1 .. 1
- float throttle; ///< Throttle 0 .. 1
- uint8_t mode; ///< System mode (MAV_MODE)
- uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
-} mavlink_hil_controls_t;
-
-#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 26
-#define MAVLINK_MSG_ID_68_LEN 26
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
-	"HIL_CONTROLS", \
-	7, \
-	{  { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_us) }, \
-         { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
-         { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
-         { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
-         { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
-         { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_controls_t, mode) }, \
-         { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_controls_t, nav_mode) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_controls 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 time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll_ailerons Control output -3 .. 1
- * @param pitch_elevator Control output -1 .. 1
- * @param yaw_rudder Control output -1 .. 1
- * @param throttle Throttle 0 .. 1
- * @param mode System mode (MAV_MODE)
- * @param nav_mode Navigation mode (MAV_NAV_MODE)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[26];
-	_mav_put_uint64_t(buf, 0, time_us);
-	_mav_put_float(buf, 8, roll_ailerons);
-	_mav_put_float(buf, 12, pitch_elevator);
-	_mav_put_float(buf, 16, yaw_rudder);
-	_mav_put_float(buf, 20, throttle);
-	_mav_put_uint8_t(buf, 24, mode);
-	_mav_put_uint8_t(buf, 25, nav_mode);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 26);
-#else
-	mavlink_hil_controls_t packet;
-	packet.time_us = time_us;
-	packet.roll_ailerons = roll_ailerons;
-	packet.pitch_elevator = pitch_elevator;
-	packet.yaw_rudder = yaw_rudder;
-	packet.throttle = throttle;
-	packet.mode = mode;
-	packet.nav_mode = nav_mode;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 26);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
-	return mavlink_finalize_message(msg, system_id, component_id, 26);
-}
-
-/**
- * @brief Pack a hil_controls 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll_ailerons Control output -3 .. 1
- * @param pitch_elevator Control output -1 .. 1
- * @param yaw_rudder Control output -1 .. 1
- * @param throttle Throttle 0 .. 1
- * @param mode System mode (MAV_MODE)
- * @param nav_mode Navigation mode (MAV_NAV_MODE)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_us,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,uint8_t mode,uint8_t nav_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[26];
-	_mav_put_uint64_t(buf, 0, time_us);
-	_mav_put_float(buf, 8, roll_ailerons);
-	_mav_put_float(buf, 12, pitch_elevator);
-	_mav_put_float(buf, 16, yaw_rudder);
-	_mav_put_float(buf, 20, throttle);
-	_mav_put_uint8_t(buf, 24, mode);
-	_mav_put_uint8_t(buf, 25, nav_mode);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 26);
-#else
-	mavlink_hil_controls_t packet;
-	packet.time_us = time_us;
-	packet.roll_ailerons = roll_ailerons;
-	packet.pitch_elevator = pitch_elevator;
-	packet.yaw_rudder = yaw_rudder;
-	packet.throttle = throttle;
-	packet.mode = mode;
-	packet.nav_mode = nav_mode;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 26);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
-}
-
-/**
- * @brief Encode a hil_controls struct into a 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 hil_controls C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
-{
-	return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode);
-}
-
-/**
- * @brief Send a hil_controls message
- * @param chan MAVLink channel to send the message
- *
- * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll_ailerons Control output -3 .. 1
- * @param pitch_elevator Control output -1 .. 1
- * @param yaw_rudder Control output -1 .. 1
- * @param throttle Throttle 0 .. 1
- * @param mode System mode (MAV_MODE)
- * @param nav_mode Navigation mode (MAV_NAV_MODE)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[26];
-	_mav_put_uint64_t(buf, 0, time_us);
-	_mav_put_float(buf, 8, roll_ailerons);
-	_mav_put_float(buf, 12, pitch_elevator);
-	_mav_put_float(buf, 16, yaw_rudder);
-	_mav_put_float(buf, 20, throttle);
-	_mav_put_uint8_t(buf, 24, mode);
-	_mav_put_uint8_t(buf, 25, nav_mode);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 26);
-#else
-	mavlink_hil_controls_t packet;
-	packet.time_us = time_us;
-	packet.roll_ailerons = roll_ailerons;
-	packet.pitch_elevator = pitch_elevator;
-	packet.yaw_rudder = yaw_rudder;
-	packet.throttle = throttle;
-	packet.mode = mode;
-	packet.nav_mode = nav_mode;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 26);
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_CONTROLS UNPACKING
-
-
-/**
- * @brief Get field time_us from hil_controls message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field roll_ailerons from hil_controls message
- *
- * @return Control output -3 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field pitch_elevator from hil_controls message
- *
- * @return Control output -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field yaw_rudder from hil_controls message
- *
