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autogenerated headers for rev https://github.com/mavlink/mavlink/tree/8d4e50ee5b857cf381a96a90d96f62894eefb018

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PX4BuildBot
2023-02-07 21:57:21 +00:00
parent 2cbb854ac7
commit 3c30b3db98
39 changed files with 244 additions and 338 deletions
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ASLUAV/ASLUAV.h
+2 -2
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ASLUAV/mavlink.h
+1 -1
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@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH 5690616993282149140
#define MAVLINK_PRIMARY_XML_HASH -1886804163669942532
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
ASLUAV/version.h
+1 -1
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@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
ardupilotmega/ardupilotmega.h
+2 -2
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ardupilotmega/mavlink.h
+1 -1
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@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH 7920554505614258512
#define MAVLINK_PRIMARY_XML_HASH 2949918721642028506
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
ardupilotmega/version.h
+1 -1
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@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
common/common.h
+4 -4
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common/mavlink.h
+1 -1
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@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH -2801044925549739763
#define MAVLINK_PRIMARY_XML_HASH 6422043508937136595
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
common/mavlink_msg_efi_status.h
+36 -11
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@@ -23,11 +23,12 @@ typedef struct __mavlink_efi_status_t {
float pt_compensation; /*< Pressure/temperature compensation*/
uint8_t health; /*< EFI health status*/
float ignition_voltage; /*< [V] Supply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.*/
float fuel_pressure; /*< [kPa] Fuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.*/
}) mavlink_efi_status_t;
#define MAVLINK_MSG_ID_EFI_STATUS_LEN 69
#define MAVLINK_MSG_ID_EFI_STATUS_LEN 73
#define MAVLINK_MSG_ID_EFI_STATUS_MIN_LEN 65
#define MAVLINK_MSG_ID_225_LEN 69
#define MAVLINK_MSG_ID_225_LEN 73
#define MAVLINK_MSG_ID_225_MIN_LEN 65
#define MAVLINK_MSG_ID_EFI_STATUS_CRC 208
@@ -39,7 +40,7 @@ typedef struct __mavlink_efi_status_t {
#define MAVLINK_MESSAGE_INFO_EFI_STATUS { \
225, \
"EFI_STATUS", \
18, \
19, \
{ { "health", NULL, MAVLINK_TYPE_UINT8_T, 0, 64, offsetof(mavlink_efi_status_t, health) }, \
{ "ecu_index", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_efi_status_t, ecu_index) }, \
{ "rpm", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_efi_status_t, rpm) }, \
@@ -58,12 +59,13 @@ typedef struct __mavlink_efi_status_t {
{ "throttle_out", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_efi_status_t, throttle_out) }, \
{ "pt_compensation", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_efi_status_t, pt_compensation) }, \
{ "ignition_voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 65, offsetof(mavlink_efi_status_t, ignition_voltage) }, \
{ "fuel_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 69, offsetof(mavlink_efi_status_t, fuel_pressure) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_EFI_STATUS { \
"EFI_STATUS", \
18, \
19, \
{ { "health", NULL, MAVLINK_TYPE_UINT8_T, 0, 64, offsetof(mavlink_efi_status_t, health) }, \
{ "ecu_index", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_efi_status_t, ecu_index) }, \
{ "rpm", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_efi_status_t, rpm) }, \
@@ -82,6 +84,7 @@ typedef struct __mavlink_efi_status_t {
{ "throttle_out", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_efi_status_t, throttle_out) }, \
{ "pt_compensation", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_efi_status_t, pt_compensation) }, \
{ "ignition_voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 65, offsetof(mavlink_efi_status_t, ignition_voltage) }, \
{ "fuel_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 69, offsetof(mavlink_efi_status_t, fuel_pressure) }, \
} \
}
#endif
@@ -110,10 +113,11 @@ typedef struct __mavlink_efi_status_t {
* @param throttle_out [%] Output throttle
* @param pt_compensation Pressure/temperature compensation
* @param ignition_voltage [V] Supply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
* @param fuel_pressure [kPa] Fuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_efi_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t health, float ecu_index, float rpm, float fuel_consumed, float fuel_flow, float engine_load, float throttle_position, float spark_dwell_time, float barometric_pressure, float intake_manifold_pressure, float intake_manifold_temperature, float cylinder_head_temperature, float ignition_timing, float injection_time, float exhaust_gas_temperature, float throttle_out, float pt_compensation, float ignition_voltage)
uint8_t health, float ecu_index, float rpm, float fuel_consumed, float fuel_flow, float engine_load, float throttle_position, float spark_dwell_time, float barometric_pressure, float intake_manifold_pressure, float intake_manifold_temperature, float cylinder_head_temperature, float ignition_timing, float injection_time, float exhaust_gas_temperature, float throttle_out, float pt_compensation, float ignition_voltage, float fuel_pressure)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_EFI_STATUS_LEN];
@@ -135,6 +139,7 @@ static inline uint16_t mavlink_msg_efi_status_pack(uint8_t system_id, uint8_t co
_mav_put_float(buf, 60, pt_compensation);
_mav_put_uint8_t(buf, 64, health);
_mav_put_float(buf, 65, ignition_voltage);
_mav_put_float(buf, 69, fuel_pressure);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EFI_STATUS_LEN);
#else
@@ -157,6 +162,7 @@ static inline uint16_t mavlink_msg_efi_status_pack(uint8_t system_id, uint8_t co
packet.pt_compensation = pt_compensation;
packet.health = health;
packet.ignition_voltage = ignition_voltage;
packet.fuel_pressure = fuel_pressure;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EFI_STATUS_LEN);
#endif
@@ -189,11 +195,12 @@ static inline uint16_t mavlink_msg_efi_status_pack(uint8_t system_id, uint8_t co
* @param throttle_out [%] Output throttle
* @param pt_compensation Pressure/temperature compensation
* @param ignition_voltage [V] Supply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
* @param fuel_pressure [kPa] Fuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_efi_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t health,float ecu_index,float rpm,float fuel_consumed,float fuel_flow,float engine_load,float throttle_position,float spark_dwell_time,float barometric_pressure,float intake_manifold_pressure,float intake_manifold_temperature,float cylinder_head_temperature,float ignition_timing,float injection_time,float exhaust_gas_temperature,float throttle_out,float pt_compensation,float ignition_voltage)
uint8_t health,float ecu_index,float rpm,float fuel_consumed,float fuel_flow,float engine_load,float throttle_position,float spark_dwell_time,float barometric_pressure,float intake_manifold_pressure,float intake_manifold_temperature,float cylinder_head_temperature,float ignition_timing,float injection_time,float exhaust_gas_temperature,float throttle_out,float pt_compensation,float ignition_voltage,float fuel_pressure)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_EFI_STATUS_LEN];
@@ -215,6 +222,7 @@ static inline uint16_t mavlink_msg_efi_status_pack_chan(uint8_t system_id, uint8
_mav_put_float(buf, 60, pt_compensation);
_mav_put_uint8_t(buf, 64, health);
_mav_put_float(buf, 65, ignition_voltage);
_mav_put_float(buf, 69, fuel_pressure);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EFI_STATUS_LEN);
#else
@@ -237,6 +245,7 @@ static inline uint16_t mavlink_msg_efi_status_pack_chan(uint8_t system_id, uint8
packet.pt_compensation = pt_compensation;
packet.health = health;
packet.ignition_voltage = ignition_voltage;
packet.fuel_pressure = fuel_pressure;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EFI_STATUS_LEN);
#endif
@@ -255,7 +264,7 @@ static inline uint16_t mavlink_msg_efi_status_pack_chan(uint8_t system_id, uint8
*/
static inline uint16_t mavlink_msg_efi_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_efi_status_t* efi_status)
{
