Merge pull request #6738 from harry1453/rc-over-mavlink

RC via MAVLink & MAVLink V2 Support

docs/Settings.md

@@ -236,6 +236,7 @@
 | mavlink_extra3_rate | 1 |  |
 | mavlink_pos_rate | 2 |  |
 | mavlink_rc_chan_rate | 5 |  |
+| mavlink_version | 2 | Version of MAVLink to use |
 | max_angle_inclination_pit | 300 | Maximum inclination in level (angle) mode (PITCH axis). 100=10° |
 | max_angle_inclination_rll | 300 | Maximum inclination in level (angle) mode (ROLL axis). 100=10° |
 | max_check | 1900 | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value. |

lib/main/MAVLink/.gitignore

@@ -0,0 +1 @@
+mavlink-src/

lib/main/MAVLink/README.md

@@ -0,0 +1,13 @@
+# MAVLink Generator (`mavgen`)
+
+This directory contains the MAVLink library and scripts to automatically generate it from MAVLink definitions.
+
+In order to run it, you will need [Python and some other libraries installed](https://mavlink.io/en/getting_started/installation.html).
+
+Then, run the appropriate script (`generate.sh` for Linux, `generate.bat` for Windows) to automatically re-generate the library.
+
+## IMPORTANT NOTE
+
+By default, the MAVLink library declares all of its functions as `inline`, which results in common functions being duplicated many times.
+After generating the library, `protocol.h` must be modified, and all `inline` keywords removed.
+This is performed automatically by `generate.sh`, but not by `generate.bat` as Windows batch files do not have an equivalent to `sed`. So, this must be done manually on Windows.

lib/main/MAVLink/checksum.h

@@ -1,10 +1,11 @@
-#ifdef __cplusplus
+#pragma once
+
+#if defined(MAVLINK_USE_CXX_NAMESPACE)
+namespace mavlink {
+#elif defined(__cplusplus)
 extern "C" {
 #endif
 
-#ifndef _CHECKSUM_H_
-#define _CHECKSUM_H_
-
 // Visual Studio versions before 2010 don't have stdint.h, so we just error out.
 #if (defined _MSC_VER) && (_MSC_VER < 1600)
 #error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
@@ -23,7 +24,7 @@ extern "C" {
 
 #ifndef HAVE_CRC_ACCUMULATE
 /**
- * @brief Accumulate the X.25 CRC by adding one char at a time.
+ * @brief Accumulate the CRC16_MCRF4XX checksum 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).
@@ -44,9 +45,9 @@ static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
 
 
 /**
- * @brief Initiliaze the buffer for the X.25 CRC
+ * @brief Initiliaze the buffer for the MCRF4XX CRC16
  *
- * @param crcAccum the 16 bit X.25 CRC
+ * @param crcAccum the 16 bit MCRF4XX CRC16
  */
 static inline void crc_init(uint16_t* crcAccum)
 {
@@ -55,7 +56,7 @@ static inline void crc_init(uint16_t* crcAccum)
 
 
 /**
- * @brief Calculates the X.25 checksum on a byte buffer
+ * @brief Calculates the CRC16_MCRF4XX checksum on a byte buffer
  *
  * @param  pBuffer buffer containing the byte array to hash
  * @param  length  length of the byte array
@@ -73,7 +74,7 @@ static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
 
 
 /**
- * @brief Accumulate the X.25 CRC by adding an array of bytes
+ * @brief Accumulate the MCRF4XX CRC16 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).
@@ -89,8 +90,6 @@ static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer
         }
 }
 
-#endif /* _CHECKSUM_H_ */
-
-#ifdef __cplusplus
+#if defined(MAVLINK_USE_CXX_NAMESPACE) || defined(__cplusplus)
 }
 #endif

lib/main/MAVLink/common/mavlink.h

@@ -9,7 +9,7 @@
 #define MAVLINK_PRIMARY_XML_IDX 0
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -25,7 +25,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #include "version.h"