- * @return Control output -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field throttle from hil_controls message
- *
- * @return Throttle 0 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field mode from hil_controls message
- *
- * @return System mode (MAV_MODE)
- */
-static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  24);
-}
-
-/**
- * @brief Get field nav_mode from hil_controls message
- *
- * @return Navigation mode (MAV_NAV_MODE)
- */
-static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  25);
-}
-
-/**
- * @brief Decode a hil_controls message into a struct
- *
- * @param msg The message to decode
- * @param hil_controls C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg);
-	hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
-	hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
-	hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
-	hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
-	hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
-	hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
-#else
-	memcpy(hil_controls, _MAV_PAYLOAD(msg), 26);
-#endif
-}
@@ -1,474 +0,0 @@
-// MESSAGE HIL_STATE PACKING
-
-#define MAVLINK_MSG_ID_HIL_STATE 67
-
-typedef struct __mavlink_hil_state_t
-{
- uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- float roll; ///< Roll angle (rad)
- float pitch; ///< Pitch angle (rad)
- float yaw; ///< Yaw angle (rad)
- float rollspeed; ///< Roll angular speed (rad/s)
- float pitchspeed; ///< Pitch angular speed (rad/s)
- float yawspeed; ///< Yaw angular speed (rad/s)
- int32_t lat; ///< Latitude, expressed as * 1E7
- int32_t lon; ///< Longitude, expressed as * 1E7
- int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
- int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
- int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
- int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
- int16_t xacc; ///< X acceleration (mg)
- int16_t yacc; ///< Y acceleration (mg)
- int16_t zacc; ///< Z acceleration (mg)
-} mavlink_hil_state_t;
-
-#define MAVLINK_MSG_ID_HIL_STATE_LEN 56
-#define MAVLINK_MSG_ID_67_LEN 56
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
-	"HIL_STATE", \
-	16, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, usec) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
-         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
-         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
-         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
-         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
-         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_state 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[56];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-	_mav_put_int32_t(buf, 32, lat);
-	_mav_put_int32_t(buf, 36, lon);
-	_mav_put_int32_t(buf, 40, alt);
-	_mav_put_int16_t(buf, 44, vx);
-	_mav_put_int16_t(buf, 46, vy);
-	_mav_put_int16_t(buf, 48, vz);
-	_mav_put_int16_t(buf, 50, xacc);
-	_mav_put_int16_t(buf, 52, yacc);
-	_mav_put_int16_t(buf, 54, zacc);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 56);
-#else
-	mavlink_hil_state_t packet;
-	packet.usec = usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 56);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
-	return mavlink_finalize_message(msg, system_id, component_id, 56);
-}
-
-/**
- * @brief Pack a hil_state 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[56];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-	_mav_put_int32_t(buf, 32, lat);
-	_mav_put_int32_t(buf, 36, lon);
-	_mav_put_int32_t(buf, 40, alt);
-	_mav_put_int16_t(buf, 44, vx);
-	_mav_put_int16_t(buf, 46, vy);
-	_mav_put_int16_t(buf, 48, vz);
-	_mav_put_int16_t(buf, 50, xacc);
-	_mav_put_int16_t(buf, 52, yacc);
-	_mav_put_int16_t(buf, 54, zacc);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 56);
-#else
-	mavlink_hil_state_t packet;
-	packet.usec = usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 56);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56);
-}
-
-/**
- * @brief Encode a hil_state struct into a 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 hil_state C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
-{
-	return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
-}
-
-/**
- * @brief Send a hil_state message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[56];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-	_mav_put_int32_t(buf, 32, lat);
-	_mav_put_int32_t(buf, 36, lon);
-	_mav_put_int32_t(buf, 40, alt);
-	_mav_put_int16_t(buf, 44, vx);
-	_mav_put_int16_t(buf, 46, vy);
-	_mav_put_int16_t(buf, 48, vz);
-	_mav_put_int16_t(buf, 50, xacc);
-	_mav_put_int16_t(buf, 52, yacc);
-	_mav_put_int16_t(buf, 54, zacc);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56);
-#else
-	mavlink_hil_state_t packet;
-	packet.usec = usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56);
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_STATE UNPACKING
-
-
-/**
- * @brief Get field usec from hil_state message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field roll from hil_state message
- *
- * @return Roll angle (rad)
- */
-static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field pitch from hil_state message
- *
- * @return Pitch angle (rad)