return mavlink_msg_efi_status_pack(system_id, component_id, msg, efi_status->health, efi_status->ecu_index, efi_status->rpm, efi_status->fuel_consumed, efi_status->fuel_flow, efi_status->engine_load, efi_status->throttle_position, efi_status->spark_dwell_time, efi_status->barometric_pressure, efi_status->intake_manifold_pressure, efi_status->intake_manifold_temperature, efi_status->cylinder_head_temperature, efi_status->ignition_timing, efi_status->injection_time, efi_status->exhaust_gas_temperature, efi_status->throttle_out, efi_status->pt_compensation, efi_status->ignition_voltage);
return mavlink_msg_efi_status_pack(system_id, component_id, msg, efi_status->health, efi_status->ecu_index, efi_status->rpm, efi_status->fuel_consumed, efi_status->fuel_flow, efi_status->engine_load, efi_status->throttle_position, efi_status->spark_dwell_time, efi_status->barometric_pressure, efi_status->intake_manifold_pressure, efi_status->intake_manifold_temperature, efi_status->cylinder_head_temperature, efi_status->ignition_timing, efi_status->injection_time, efi_status->exhaust_gas_temperature, efi_status->throttle_out, efi_status->pt_compensation, efi_status->ignition_voltage, efi_status->fuel_pressure);
}
/**
@@ -269,7 +278,7 @@ static inline uint16_t mavlink_msg_efi_status_encode(uint8_t system_id, uint8_t
*/
static inline uint16_t mavlink_msg_efi_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_efi_status_t* efi_status)
{
return mavlink_msg_efi_status_pack_chan(system_id, component_id, chan, msg, efi_status->health, efi_status->ecu_index, efi_status->rpm, efi_status->fuel_consumed, efi_status->fuel_flow, efi_status->engine_load, efi_status->throttle_position, efi_status->spark_dwell_time, efi_status->barometric_pressure, efi_status->intake_manifold_pressure, efi_status->intake_manifold_temperature, efi_status->cylinder_head_temperature, efi_status->ignition_timing, efi_status->injection_time, efi_status->exhaust_gas_temperature, efi_status->throttle_out, efi_status->pt_compensation, efi_status->ignition_voltage);
return mavlink_msg_efi_status_pack_chan(system_id, component_id, chan, msg, efi_status->health, efi_status->ecu_index, efi_status->rpm, efi_status->fuel_consumed, efi_status->fuel_flow, efi_status->engine_load, efi_status->throttle_position, efi_status->spark_dwell_time, efi_status->barometric_pressure, efi_status->intake_manifold_pressure, efi_status->intake_manifold_temperature, efi_status->cylinder_head_temperature, efi_status->ignition_timing, efi_status->injection_time, efi_status->exhaust_gas_temperature, efi_status->throttle_out, efi_status->pt_compensation, efi_status->ignition_voltage, efi_status->fuel_pressure);
}
/**
@@ -294,10 +303,11 @@ static inline uint16_t mavlink_msg_efi_status_encode_chan(uint8_t system_id, uin
* @param throttle_out [%] Output throttle
* @param pt_compensation Pressure/temperature compensation
* @param ignition_voltage [V] Supply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
* @param fuel_pressure [kPa] Fuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_efi_status_send(mavlink_channel_t chan, uint8_t health, float ecu_index, float rpm, float fuel_consumed, float fuel_flow, float engine_load, float throttle_position, float spark_dwell_time, float barometric_pressure, float intake_manifold_pressure, float intake_manifold_temperature, float cylinder_head_temperature, float ignition_timing, float injection_time, float exhaust_gas_temperature, float throttle_out, float pt_compensation, float ignition_voltage)
static inline void mavlink_msg_efi_status_send(mavlink_channel_t chan, uint8_t health, float ecu_index, float rpm, float fuel_consumed, float fuel_flow, float engine_load, float throttle_position, float spark_dwell_time, float barometric_pressure, float intake_manifold_pressure, float intake_manifold_temperature, float cylinder_head_temperature, float ignition_timing, float injection_time, float exhaust_gas_temperature, float throttle_out, float pt_compensation, float ignition_voltage, float fuel_pressure)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_EFI_STATUS_LEN];
@@ -319,6 +329,7 @@ static inline void mavlink_msg_efi_status_send(mavlink_channel_t chan, uint8_t h
_mav_put_float(buf, 60, pt_compensation);
_mav_put_uint8_t(buf, 64, health);
_mav_put_float(buf, 65, ignition_voltage);
_mav_put_float(buf, 69, fuel_pressure);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EFI_STATUS, buf, MAVLINK_MSG_ID_EFI_STATUS_MIN_LEN, MAVLINK_MSG_ID_EFI_STATUS_LEN, MAVLINK_MSG_ID_EFI_STATUS_CRC);
#else
@@ -341,6 +352,7 @@ static inline void mavlink_msg_efi_status_send(mavlink_channel_t chan, uint8_t h
packet.pt_compensation = pt_compensation;
packet.health = health;
packet.ignition_voltage = ignition_voltage;
packet.fuel_pressure = fuel_pressure;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EFI_STATUS, (const char *)&packet, MAVLINK_MSG_ID_EFI_STATUS_MIN_LEN, MAVLINK_MSG_ID_EFI_STATUS_LEN, MAVLINK_MSG_ID_EFI_STATUS_CRC);
#endif
@@ -354,7 +366,7 @@ static inline void mavlink_msg_efi_status_send(mavlink_channel_t chan, uint8_t h
static inline void mavlink_msg_efi_status_send_struct(mavlink_channel_t chan, const mavlink_efi_status_t* efi_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_efi_status_send(chan, efi_status->health, efi_status->ecu_index, efi_status->rpm, efi_status->fuel_consumed, efi_status->fuel_flow, efi_status->engine_load, efi_status->throttle_position, efi_status->spark_dwell_time, efi_status->barometric_pressure, efi_status->intake_manifold_pressure, efi_status->intake_manifold_temperature, efi_status->cylinder_head_temperature, efi_status->ignition_timing, efi_status->injection_time, efi_status->exhaust_gas_temperature, efi_status->throttle_out, efi_status->pt_compensation, efi_status->ignition_voltage);
mavlink_msg_efi_status_send(chan, efi_status->health, efi_status->ecu_index, efi_status->rpm, efi_status->fuel_consumed, efi_status->fuel_flow, efi_status->engine_load, efi_status->throttle_position, efi_status->spark_dwell_time, efi_status->barometric_pressure, efi_status->intake_manifold_pressure, efi_status->intake_manifold_temperature, efi_status->cylinder_head_temperature, efi_status->ignition_timing, efi_status->injection_time, efi_status->exhaust_gas_temperature, efi_status->throttle_out, efi_status->pt_compensation, efi_status->ignition_voltage, efi_status->fuel_pressure);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EFI_STATUS, (const char *)efi_status, MAVLINK_MSG_ID_EFI_STATUS_MIN_LEN, MAVLINK_MSG_ID_EFI_STATUS_LEN, MAVLINK_MSG_ID_EFI_STATUS_CRC);
#endif
@@ -368,7 +380,7 @@ static inline void mavlink_msg_efi_status_send_struct(mavlink_channel_t chan, co
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_efi_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t health, float ecu_index, float rpm, float fuel_consumed, float fuel_flow, float engine_load, float throttle_position, float spark_dwell_time, float barometric_pressure, float intake_manifold_pressure, float intake_manifold_temperature, float cylinder_head_temperature, float ignition_timing, float injection_time, float exhaust_gas_temperature, float throttle_out, float pt_compensation, float ignition_voltage)
static inline void mavlink_msg_efi_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t health, float ecu_index, float rpm, float fuel_consumed, float fuel_flow, float engine_load, float throttle_position, float spark_dwell_time, float barometric_pressure, float intake_manifold_pressure, float intake_manifold_temperature, float cylinder_head_temperature, float ignition_timing, float injection_time, float exhaust_gas_temperature, float throttle_out, float pt_compensation, float ignition_voltage, float fuel_pressure)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
@@ -390,6 +402,7 @@ static inline void mavlink_msg_efi_status_send_buf(mavlink_message_t *msgbuf, ma
_mav_put_float(buf, 60, pt_compensation);
_mav_put_uint8_t(buf, 64, health);
_mav_put_float(buf, 65, ignition_voltage);
_mav_put_float(buf, 69, fuel_pressure);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EFI_STATUS, buf, MAVLINK_MSG_ID_EFI_STATUS_MIN_LEN, MAVLINK_MSG_ID_EFI_STATUS_LEN, MAVLINK_MSG_ID_EFI_STATUS_CRC);
#else
@@ -412,6 +425,7 @@ static inline void mavlink_msg_efi_status_send_buf(mavlink_message_t *msgbuf, ma
packet->pt_compensation = pt_compensation;
packet->health = health;
packet->ignition_voltage = ignition_voltage;
packet->fuel_pressure = fuel_pressure;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EFI_STATUS, (const char *)packet, MAVLINK_MSG_ID_EFI_STATUS_MIN_LEN, MAVLINK_MSG_ID_EFI_STATUS_LEN, MAVLINK_MSG_ID_EFI_STATUS_CRC);
#endif
@@ -603,6 +617,16 @@ static inline float mavlink_msg_efi_status_get_ignition_voltage(const mavlink_me
return _MAV_RETURN_float(msg, 65);
}
/**
* @brief Get field fuel_pressure from efi_status message
*
* @return [kPa] Fuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.