lib/main/MAVLink/common/mavlink_msg_actuator_output_status.h

@@ -0,0 +1,255 @@
+#pragma once
+// MESSAGE ACTUATOR_OUTPUT_STATUS PACKING
+
+#define MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS 375
+
+
+typedef struct __mavlink_actuator_output_status_t {
+ uint64_t time_usec; /*< [us] Timestamp (since system boot).*/
+ uint32_t active; /*<  Active outputs*/
+ float actuator[32]; /*<  Servo / motor output array values. Zero values indicate unused channels.*/
+} mavlink_actuator_output_status_t;
+
+#define MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN 140
+#define MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN 140
+#define MAVLINK_MSG_ID_375_LEN 140
+#define MAVLINK_MSG_ID_375_MIN_LEN 140
+
+#define MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC 251
+#define MAVLINK_MSG_ID_375_CRC 251
+
+#define MAVLINK_MSG_ACTUATOR_OUTPUT_STATUS_FIELD_ACTUATOR_LEN 32
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_ACTUATOR_OUTPUT_STATUS { \
+    375, \
+    "ACTUATOR_OUTPUT_STATUS", \
+    3, \
+    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_output_status_t, time_usec) }, \
+         { "active", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_actuator_output_status_t, active) }, \
+         { "actuator", NULL, MAVLINK_TYPE_FLOAT, 32, 12, offsetof(mavlink_actuator_output_status_t, actuator) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_ACTUATOR_OUTPUT_STATUS { \
+    "ACTUATOR_OUTPUT_STATUS", \
+    3, \
+    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_output_status_t, time_usec) }, \
+         { "active", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_actuator_output_status_t, active) }, \
+         { "actuator", NULL, MAVLINK_TYPE_FLOAT, 32, 12, offsetof(mavlink_actuator_output_status_t, actuator) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a actuator_output_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 time_usec [us] Timestamp (since system boot).
+ * @param active  Active outputs
+ * @param actuator  Servo / motor output array values. Zero values indicate unused channels.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_actuator_output_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint64_t time_usec, uint32_t active, const float *actuator)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN];
+    _mav_put_uint64_t(buf, 0, time_usec);
+    _mav_put_uint32_t(buf, 8, active);
+    _mav_put_float_array(buf, 12, actuator, 32);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
+#else
+    mavlink_actuator_output_status_t packet;
+    packet.time_usec = time_usec;
+    packet.active = active;
+    mav_array_memcpy(packet.actuator, actuator, sizeof(float)*32);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
+}
+
+/**
+ * @brief Pack a actuator_output_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 will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec [us] Timestamp (since system boot).
+ * @param active  Active outputs
+ * @param actuator  Servo / motor output array values. Zero values indicate unused channels.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_actuator_output_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint64_t time_usec,uint32_t active,const float *actuator)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN];
+    _mav_put_uint64_t(buf, 0, time_usec);
+    _mav_put_uint32_t(buf, 8, active);
+    _mav_put_float_array(buf, 12, actuator, 32);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
+#else
+    mavlink_actuator_output_status_t packet;
+    packet.time_usec = time_usec;
+    packet.active = active;
+    mav_array_memcpy(packet.actuator, actuator, sizeof(float)*32);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
+}
+
+/**
+ * @brief Encode a actuator_output_status struct
+ *
+ * @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 actuator_output_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_actuator_output_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_actuator_output_status_t* actuator_output_status)
+{
+    return mavlink_msg_actuator_output_status_pack(system_id, component_id, msg, actuator_output_status->time_usec, actuator_output_status->active, actuator_output_status->actuator);
+}
+
+/**
+ * @brief Encode a actuator_output_status struct 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 will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param actuator_output_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_actuator_output_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_actuator_output_status_t* actuator_output_status)
+{
+    return mavlink_msg_actuator_output_status_pack_chan(system_id, component_id, chan, msg, actuator_output_status->time_usec, actuator_output_status->active, actuator_output_status->actuator);
+}
+
+/**
+ * @brief Send a actuator_output_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec [us] Timestamp (since system boot).
+ * @param active  Active outputs
+ * @param actuator  Servo / motor output array values. Zero values indicate unused channels.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_actuator_output_status_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t active, const float *actuator)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN];
+    _mav_put_uint64_t(buf, 0, time_usec);
+    _mav_put_uint32_t(buf, 8, active);
+    _mav_put_float_array(buf, 12, actuator, 32);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, buf, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
+#else
+    mavlink_actuator_output_status_t packet;
+    packet.time_usec = time_usec;
+    packet.active = active;
+    mav_array_memcpy(packet.actuator, actuator, sizeof(float)*32);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
+#endif
+}
+
+/**
+ * @brief Send a actuator_output_status message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_actuator_output_status_send_struct(mavlink_channel_t chan, const mavlink_actuator_output_status_t* actuator_output_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_actuator_output_status_send(chan, actuator_output_status->time_usec, actuator_output_status->active, actuator_output_status->actuator);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, (const char *)actuator_output_status, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This varient of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  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_actuator_output_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint32_t active, const float *actuator)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint64_t(buf, 0, time_usec);
+    _mav_put_uint32_t(buf, 8, active);
+    _mav_put_float_array(buf, 12, actuator, 32);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, buf, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
+#else
+    mavlink_actuator_output_status_t *packet = (mavlink_actuator_output_status_t *)msgbuf;
+    packet->time_usec = time_usec;
+    packet->active = active;
+    mav_array_memcpy(packet->actuator, actuator, sizeof(float)*32);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, (const char *)packet, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE ACTUATOR_OUTPUT_STATUS UNPACKING
+
+
+/**
+ * @brief Get field time_usec from actuator_output_status message
+ *
+ * @return [us] Timestamp (since system boot).
+ */
+static inline uint64_t mavlink_msg_actuator_output_status_get_time_usec(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field active from actuator_output_status message
+ *
+ * @return  Active outputs
+ */
+static inline uint32_t mavlink_msg_actuator_output_status_get_active(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint32_t(msg,  8);
+}
+
+/**
+ * @brief Get field actuator from actuator_output_status message
+ *
+ * @return  Servo / motor output array values. Zero values indicate unused channels.
+ */
+static inline uint16_t mavlink_msg_actuator_output_status_get_actuator(const mavlink_message_t* msg, float *actuator)
+{
+    return _MAV_RETURN_float_array(msg, actuator, 32,  12);
+}
+
+/**
+ * @brief Decode a actuator_output_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param actuator_output_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_actuator_output_status_decode(const mavlink_message_t* msg, mavlink_actuator_output_status_t* actuator_output_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    actuator_output_status->time_usec = mavlink_msg_actuator_output_status_get_time_usec(msg);
+    actuator_output_status->active = mavlink_msg_actuator_output_status_get_active(msg);
+    mavlink_msg_actuator_output_status_get_actuator(msg, actuator_output_status->actuator);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN? msg->len : MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN;
+        memset(actuator_output_status, 0, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
+    memcpy(actuator_output_status, _MAV_PAYLOAD(msg), len);
+#endif
+}