- */
-static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field yaw from hil_state message
- *
- * @return Yaw angle (rad)
- */
-static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field rollspeed from hil_state message
- *
- * @return Roll angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field pitchspeed from hil_state message
- *
- * @return Pitch angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field yawspeed from hil_state message
- *
- * @return Yaw angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field lat from hil_state message
- *
- * @return Latitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  32);
-}
-
-/**
- * @brief Get field lon from hil_state message
- *
- * @return Longitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  36);
-}
-
-/**
- * @brief Get field alt from hil_state message
- *
- * @return Altitude in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  40);
-}
-
-/**
- * @brief Get field vx from hil_state message
- *
- * @return Ground X Speed (Latitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  44);
-}
-
-/**
- * @brief Get field vy from hil_state message
- *
- * @return Ground Y Speed (Longitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  46);
-}
-
-/**
- * @brief Get field vz from hil_state message
- *
- * @return Ground Z Speed (Altitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  48);
-}
-
-/**
- * @brief Get field xacc from hil_state message
- *
- * @return X acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  50);
-}
-
-/**
- * @brief Get field yacc from hil_state message
- *
- * @return Y acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  52);
-}
-
-/**
- * @brief Get field zacc from hil_state message
- *
- * @return Z acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  54);
-}
-
-/**
- * @brief Decode a hil_state message into a struct
- *
- * @param msg The message to decode
- * @param hil_state C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_state->usec = mavlink_msg_hil_state_get_usec(msg);
-	hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
-	hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
-	hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
-	hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
-	hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
-	hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
-	hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
-	hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
-	hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
-	hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
-	hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
-	hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
-	hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
-	hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
-	hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
-#else
-	memcpy(hil_state, _MAV_PAYLOAD(msg), 56);
-#endif
-}
@@ -1,276 +0,0 @@
-// MESSAGE LOCAL_POSITION PACKING
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION 31
-
-typedef struct __mavlink_local_position_t
-{
- uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- float x; ///< X Position
- float y; ///< Y Position
- float z; ///< Z Position
- float vx; ///< X Speed
- float vy; ///< Y Speed
- float vz; ///< Z Speed
-} mavlink_local_position_t;
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_LEN 32
-#define MAVLINK_MSG_ID_31_LEN 32
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION { \
-	"LOCAL_POSITION", \
-	7, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \
-         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_t, vz) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a local_position 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param vx X Speed
- * @param vy Y Speed
- * @param vz Z Speed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, vx);
-	_mav_put_float(buf, 24, vy);
-	_mav_put_float(buf, 28, vz);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 32);
-#else
-	mavlink_local_position_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
-	return mavlink_finalize_message(msg, system_id, component_id, 32);
-}
-
-/**
- * @brief Pack a local_position 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param vx X Speed
- * @param vy Y Speed
- * @param vz Z Speed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,float x,float y,float z,float vx,float vy,float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, vx);
-	_mav_put_float(buf, 24, vy);
-	_mav_put_float(buf, 28, vz);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 32);
-#else
-	mavlink_local_position_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
-}
-
-/**
- * @brief Encode a local_position struct into a 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 local_position C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position)
-{
-	return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz);
-}
-
-/**
- * @brief Send a local_position message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param vx X Speed
- * @param vy Y Speed
- * @param vz Z Speed
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, vx);
-	_mav_put_float(buf, 24, vy);