*/
static inline float mavlink_msg_efi_status_get_fuel_pressure(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 69);
}
/**
* @brief Decode a efi_status message into a struct
*
@@ -630,6 +654,7 @@ static inline void mavlink_msg_efi_status_decode(const mavlink_message_t* msg, m
efi_status->pt_compensation = mavlink_msg_efi_status_get_pt_compensation(msg);
efi_status->health = mavlink_msg_efi_status_get_health(msg);
efi_status->ignition_voltage = mavlink_msg_efi_status_get_ignition_voltage(msg);
efi_status->fuel_pressure = mavlink_msg_efi_status_get_fuel_pressure(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_EFI_STATUS_LEN? msg->len : MAVLINK_MSG_ID_EFI_STATUS_LEN;
memset(efi_status, 0, MAVLINK_MSG_ID_EFI_STATUS_LEN);
common/testsuite.h
+5 -4
View File
@@ -7996,7 +7996,7 @@ static void mavlink_test_efi_status(uint8_t system_id, uint8_t component_id, mav
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_efi_status_t packet_in = {
17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,437.0,197,472.0
17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,437.0,197,472.0,500.0
};
mavlink_efi_status_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -8018,6 +8018,7 @@ static void mavlink_test_efi_status(uint8_t system_id, uint8_t component_id, mav
packet1.pt_compensation = packet_in.pt_compensation;
packet1.health = packet_in.health;
packet1.ignition_voltage = packet_in.ignition_voltage;
packet1.fuel_pressure = packet_in.fuel_pressure;
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -8032,12 +8033,12 @@ static void mavlink_test_efi_status(uint8_t system_id, uint8_t component_id, mav
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_efi_status_pack(system_id, component_id, &msg , packet1.health , packet1.ecu_index , packet1.rpm , packet1.fuel_consumed , packet1.fuel_flow , packet1.engine_load , packet1.throttle_position , packet1.spark_dwell_time , packet1.barometric_pressure , packet1.intake_manifold_pressure , packet1.intake_manifold_temperature , packet1.cylinder_head_temperature , packet1.ignition_timing , packet1.injection_time , packet1.exhaust_gas_temperature , packet1.throttle_out , packet1.pt_compensation , packet1.ignition_voltage );
mavlink_msg_efi_status_pack(system_id, component_id, &msg , packet1.health , packet1.ecu_index , packet1.rpm , packet1.fuel_consumed , packet1.fuel_flow , packet1.engine_load , packet1.throttle_position , packet1.spark_dwell_time , packet1.barometric_pressure , packet1.intake_manifold_pressure , packet1.intake_manifold_temperature , packet1.cylinder_head_temperature , packet1.ignition_timing , packet1.injection_time , packet1.exhaust_gas_temperature , packet1.throttle_out , packet1.pt_compensation , packet1.ignition_voltage , packet1.fuel_pressure );
mavlink_msg_efi_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_efi_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.health , packet1.ecu_index , packet1.rpm , packet1.fuel_consumed , packet1.fuel_flow , packet1.engine_load , packet1.throttle_position , packet1.spark_dwell_time , packet1.barometric_pressure , packet1.intake_manifold_pressure , packet1.intake_manifold_temperature , packet1.cylinder_head_temperature , packet1.ignition_timing , packet1.injection_time , packet1.exhaust_gas_temperature , packet1.throttle_out , packet1.pt_compensation , packet1.ignition_voltage );
mavlink_msg_efi_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.health , packet1.ecu_index , packet1.rpm , packet1.fuel_consumed , packet1.fuel_flow , packet1.engine_load , packet1.throttle_position , packet1.spark_dwell_time , packet1.barometric_pressure , packet1.intake_manifold_pressure , packet1.intake_manifold_temperature , packet1.cylinder_head_temperature , packet1.ignition_timing , packet1.injection_time , packet1.exhaust_gas_temperature , packet1.throttle_out , packet1.pt_compensation , packet1.ignition_voltage , packet1.fuel_pressure );
mavlink_msg_efi_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
@@ -8050,7 +8051,7 @@ static void mavlink_test_efi_status(uint8_t system_id, uint8_t component_id, mav
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_efi_status_send(MAVLINK_COMM_1 , packet1.health , packet1.ecu_index , packet1.rpm , packet1.fuel_consumed , packet1.fuel_flow , packet1.engine_load , packet1.throttle_position , packet1.spark_dwell_time , packet1.barometric_pressure , packet1.intake_manifold_pressure , packet1.intake_manifold_temperature , packet1.cylinder_head_temperature , packet1.ignition_timing , packet1.injection_time , packet1.exhaust_gas_temperature , packet1.throttle_out , packet1.pt_compensation , packet1.ignition_voltage );
mavlink_msg_efi_status_send(MAVLINK_COMM_1 , packet1.health , packet1.ecu_index , packet1.rpm , packet1.fuel_consumed , packet1.fuel_flow , packet1.engine_load , packet1.throttle_position , packet1.spark_dwell_time , packet1.barometric_pressure , packet1.intake_manifold_pressure , packet1.intake_manifold_temperature , packet1.cylinder_head_temperature , packet1.ignition_timing , packet1.injection_time , packet1.exhaust_gas_temperature , packet1.throttle_out , packet1.pt_compensation , packet1.ignition_voltage , packet1.fuel_pressure );
mavlink_msg_efi_status_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
common/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
cubepilot/cubepilot.h
+2 -2
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File diff suppressed because one or more lines are too long
cubepilot/mavlink.h
+1 -1
View File
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH 8711577769725947993
#define MAVLINK_PRIMARY_XML_HASH -1607528876018895778
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
cubepilot/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
development/development.h
+2 -2
View File
File diff suppressed because one or more lines are too long
development/mavlink.h
+1 -1
View File
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH 5126427761350135475
#define MAVLINK_PRIMARY_XML_HASH 2597442982729686654
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
development/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
icarous/icarous.h
+1 -1
View File
@@ -10,7 +10,7 @@
#error Wrong include order: MAVLINK_ICAROUS.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
#endif
#define MAVLINK_ICAROUS_XML_HASH 9059061159983506791
#define MAVLINK_ICAROUS_XML_HASH -1496782646963331583
#ifdef __cplusplus
extern "C" {
icarous/mavlink.h
+1 -1
View File
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH 9059061159983506791
#define MAVLINK_PRIMARY_XML_HASH -1496782646963331583
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
icarous/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 46
matrixpilot/matrixpilot.h
+2 -2
View File
File diff suppressed because one or more lines are too long
matrixpilot/mavlink.h
+1 -1
View File
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH -1112340382054825037
#define MAVLINK_PRIMARY_XML_HASH -3613065562019709634
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
matrixpilot/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
mavlink_helpers.h
+12 -8
View File
@@ -141,7 +141,8 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
mavlink_sha256_update(&ctx, msg->ck, 2);
mavlink_sha256_update(&ctx, psig, 1+6);
mavlink_sha256_final_48(&ctx, signature);
if (memcmp(signature, incoming_signature, 6) != 0) {
if (memcmp(signature, incoming_signature, 6) != 0) {
signing->last_status = MAVLINK_SIGNING_STATUS_BAD_SIGNATURE;
return false;
}
@@ -155,7 +156,8 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
memcpy(tstamp.t8, psig+1, 6);
if (signing_streams == NULL) {
return false;
signing->last_status = MAVLINK_SIGNING_STATUS_NO_STREAMS;
return false;
}
// find stream
@@ -169,11 +171,13 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
if (i == signing_streams->num_signing_streams) {
if (signing_streams->num_signing_streams >= MAVLINK_MAX_SIGNING_STREAMS) {
// over max number of streams
return false;
signing->last_status = MAVLINK_SIGNING_STATUS_TOO_MANY_STREAMS;
return false;
}
// new stream. Only accept if timestamp is not more than 1 minute old
if (tstamp.t64 + 6000*1000UL < signing->timestamp) {
return false;
signing->last_status = MAVLINK_SIGNING_STATUS_OLD_TIMESTAMP;
return false;
}
// add new stream
signing_streams->stream[i].sysid = msg->sysid;
@@ -186,7 +190,8 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
memcpy(last_tstamp.t8, signing_streams->stream[i].timestamp_bytes, 6);
if (tstamp.t64 <= last_tstamp.t64) {
// repeating old timestamp
return false;
signing->last_status = MAVLINK_SIGNING_STATUS_REPLAY;
return false;
}
}
@@ -197,7 +202,8 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
if (tstamp.t64 > signing->timestamp) {
signing->timestamp = tstamp.t64;
}
return true;
signing->last_status = MAVLINK_SIGNING_STATUS_OK;
return true;
}
#endif
@@ -585,7 +591,6 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
mavlink_message_t* r_message,
mavlink_status_t* r_mavlink_status)
{
int bufferIndex = 0;
status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
@@ -816,7 +821,6 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
break;
}
bufferIndex++;
// If a message has been successfully decoded, check index
if (status->msg_received == MAVLINK_FRAMING_OK)
{
mavlink_types.h
+11
View File
@@ -242,6 +242,16 @@ typedef bool (*mavlink_accept_unsigned_t)(const mavlink_status_t *status, uint32
*/
#define MAVLINK_SIGNING_FLAG_SIGN_OUTGOING 1 ///< Enable outgoing signing
typedef enum {
MAVLINK_SIGNING_STATUS_NONE=0,
MAVLINK_SIGNING_STATUS_OK=1,
MAVLINK_SIGNING_STATUS_BAD_SIGNATURE=2,
MAVLINK_SIGNING_STATUS_NO_STREAMS=3,
MAVLINK_SIGNING_STATUS_TOO_MANY_STREAMS=4,
MAVLINK_SIGNING_STATUS_OLD_TIMESTAMP=5,
MAVLINK_SIGNING_STATUS_REPLAY=6,
} mavlink_signing_status_t;
/*
state of MAVLink signing for this channel
*/
@@ -251,6 +261,7 @@ typedef struct __mavlink_signing {
uint64_t timestamp; ///< Timestamp, in microseconds since UNIX epoch GMT
uint8_t secret_key[32];
mavlink_accept_unsigned_t accept_unsigned_callback;
mavlink_signing_status_t last_status;
} mavlink_signing_t;
/*
message_definitions/common.xml
+3 -2
View File
@@ -4510,12 +4510,12 @@
<entry value="60" name="AIS_TYPE_PASSENGER"/>
<entry value="61" name="AIS_TYPE_PASSENGER_HAZARDOUS_A"/>
<entry value="62" name="AIS_TYPE_PASSENGER_HAZARDOUS_B"/>
<entry value="63" name="AIS_TYPE_AIS_TYPE_PASSENGER_HAZARDOUS_C"/>
<entry value="63" name="AIS_TYPE_PASSENGER_HAZARDOUS_C"/>
<entry value="64" name="AIS_TYPE_PASSENGER_HAZARDOUS_D"/>
<entry value="65" name="AIS_TYPE_PASSENGER_RESERVED_1"/>
<entry value="66" name="AIS_TYPE_PASSENGER_RESERVED_2"/>
<entry value="67" name="AIS_TYPE_PASSENGER_RESERVED_3"/>
<entry value="68" name="AIS_TYPE_AIS_TYPE_PASSENGER_RESERVED_4"/>
<entry value="68" name="AIS_TYPE_PASSENGER_RESERVED_4"/>
<entry value="69" name="AIS_TYPE_PASSENGER_UNKNOWN"/>
<entry value="70" name="AIS_TYPE_CARGO"/>
<entry value="71" name="AIS_TYPE_CARGO_HAZARDOUS_A"/>
@@ -6427,6 +6427,7 @@
<field type="float" name="pt_compensation">Pressure/temperature compensation</field>
<extensions/>
<field type="float" name="ignition_voltage" units="V">Supply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.</field>
<field type="float" name="fuel_pressure" units="kPa">Fuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.</field>
</message>
<!-- MESSAGE IDs 180 - 229: Space for custom messages in individual projectname_messages.xml files -->
<message id="230" name="ESTIMATOR_STATUS">
message_definitions/storm32.xml
+135 -271
View File
@@ -7,9 +7,10 @@ Contact:
Range of IDs:
messages: 60000 - 60049
commands: 60000 - 60049
Documentation:
Documentation:
STORM32 and QSHOT additions
6. Okt. 2021
with mLRS additions merged
16. Jan. 2023
All messages are technically WIP, but some are quite stable now.
Quite stable means that it is in practical use, but may see extension.
A more detailed description of the concept underlying the STORM32 and QSHOT messages can be found here:
@@ -18,52 +19,41 @@ Documentation:
<mavlink>
<include>ardupilotmega.xml</include>
<version>1</version>
<dialect>0</dialect>
<!--
STORM32 enums
-->
<dialect>1</dialect>
<enums>
<!-- #############################
STORM32 enums
############################# -->
<!-- ***************************
STORM32 tunnel enum, this is merely a redefinition for convennience
*************************** -->
<enum name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE">
<!-- Stable -->
<entry value="200" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN">
<description>Registered for STorM32 gimbal controller.</description>
<description>Registered for STorM32 gimbal controller. For communication with gimbal or camera.</description>
</entry>
<entry value="201" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT">
<description>Registered for STorM32 gimbal controller.</description>
<description>Registered for STorM32 gimbal controller. For communication with gimbal or camera.</description>
</entry>
<entry value="202" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN">
<description>Registered for STorM32 gimbal controller.</description>
<description>Registered for STorM32 gimbal controller. For communication with gimbal.</description>
</entry>
<entry value="203" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT">
<description>Registered for STorM32 gimbal controller.</description>
<description>Registered for STorM32 gimbal controller. For communication with gimbal.</description>
</entry>
<entry value="204" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN">
<description>Registered for STorM32 gimbal controller.</description>
<description>Registered for STorM32 gimbal controller. For communication with camera.</description>
</entry>
<entry value="205" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="206" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="207" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="208" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="209" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9">
<description>Registered for STorM32 gimbal controller.</description>
<description>Registered for STorM32 gimbal controller. For communication with camera.</description>
</entry>
</enum>
<!-- ***************************
STORM32 gimbal prearm check flags
COMPONENT_PREARM_STATUS deprecated 7.Dez.2022, the PREARM_FLAGS enums are kept however for convenience
*************************** -->
<enum name="MAV_STORM32_GIMBAL_PREARM_FLAGS" bitmask="true">
<!-- Quite stable -->
<!-- Stable -->
<description>STorM32 gimbal prearm check flags.</description>
<entry value="1" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL">
<description>STorM32 gimbal is in normal state.</description>
@@ -81,7 +71,7 @@ Documentation:
<description>A battery voltage is applied and is in range.</description>
</entry>
<entry value="32" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING">
<description>???.</description>
<description>Virtual input channels are receiving data.</description>
</entry>
<entry value="64" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING">
<description>Mavlink messages are being received.</description>
@@ -114,121 +104,9 @@ Documentation:
</enum>
<!-- ***************************
STORM32 gimbal device enums
deprecated 21.Nov.2022, replaced by gimbal protocol v2 flags
removed to force migration
*************************** -->
<enum name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS" bitmask="true">
<!-- Quite stable -->
<description>Gimbal device capability flags.</description>
<entry value="1" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT">
<description>Gimbal device supports a retracted position.</description>
</entry>
<entry value="2" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL">
<description>Gimbal device supports a horizontal, forward looking position, stabilized. Can also be used to reset the gimbal's orientation.</description>
</entry>
<entry value="4" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS">
<description>Gimbal device supports rotating around roll axis.</description>
</entry>
<entry value="8" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW">
<description>Gimbal device supports to follow a roll angle relative to the vehicle.</description>
</entry>
<entry value="16" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK">
<description>Gimbal device supports locking to an roll angle (generally that's the default).</description>
</entry>
<entry value="32" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS">
<description>Gimbal device supports rotating around pitch axis.</description>
</entry>
<entry value="64" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW">
<description>Gimbal device supports to follow a pitch angle relative to the vehicle.</description>
</entry>
<entry value="128" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK">
<description>Gimbal device supports locking to an pitch angle (generally that's the default).</description>
</entry>
<entry value="256" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS">
<description>Gimbal device supports rotating around yaw axis.</description>
</entry>
<entry value="512" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW">
<description>Gimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).</description>
</entry>
<entry value="1024" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK">
<description>Gimbal device supports locking to a heading angle.</description>
</entry>