-	_mav_put_float(buf, 28, vz);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, buf, 32);
-#else
-	mavlink_local_position_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, (const char *)&packet, 32);
-#endif
-}
-
-#endif
-
-// MESSAGE LOCAL_POSITION UNPACKING
-
-
-/**
- * @brief Get field usec from local_position message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field x from local_position message
- *
- * @return X Position
- */
-static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field y from local_position message
- *
- * @return Y Position
- */
-static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field z from local_position message
- *
- * @return Z Position
- */
-static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field vx from local_position message
- *
- * @return X Speed
- */
-static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field vy from local_position message
- *
- * @return Y Speed
- */
-static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field vz from local_position message
- *
- * @return Z Speed
- */
-static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a local_position message into a struct
- *
- * @param msg The message to decode
- * @param local_position C-struct to decode the message contents into
- */
-static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	local_position->usec = mavlink_msg_local_position_get_usec(msg);
-	local_position->x = mavlink_msg_local_position_get_x(msg);
-	local_position->y = mavlink_msg_local_position_get_y(msg);
-	local_position->z = mavlink_msg_local_position_get_z(msg);
-	local_position->vx = mavlink_msg_local_position_get_vx(msg);
-	local_position->vy = mavlink_msg_local_position_get_vy(msg);
-	local_position->vz = mavlink_msg_local_position_get_vz(msg);
-#else
-	memcpy(local_position, _MAV_PAYLOAD(msg), 32);
-#endif
-}
@@ -1,210 +0,0 @@
-// MESSAGE LOCAL_POSITION_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51
-
-typedef struct __mavlink_local_position_setpoint_t
-{
- float x; ///< x position
- float y; ///< y position
- float z; ///< z position
- float yaw; ///< Desired yaw angle
-} mavlink_local_position_setpoint_t;
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 16
-#define MAVLINK_MSG_ID_51_LEN 16
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \
-	"LOCAL_POSITION_SETPOINT", \
-	4, \
-	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a local_position_setpoint 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 x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[16];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 16);
-#else
-	mavlink_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 16);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
-	return mavlink_finalize_message(msg, system_id, component_id, 16);
-}
-
-/**
- * @brief Pack a local_position_setpoint 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float x,float y,float z,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[16];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 16);
-#else
-	mavlink_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 16);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
-}
-
-/**
- * @brief Encode a local_position_setpoint struct into a 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 local_position_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint)
-{
-	return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw);
-}
-
-/**
- * @brief Send a local_position_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[16];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 16);
-#else
-	mavlink_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, 16);
-#endif
-}
-
-#endif
-
-// MESSAGE LOCAL_POSITION_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field x from local_position_setpoint message
- *
- * @return x position
- */
-static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field y from local_position_setpoint message
- *
- * @return y position
- */
-static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field z from local_position_setpoint message
- *
- * @return z position
- */
-static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw from local_position_setpoint message
- *
- * @return Desired yaw angle
- */
-static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a local_position_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param local_position_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_t* local_position_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	local_position_setpoint->x = mavlink_msg_local_position_setpoint_get_x(msg);
-	local_position_setpoint->y = mavlink_msg_local_position_setpoint_get_y(msg);
-	local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg);
-	local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg);
-#else
-	memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 16);
-#endif
-}
@@ -1,254 +0,0 @@
-// MESSAGE LOCAL_POSITION_SETPOINT_SET PACKING
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET 50
-
-typedef struct __mavlink_local_position_setpoint_set_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- float x; ///< x position
- float y; ///< y position
- float z; ///< z position
- float yaw; ///< Desired yaw angle