<entry value="2048" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_INFINITE_YAW">
<description>Gimbal device supports yawing/panning infinitely (e.g. using a slip ring).</description>
</entry>
<entry value="65536" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_ABSOLUTE_YAW">
<description>Gimbal device supports absolute yaw angles (this usually requires support by an autopilot, and can be dynamic, i.e., go on and off during runtime).</description>
</entry>
<entry value="131072" name="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS_HAS_RC">
<description>Gimbal device supports control via an RC input signal.</description>
</entry>
</enum>
<enum name="MAV_STORM32_GIMBAL_DEVICE_FLAGS" bitmask="true">
<!-- Quite stable -->
<description>Flags for gimbal device operation. Used for setting and reporting, unless specified otherwise. Settings which are in violation of the capability flags are ignored by the gimbal device.</description>
<entry value="1" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_RETRACT">
<description>Retracted safe position (no stabilization), takes presedence over NEUTRAL flag. If supported by the gimbal, the angles in the retracted position can be set in addition.</description>
</entry>
<entry value="2" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_NEUTRAL">
<description>Neutral position (horizontal, forward looking, with stabiliziation).</description>
</entry>
<entry value="4" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_ROLL_LOCK">
<description>Lock roll angle to absolute angle relative to horizon (not relative to drone). This is generally the default.</description>
</entry>
<entry value="8" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_PITCH_LOCK">
<description>Lock pitch angle to absolute angle relative to horizon (not relative to drone). This is generally the default.</description>
</entry>
<entry value="16" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_YAW_LOCK">
<description>Lock yaw angle to absolute angle relative to earth (not relative to drone). When the YAW_ABSOLUTE flag is set, the quaternion is in the Earth frame with the x-axis pointing North (yaw absolute), else it is in the Earth frame rotated so that the x-axis is pointing forward (yaw relative to vehicle).</description>
</entry>
<entry value="256" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_ABSOLUTE">
<description>Gimbal device can accept absolute yaw angle input. This flag cannot be set, is only for reporting (attempts to set it are rejected by the gimbal device).</description>
</entry>
<entry value="512" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE">
<description>Yaw angle is absolute (is only accepted if CAN_ACCEPT_YAW_ABSOLUTE is set). If this flag is set, the quaternion is in the Earth frame with the x-axis pointing North (yaw absolute), else it is in the Earth frame rotated so that the x-axis is pointing forward (yaw relative to vehicle).</description>
</entry>
<entry value="1024" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE">
<description>RC control. The RC input signal fed to the gimbal device exclusively controls the gimbal's orientation. Overrides RC_MIXED flag if that is also set.</description>
</entry>
<entry value="2048" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_RC_MIXED">
<description>RC control. The RC input signal fed to the gimbal device is mixed into the gimbal's orientation. Is overridden by RC_EXCLUSIVE flag if that is also set.</description>
</entry>
<entry value="65535" name="MAV_STORM32_GIMBAL_DEVICE_FLAGS_NONE">
<description>UINT16_MAX = ignore.</description>
</entry>
</enum>
<enum name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS" bitmask="true">
<!-- Quite stable -->
<description>Gimbal device error and condition flags (0 means no error or other condition).</description>
<entry value="1" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMIT">
<description>Gimbal device is limited by hardware roll limit.</description>
</entry>
<entry value="2" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMIT">
<description>Gimbal device is limited by hardware pitch limit.</description>
</entry>
<entry value="4" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMIT">
<description>Gimbal device is limited by hardware yaw limit.</description>
</entry>
<entry value="8" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERROR">
<description>There is an error with the gimbal device's encoders.</description>
</entry>
<entry value="16" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERROR">
<description>There is an error with the gimbal device's power source.</description>
</entry>
<entry value="32" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERROR">
<description>There is an error with the gimbal device's motors.</description>
</entry>
<entry value="64" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERROR">
<description>There is an error with the gimbal device's software.</description>
</entry>
<entry value="128" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERROR">
<description>There is an error with the gimbal device's communication.</description>
</entry>
<entry value="256" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNING">
<description>Gimbal device is currently calibrating (not an error).</description>
</entry>
<entry value="32768" name="MAV_STORM32_GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGER">
<description>Gimbal device is not assigned to a gimbal manager (not an error).</description>
</entry>
</enum>
<!-- ***************************
STORM32 gimbal manager enums
*************************** -->
@@ -238,13 +116,10 @@ Documentation:
<entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES">
<description>The gimbal manager supports several profiles.</description>
</entry>
<entry value="2" name="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_CHANGE">
<description>The gimbal manager supports changing the gimbal manager during run time, i.e. can be enabled/disabled.</description>
</entry>
</enum>
<enum name="MAV_STORM32_GIMBAL_MANAGER_FLAGS" bitmask="true">
<!-- Quite stable -->
<description>Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting is accepted by the gimbal manager, is reported in the STORM32_GIMBAL_MANAGER_STATUS message.</description>
<!-- Stable, may grow however -->
<description>Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message.</description>
<entry value="0" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE">
<description>0 = ignore.</description>
</entry>
@@ -283,7 +158,7 @@ Documentation:
</entry>
</enum>
<enum name="MAV_STORM32_GIMBAL_MANAGER_CLIENT">
<!-- Quite stable -->
<!-- Stable, may grow however -->
<description>Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 &gt; onboard &gt; GCS &gt; autopilot/camera &gt; GCS2 &gt; custom2.</description>
<entry value="0" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE">
<description>For convenience.</description>
@@ -313,56 +188,33 @@ Documentation:
<description>This is the custom2 client.</description>
</entry>
</enum>
<enum name="MAV_STORM32_GIMBAL_MANAGER_SETUP_FLAGS" bitmask="true">
<!-- WIP -->
<description>Flags for gimbal manager set up. Used for setting and reporting, unless specified otherwise.</description>
<entry value="16384" name="MAV_STORM32_GIMBAL_MANAGER_SETUP_FLAGS_ENABLE">
<description>Enable gimbal manager. This flag is only for setting, is not reported.</description>
</entry>
<entry value="32768" name="MAV_STORM32_GIMBAL_MANAGER_SETUP_FLAGS_DISABLE">
<description>Disable gimbal manager. This flag is only for setting, is not reported.</description>
</entry>
</enum>
<enum name="MAV_STORM32_GIMBAL_MANAGER_PROFILE">
<!-- WIP -->
<description>Gimbal manager profiles. Only standard profiles are defined. Any implementation can define it's own profile in addition, and should use enum values &gt; 16.</description>
<description>Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values &gt; 16.</description>
<entry value="0" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT">
<description>Default profile. Implementation specific.</description>
</entry>
<entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM">
<description>Custom profile. Configurable profile according to the STorM32 definition. Is configured with STORM32_GIMBAL_MANAGER_PROFIL.</description>
<description>Not supported/deprecated.</description>
</entry>
<entry value="2" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE">
<description>Default cooperative profile. Uses STorM32 custom profile with default settings to achieve cooperative behavior.</description>
<description>Profile with cooperative behavior.</description>
</entry>
<entry value="3" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE">