-} mavlink_local_position_setpoint_set_t;
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET_LEN 18
-#define MAVLINK_MSG_ID_50_LEN 18
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET { \
-	"LOCAL_POSITION_SETPOINT_SET", \
-	6, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_local_position_setpoint_set_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_local_position_setpoint_set_t, target_component) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_local_position_setpoint_set_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_local_position_setpoint_set_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_local_position_setpoint_set_t, z) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_local_position_setpoint_set_t, yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a local_position_setpoint_set 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_system System ID
- * @param target_component Component ID
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_float(buf, 2, x);
-	_mav_put_float(buf, 6, y);
-	_mav_put_float(buf, 10, z);
-	_mav_put_float(buf, 14, yaw);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 18);
-#else
-	mavlink_local_position_setpoint_set_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 18);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
-	return mavlink_finalize_message(msg, system_id, component_id, 18);
-}
-
-/**
- * @brief Pack a local_position_setpoint_set 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 was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,float x,float y,float z,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_float(buf, 2, x);
-	_mav_put_float(buf, 6, y);
-	_mav_put_float(buf, 10, z);
-	_mav_put_float(buf, 14, yaw);
-
-        memcpy(_MAV_PAYLOAD(msg), buf, 18);
-#else
-	mavlink_local_position_setpoint_set_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD(msg), &packet, 18);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
-}
-
-/**
- * @brief Encode a local_position_setpoint_set struct into a 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 local_position_setpoint_set C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_set_t* local_position_setpoint_set)
-{
-	return mavlink_msg_local_position_setpoint_set_pack(system_id, component_id, msg, local_position_setpoint_set->target_system, local_position_setpoint_set->target_component, local_position_setpoint_set->x, local_position_setpoint_set->y, local_position_setpoint_set->z, local_position_setpoint_set->yaw);
-}
-
-/**
- * @brief Send a local_position_setpoint_set message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_float(buf, 2, x);
-	_mav_put_float(buf, 6, y);
-	_mav_put_float(buf, 10, z);
-	_mav_put_float(buf, 14, yaw);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, buf, 18);
-#else
-	mavlink_local_position_setpoint_set_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, (const char *)&packet, 18);
-#endif
-}
-
-#endif
-
-// MESSAGE LOCAL_POSITION_SETPOINT_SET UNPACKING
-
-
-/**
- * @brief Get field target_system from local_position_setpoint_set message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from local_position_setpoint_set message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field x from local_position_setpoint_set message
- *
- * @return x position
- */
-static inline float mavlink_msg_local_position_setpoint_set_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  2);
-}
-
-/**
- * @brief Get field y from local_position_setpoint_set message
- *
- * @return y position
- */
-static inline float mavlink_msg_local_position_setpoint_set_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  6);
-}
-
-/**
- * @brief Get field z from local_position_setpoint_set message
- *
- * @return z position
- */
-static inline float mavlink_msg_local_position_setpoint_set_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  10);
-}
-
-/**
- * @brief Get field yaw from local_position_setpoint_set message
- *
- * @return Desired yaw angle
- */
-static inline float mavlink_msg_local_position_setpoint_set_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  14);
-}
-
-/**
- * @brief Decode a local_position_setpoint_set message into a struct
- *
- * @param msg The message to decode
- * @param local_position_setpoint_set C-struct to decode the message contents into
- */
-static inline void mavlink_msg_local_position_setpoint_set_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_set_t* local_position_setpoint_set)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	local_position_setpoint_set->target_system = mavlink_msg_local_position_setpoint_set_get_target_system(msg);
-	local_position_setpoint_set->target_component = mavlink_msg_local_position_setpoint_set_get_target_component(msg);
-	local_position_setpoint_set->x = mavlink_msg_local_position_setpoint_set_get_x(msg);
-	local_position_setpoint_set->y = mavlink_msg_local_position_setpoint_set_get_y(msg);
-	local_position_setpoint_set->z = mavlink_msg_local_position_setpoint_set_get_z(msg);
-	local_position_setpoint_set->yaw = mavlink_msg_local_position_setpoint_set_get_yaw(msg);
-#else
-	memcpy(local_position_setpoint_set, _MAV_PAYLOAD(msg), 18);
-#endif
-}
--- a/Show More
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