<description>Default exclusive profile. Uses STorM32 custom profile with default settings to achieve exclusive behavior.</description>
<description>Profile with exclusive behavior.</description>
</entry>
<entry value="4" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE">
<description>Default priority profile with cooperative behavior for equal priority. Uses STorM32 custom profile with default settings to achieve priority-based behavior.</description>
<description>Profile with priority and cooperative behavior for equal priority.</description>
</entry>
<entry value="5" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE">
<description>Default priority profile with exclusive behavior for equal priority. Uses STorM32 custom profile with default settings to achieve priority-based behavior.</description>
</entry>
</enum>
<enum name="MAV_STORM32_GIMBAL_ACTION">
<!-- WIP -->
<description>Gimbal actions.</description>
<entry value="1" name="MAV_STORM32_GIMBAL_ACTION_RECENTER">
<description>Trigger the gimbal device to recenter the gimbal.</description>
</entry>
<entry value="2" name="MAV_STORM32_GIMBAL_ACTION_CALIBRATION">
<description>Trigger the gimbal device to run a calibration.</description>
</entry>
<entry value="3" name="MAV_STORM32_GIMBAL_ACTION_DISCOVER_MANAGER">
<description>Trigger gimbal device to (re)discover the gimbal manager during run time.</description>
<description>Profile with priority and exclusive behavior for equal priority.</description>
</entry>
</enum>
<!-- ***************************
QSHOT manager mode enums
*************************** -->
<enum name="MAV_QSHOT_MODE">
<!-- Quite stable, will grow however -->
<!-- Quite stable, may grow however -->
<description>Enumeration of possible shot modes.</description>
<entry value="0" name="MAV_QSHOT_MODE_UNDEFINED">
<description>Undefined shot mode. Can be used to determine if qshots should be used or not.</description>
@@ -399,34 +251,25 @@ Documentation:
STORM32 and QSHOT cmds
*************************** -->
<enum name="MAV_CMD">
<!-- leave room for 60000 gimbal device configure -->
<!-- leave room for 60001 gimbal manager configure -->
<entry value="60002" name="MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW" hasLocation="false" isDestination="false">
<!-- Quite stable -->
<!-- Stable -->
<description>Command to a gimbal manager to control the gimbal tilt and pan angles. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. A gimbal device is never to react to this command.</description>
<param index="1" label="Pitch angle" units="deg" minValue="-180" maxValue="180">Pitch/tilt angle (positive: tilt up, NaN to be ignored).</param>
<param index="2" label="Yaw angle" units="deg" minValue="-180" maxValue="180">Yaw/pan angle (positive: pan to the right, the frame is determined by the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag, NaN to be ignored).</param>
<param index="3" label="Pitch rate" units="deg/s">Pitch/tilt rate (positive: tilt up, NaN to be ignored).</param>
<param index="4" label="Yaw rate" units="deg/s">Yaw/pan rate (positive: pan to the right, the frame is determined by the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag, NaN to be ignored).</param>
<param index="5" label="Gimbal device flags" enum="MAV_STORM32_GIMBAL_DEVICE_FLAGS">Gimbal device flags.</param>
<param index="6" label="Gimbal manager flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS">Gimbal manager flags.</param>
<param index="7" label="Gimbal ID and client ID">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals, send command multiple times for more than one but not all gimbals). The client is copied into bits 8-15.</param>
<param index="1" label="Pitch angle" units="deg" minValue="-180" maxValue="180">Pitch/tilt angle (positive: tilt up). NaN to be ignored.</param>
<param index="2" label="Yaw angle" units="deg" minValue="-180" maxValue="180">Yaw/pan angle (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</param>
<param index="3" label="Pitch rate" units="deg/s">Pitch/tilt rate (positive: tilt up). NaN to be ignored.</param>
<param index="4" label="Yaw rate" units="deg/s">Yaw/pan rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</param>
<param index="5" label="Gimbal device flags" enum="GIMBAL_DEVICE_FLAGS">Gimbal device flags to be applied.</param>
<param index="6" label="Gimbal manager flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS">Gimbal manager flags to be applied.</param>
<param index="7" label="Gimbal ID and client">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. The client is copied into bits 8-15.</param>
</entry>
<entry value="60010" name="MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP" hasLocation="false" isDestination="false">
<wip/>
<!-- WIP -->
<description>Command to configure a gimbal manager. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.</description>
<param index="1" label="Profile" enum="MAV_STORM32_GIMBAL_MANAGER_PROFILE">Gimbal manager profile (0 = default).</param>
<param index="2" label="Setup flags" enum="MAV_STORM32_GIMBAL_MANAGER_SETUP_FLAGS">Gimbal manager setup flags (0 = none).</param>
<param index="7" label="Gimbal ID">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</param>
</entry>
<entry value="60011" name="MAV_CMD_STORM32_DO_GIMBAL_ACTION" hasLocation="false" isDestination="false">
<wip/>
<!-- WIP -->
<description>Command to initiate gimbal actions. Usually performed by the gimbal device, but some can also be done by the gimbal manager. It is hence best to broadcast this command.</description>
<param index="1" label="Action" enum="MAV_STORM32_GIMBAL_ACTION">Gimbal action to initiate (0 = none).</param>
<param index="7" label="Gimbal ID">Gimbal ID of the gimbal to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</param>
</entry>
<entry value="60020" name="MAV_CMD_QSHOT_DO_CONFIGURE" hasLocation="false" isDestination="false">
<wip/>
<!-- WIP -->
@@ -435,115 +278,98 @@ Documentation:
<param index="2" label="Shot state or command">Set shot state or command. The allowed values are specific to the selected shot mode.</param>
</entry>
</enum>
<!-- #############################
mLRS enums
############################# -->
<enum name="RADIO_RC_CHANNELS_FLAGS" bitmask="true">
<description>RADIO_RC_CHANNELS flags (bitmask).</description>
<entry value="1" name="RADIO_RC_CHANNELS_FLAGS_FAILSAFE">
<description>Failsafe is active.</description>
</entry>
<entry value="2" name="RADIO_RC_CHANNELS_FLAGS_FRAME_MISSED">
<description>Indicates that the current frame has not been received. Channel values are frozen.</description>
</entry>
</enum>
<enum name="RADIO_LINK_STATS_FLAGS" bitmask="true">
<description>RADIO_LINK_STATS flags (bitmask).</description>
<entry value="1" name="RADIO_LINK_STATS_FLAGS_RSSI_DBM">
<description>Rssi are in negative dBm. Values 0..254 corresponds to 0..-254 dBm.</description>
</entry>
</enum>
</enums>
<!--
STORM32 messages
-->
<messages>
<!-- #############################
STORM32 messages
############################# -->
<!-- ***************************
STORM32 gimbal device messages
deprecated 21.Nov.2022, replaced by gimbal protocol v2 gimbal device messages
removed to force migration
*************************** -->
<!-- leave room for 60000 gimbal device information -->
<message id="60001" name="STORM32_GIMBAL_DEVICE_STATUS">
<!-- Quite stable -->
<description>Message reporting the current status of a gimbal device. This message should be broadcasted by a gimbal device component at a low regular rate (e.g. 4 Hz). For higher rates it should be emitted with a target.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint16_t" name="flags" enum="MAV_STORM32_GIMBAL_DEVICE_FLAGS">Gimbal device flags currently applied.</field>
<field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame depends on the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag.</field>
<field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (NaN if unknown).</field>
<field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (NaN if unknown).</field>
<field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (the frame depends on the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag, NaN if unknown).</field>
<field type="float" name="yaw_absolute" units="deg" invalid="NaN">Yaw in absolute frame relative to Earth's North, north is 0 (NaN if unknown).</field>
<field type="uint16_t" name="failure_flags" display="bitmask" enum="GIMBAL_DEVICE_ERROR_FLAGS">Failure flags (0 for no failure).</field>
</message>
<message id="60002" name="STORM32_GIMBAL_DEVICE_CONTROL">
<!-- Quite stable -->
<description>Message to a gimbal device to control its attitude. This message is to be sent from the gimbal manager to the gimbal device. Angles and rates can be set to NaN according to use case.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="flags" enum="MAV_STORM32_GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags (UINT16_MAX to be ignored).</field>
<field type="float[4]" name="q" invalid="[NaN:]">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is determined by the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag, set first element to NaN to be ignored).</field>
<field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (positive: roll to the right, NaN to be ignored).</field>
<field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (positive: tilt up, NaN to be ignored).</field>
<field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (positive: pan to the right, the frame is determined by the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag, NaN to be ignored).</field>
</message>
<!-- ***************************
STORM32 gimbal manager messages
*************************** -->
revised 27.Nov.2022, to account for usage of gimbal protocol v2 gimbal device messages/commands/flags
STORM32_GIMBAL_MANAGER_PROFILE removed, MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP gets the job done
*************************** -->
<message id="60010" name="STORM32_GIMBAL_MANAGER_INFORMATION">
<!-- Quite stable, may grow however -->
<description>Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the STORM32_GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also STORM32_GIMBAL_DEVICE_INFORMATION should be requested.</description>
<!-- Stable, may grow however -->
<description>Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also GIMBAL_DEVICE_INFORMATION should be requested.</description>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.</field>
<field type="uint32_t" name="device_cap_flags" enum="MAV_STORM32_GIMBAL_DEVICE_CAP_FLAGS" display="bitmask">Gimbal device capability flags.</field>
<field type="uint32_t" name="device_cap_flags" enum="GIMBAL_DEVICE_CAP_FLAGS" display="bitmask">Gimbal device capability flags. Same flags as reported by GIMBAL_DEVICE_INFORMATION. The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero).</field>
<field type="uint32_t" name="manager_cap_flags" enum="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS" display="bitmask">Gimbal manager capability flags.</field>
<field type="float" name="roll_min" units="rad" invalid="NaN">Hardware minimum roll angle (positive: roll to the right, NaN if unknown).</field>
<field type="float" name="roll_max" units="rad" invalid="NaN">Hardware maximum roll angle (positive: roll to the right, NaN if unknown).</field>
<field type="float" name="pitch_min" units="rad" invalid="NaN">Hardware minimum pitch/tilt angle (positive: tilt up, NaN if unknown).</field>
<field type="float" name="pitch_max" units="rad" invalid="NaN">Hardware maximum pitch/tilt angle (positive: tilt up, NaN if unknown).</field>
<field type="float" name="yaw_min" units="rad" invalid="NaN">Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base, NaN if unknown).</field>
<field type="float" name="yaw_max" units="rad" invalid="NaN">Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base, NaN if unknown).</field>
<field type="float" name="roll_min" units="rad" invalid="NaN">Hardware minimum roll angle (positive: roll to the right). NaN if unknown.</field>
<field type="float" name="roll_max" units="rad" invalid="NaN">Hardware maximum roll angle (positive: roll to the right). NaN if unknown.</field>
<field type="float" name="pitch_min" units="rad" invalid="NaN">Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown.</field>
<field type="float" name="pitch_max" units="rad" invalid="NaN">Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown.</field>
<field type="float" name="yaw_min" units="rad" invalid="NaN">Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.</field>
<field type="float" name="yaw_max" units="rad" invalid="NaN">Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.</field>
</message>
<message id="60011" name="STORM32_GIMBAL_MANAGER_STATUS">
<!-- Quite stable, may grow however -->
<!-- Stable, may grow however -->
<description>Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change).</description>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.</field>
<field type="uint8_t" name="supervisor" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client who is currently supervisor (0 = none).</field>
<field type="uint16_t" name="device_flags" enum="MAV_STORM32_GIMBAL_DEVICE_FLAGS">Gimbal device flags currently applied.</field>
<field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS">Gimbal device flags currently applied. Same flags as reported by GIMBAL_DEVICE_ATTITUDE_STATUS.</field>
<field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS">Gimbal manager flags currently applied.</field>
<field type="uint8_t" name="profile" enum="MAV_STORM32_GIMBAL_MANAGER_PROFILE">Profile currently applied (0 = default).</field>
</message>
<message id="60012" name="STORM32_GIMBAL_MANAGER_CONTROL">
<!-- Quite stable -->
<!-- Stable -->
<description>Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals, send command multiple times for more than one but not all gimbals).</field>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
<field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
<field type="uint16_t" name="device_flags" enum="MAV_STORM32_GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags (UINT16_MAX to be ignored).</field>
<field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS" invalid="0">Gimbal manager flags (0 to be ignored).</field>
<field type="float[4]" name="q" invalid="[NaN:]">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is determined by the GIMBAL_MANAGER_FLAGS_ABSOLUTE_YAW flag, set first element to NaN to be ignored).</field>
<field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (positive: roll to the right, NaN to be ignored).</field>
<field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (positive: tilt up, NaN to be ignored).</field>
<field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (positive: pan to the right, the frame is determined by the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag, NaN to be ignored).</field>
<field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.</field>
<field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS" invalid="0">Gimbal manager flags to be applied (0 to be ignored).</field>
<field type="float[4]" name="q" invalid="[NaN:]">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
<field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (positive: roll to the right). NaN to be ignored.</field>
<field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (positive: tilt up). NaN to be ignored.</field>
<field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
</message>
<message id="60013" name="STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW">
<!-- Quite stable -->
<!-- Stable -->
<description>Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals, send command multiple times for more than one but not all gimbals).</field>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
<field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
<field type="uint16_t" name="device_flags" enum="MAV_STORM32_GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags (UINT16_MAX to be ignored).</field>
<field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS" invalid="0">Gimbal manager flags (0 to be ignored).</field>
<field type="float" name="pitch" units="rad" invalid="NaN">Pitch/tilt angle (positive: tilt up, NaN to be ignored).</field>
<field type="float" name="yaw" units="rad" invalid="NaN">Yaw/pan angle (positive: pan the right, the frame is determined by the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag, NaN to be ignored).</field>
<field type="float" name="pitch_rate" units="rad/s" invalid="NaN">Pitch/tilt angular rate (positive: tilt up, NaN to be ignored).</field>
<field type="float" name="yaw_rate" units="rad/s" invalid="NaN">Yaw/pan angular rate (positive: pan to the right, the frame is determined by the STORM32_GIMBAL_DEVICE_FLAGS_YAW_ABSOLUTE flag, NaN to be ignored).</field>
<field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.</field>
<field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS" invalid="0">Gimbal manager flags to be applied (0 to be ignored).</field>
<field type="float" name="pitch" units="rad" invalid="NaN">Pitch/tilt angle (positive: tilt up). NaN to be ignored.</field>
<field type="float" name="yaw" units="rad" invalid="NaN">Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
<field type="float" name="pitch_rate" units="rad/s" invalid="NaN">Pitch/tilt angular rate (positive: tilt up). NaN to be ignored.</field>
<field type="float" name="yaw_rate" units="rad/s" invalid="NaN">Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
</message>
<message id="60014" name="STORM32_GIMBAL_MANAGER_CORRECT_ROLL">
<!-- Quite stable -->
<description>Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals, send command multiple times for more than one but not all gimbals).</field>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
<field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
<field type="float" name="roll" units="rad">Roll angle (positive to roll to the right).</field>
</message>
<message id="60015" name="STORM32_GIMBAL_MANAGER_PROFILE">
<wip/>
<!-- WIP -->
<description>Message to set a gimbal manager profile. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals, send command multiple times for more than one but not all gimbals).</field>
<field type="uint8_t" name="profile" enum="MAV_STORM32_GIMBAL_MANAGER_PROFILE">Profile to be applied (0 = default).</field>
<field type="uint8_t[8]" name="priorities">Priorities for custom profile.</field>
<field type="uint8_t" name="profile_flags">Profile flags for custom profile (0 = default).</field>
<field type="uint8_t" name="rc_timeout">Rc timeouts for custom profile (0 = infinite, in uints of 100 ms).</field>
<field type="uint8_t[8]" name="timeouts">Timeouts for custom profile (0 = infinite, in uints of 100 ms).</field>
</message>
<!-- ***************************
QSHOT manager messages
*************************** -->
@@ -556,14 +382,52 @@ Documentation:
</message>
<!-- ***************************
General messages
COMPONENT_PREARM_STATUS deprecated 7.Dez.2022, replaced by events micro service, removed to force migration
*************************** -->
<message id="60025" name="COMPONENT_PREARM_STATUS">
<!-- Quite stable -->
<description>Message reporting the status of the prearm checks. The flags are component specific.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint32_t" name="enabled_flags" invalid="UINT32_MAX">Currently enabled prearm checks. 0 means no checks are being performed, UINT32_MAX means not known.</field>
<field type="uint32_t" name="fail_flags">Currently not passed prearm checks. 0 means all checks have been passed.</field>
<!-- #############################
mLRS messages
############################# -->
<message id="60045" name="RADIO_RC_CHANNELS">
<description>Radio channels. Supports up to 24 channels. Channel values are in centerd 13 bit format. Range is [-4096,4096], center is 0. Conversion to PWM is x * 5/32 + 1500. Should be emitted only by components with component id MAV_COMP_ID_TELEMETRY_RADIO.</description>
<field type="uint8_t" name="count">Total number of RC channels being received. This can be larger than 24, indicating that more channels are available but not given in this message.</field>
<field type="uint8_t" name="flags" enum="RADIO_RC_CHANNELS_FLAGS" display="bitmask">Radio channels status flags.</field>
<extensions/>
<field type="int16_t[24]" name="channels">RC channels. Channels above count should be set to 0, to benefit from MAVLink's zero padding.</field>
</message>
<message id="60046" name="RADIO_LINK_STATS">
<description>Radio link statistics. Should be emitted only by components with component id MAV_COMP_ID_TELEMETRY_RADIO. Per default, rssi values are in MAVLink units: 0 represents weakest signal, 254 represents maximum signal; can be changed to dBm with the flag RADIO_LINK_STATS_FLAGS_RSSI_DBM.</description>
<field type="uint8_t" name="flags" enum="RADIO_LINK_STATS_FLAGS" display="bitmask">Radio link statistics flags.</field>
<field type="uint8_t" name="rx_LQ" units="c%" invalid="UINT8_MAX">Values: 0..100. UINT8_MAX: invalid/unknown.</field>
<field type="uint8_t" name="rx_rssi1" invalid="UINT8_MAX">Rssi of antenna1. UINT8_MAX: invalid/unknown.</field>
<field type="int8_t" name="rx_snr1" invalid="INT8_MAX">Noise on antenna1. Radio dependent. INT8_MAX: invalid/unknown.</field>
<field type="uint8_t" name="rx_rssi2" invalid="UINT8_MAX">Rssi of antenna2. UINT8_MAX: ignore/unknown, use rx_rssi1.</field>
<field type="int8_t" name="rx_snr2" invalid="INT8_MAX">Noise on antenna2. Radio dependent. INT8_MAX: ignore/unknown, use rx_snr1.</field>
<field type="uint8_t" name="rx_receive_antenna" invalid="UINT8_MAX">0: antenna1, 1: antenna2, UINT8_MAX: ignore, no Rx receive diversity, use rx_rssi1, rx_snr1.</field>
<field type="uint8_t" name="rx_transmit_antenna" invalid="UINT8_MAX">0: antenna1, 1: antenna2, UINT8_MAX: ignore, no Rx transmit diversity.</field>
<field type="uint8_t" name="tx_LQ" units="c%" invalid="UINT8_MAX">Values: 0..100. UINT8_MAX: invalid/unknown.</field>
<field type="uint8_t" name="tx_rssi1" invalid="UINT8_MAX">Rssi of antenna1. UINT8_MAX: invalid/unknown.</field>
<field type="int8_t" name="tx_snr1" invalid="INT8_MAX">Noise on antenna1. Radio dependent. INT8_MAX: invalid/unknown.</field>
<field type="uint8_t" name="tx_rssi2" invalid="UINT8_MAX">Rssi of antenna2. UINT8_MAX: ignore/unknown, use tx_rssi1.</field>
<field type="int8_t" name="tx_snr2" invalid="INT8_MAX">Noise on antenna2. Radio dependent. INT8_MAX: ignore/unknown, use tx_snr1.</field>
<field type="uint8_t" name="tx_receive_antenna" invalid="UINT8_MAX">0: antenna1, 1: antenna2, UINT8_MAX: ignore, no Tx receive diversity, use tx_rssi1, tx_snr1.</field>
<field type="uint8_t" name="tx_transmit_antenna" invalid="UINT8_MAX">0: antenna1, 1: antenna2, UINT8_MAX: ignore, no Tx transmit diversity.</field>
</message>
<!-- ********** -->
<message id="60040" name="FRSKY_PASSTHROUGH_ARRAY">
<description>Frsky SPort passthrough multi packet container.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="count">Number of passthrough packets in this message.</field>
<field type="uint8_t[240]" name="packet_buf">Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.</field>
</message>
<!-- ********** -->
<message id="60041" name="PARAM_VALUE_ARRAY">
<description>Parameter multi param value container.</description>
<field type="uint16_t" name="param_count">Total number of onboard parameters.</field>
<field type="uint16_t" name="param_index_first">Index of the first onboard parameter in this array.</field>
<field type="uint8_t" name="param_array_len">Number of onboard parameters in this array.</field>
<field type="uint16_t" name="flags" display="bitmask" enum="PARAM_VALUE_ARRAY_FLAGS">Flags.</field>
<field type="uint8_t[248]" name="packet_buf">Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere.</field>
</message>
<!-- ********** -->
</messages>
</mavlink>
minimal/mavlink.h
+1 -1
View File
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH 251154109142316061
#define MAVLINK_PRIMARY_XML_HASH -1836389979119204276
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
minimal/minimal.h
+1 -1
View File
@@ -10,7 +10,7 @@
#error Wrong include order: MAVLINK_MINIMAL.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
#endif
#define MAVLINK_MINIMAL_XML_HASH 251154109142316061
#define MAVLINK_MINIMAL_XML_HASH -1836389979119204276
#ifdef __cplusplus
extern "C" {
minimal/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22
standard/mavlink.h
+1 -1
View File
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH -4471114175204776091
#define MAVLINK_PRIMARY_XML_HASH -2203946822116515137
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
standard/standard.h
+1 -1
View File
@@ -10,7 +10,7 @@
#error Wrong include order: MAVLINK_STANDARD.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
#endif
#define MAVLINK_STANDARD_XML_HASH -4471114175204776091
#define MAVLINK_STANDARD_XML_HASH -2203946822116515137
#ifdef __cplusplus
extern "C" {
standard/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22
test/mavlink.h
+1 -1
View File
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH -4247398117010206127
#define MAVLINK_PRIMARY_XML_HASH 5329678209262474459
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
test/test.h
+1 -1
View File
@@ -10,7 +10,7 @@
#error Wrong include order: MAVLINK_TEST.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
#endif
#define MAVLINK_TEST_XML_HASH -4247398117010206127
#define MAVLINK_TEST_XML_HASH 5329678209262474459
#ifdef __cplusplus
extern "C" {
test/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
uAvionix/mavlink.h
+1 -1
View File
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_HASH 5522738110606691493
#define MAVLINK_PRIMARY_XML_HASH -7046010760792442464
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
uAvionix/uAvionix.h
+2 -2
View File
File diff suppressed because one or more lines are too long
uAvionix/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Dec 29 2022"
#define MAVLINK_BUILD_DATE "Tue Feb 07 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255