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添加MAVLINK协议库

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OPTOC
2025-09-02 10:34:06 +08:00
parent 7960bb80ec
commit 040ce2c62c
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34
app/drivers/sertrf/protocol/mavlinkv2/minimal/mavlink.h Normal file
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/** @file
* @brief MAVLink comm protocol built from minimal.xml
* @see http://mavlink.org
*/
#pragma once
#ifndef MAVLINK_H
#define MAVLINK_H
#define MAVLINK_PRIMARY_XML_IDX 0
#ifndef MAVLINK_STX
#define MAVLINK_STX 253
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 1
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#ifndef MAVLINK_COMMAND_24BIT
#define MAVLINK_COMMAND_24BIT 1
#endif
#include "version.h"
#include "minimal.h"
#endif // MAVLINK_H

335
app/drivers/sertrf/protocol/mavlinkv2/minimal/mavlink_msg_heartbeat.h Normal file
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#pragma once
// MESSAGE HEARTBEAT PACKING
#define MAVLINK_MSG_ID_HEARTBEAT 0
MAVPACKED(
typedef struct __mavlink_heartbeat_t {
uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags.*/
uint8_t type; /*< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)*/
uint8_t autopilot; /*< Autopilot type / class. defined in MAV_AUTOPILOT ENUM*/
uint8_t base_mode; /*< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h*/
uint8_t system_status; /*< System status flag, see MAV_STATE ENUM*/
uint8_t mavlink_version; /*< MAVLink version*/
}) mavlink_heartbeat_t;
#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
#define MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN 9
#define MAVLINK_MSG_ID_0_LEN 9
#define MAVLINK_MSG_ID_0_MIN_LEN 9
#define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
#define MAVLINK_MSG_ID_0_CRC 50
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
0, \
"HEARTBEAT", \
6, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
"HEARTBEAT", \
6, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
} \
}
#endif
/**
* @brief Pack a heartbeat message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
* @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
* @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
* @param custom_mode A bitfield for use for autopilot-specific flags.
* @param system_status System status flag, see MAV_STATE ENUM
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 2);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#else
mavlink_heartbeat_t packet;
packet.custom_mode = custom_mode;
packet.type = type;
packet.autopilot = autopilot;
packet.base_mode = base_mode;
packet.system_status = system_status;
packet.mavlink_version = 2;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
}
/**
* @brief Pack a heartbeat message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
* @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
* @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
* @param custom_mode A bitfield for use for autopilot-specific flags.
* @param system_status System status flag, see MAV_STATE ENUM
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 2);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#else
mavlink_heartbeat_t packet;
packet.custom_mode = custom_mode;
packet.type = type;
packet.autopilot = autopilot;
packet.base_mode = base_mode;
packet.system_status = system_status;
packet.mavlink_version = 2;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
}
/**
* @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
{
return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
}
/**
* @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
{
return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
}
/**
* @brief Send a heartbeat message
* @param chan MAVLink channel to send the message
*
* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
* @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
* @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
* @param custom_mode A bitfield for use for autopilot-specific flags.
* @param system_status System status flag, see MAV_STATE ENUM
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 2);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#else
mavlink_heartbeat_t packet;
packet.custom_mode = custom_mode;
packet.type = type;
packet.autopilot = autopilot;
packet.base_mode = base_mode;
packet.system_status = system_status;
packet.mavlink_version = 2;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#endif
}
/**
* @brief Send a heartbeat message
* @param chan MAVLink channel to send the message
* @param struct The MAVLink struct to serialize
*/
static inline void mavlink_msg_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_heartbeat_t* heartbeat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_heartbeat_send(chan, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)heartbeat, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#endif
}
#if MAVLINK_MSG_ID_HEARTBEAT_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_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, custom_mode);
_mav_put_uint8_t(buf, 4, type);
_mav_put_uint8_t(buf, 5, autopilot);
_mav_put_uint8_t(buf, 6, base_mode);
_mav_put_uint8_t(buf, 7, system_status);
_mav_put_uint8_t(buf, 8, 2);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#else
mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;
packet->custom_mode = custom_mode;
packet->type = type;
packet->autopilot = autopilot;
packet->base_mode = base_mode;
packet->system_status = system_status;
packet->mavlink_version = 2;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
#endif
}
#endif
#endif
// MESSAGE HEARTBEAT UNPACKING
/**
* @brief Get field type from heartbeat message
*
* @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
*/
static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field autopilot from heartbeat message
*
* @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
*/
static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
* @brief Get field base_mode from heartbeat message
*
* @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
*/
static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field custom_mode from heartbeat message
*
* @return A bitfield for use for autopilot-specific flags.
*/
static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field system_status from heartbeat message
*
* @return System status flag, see MAV_STATE ENUM
*/
static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
* @brief Get field mavlink_version from heartbeat message
*
* @return MAVLink version
*/
static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Decode a heartbeat message into a struct
*
* @param msg The message to decode
* @param heartbeat C-struct to decode the message contents into
*/
static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_HEARTBEAT_LEN;
memset(heartbeat, 0, MAVLINK_MSG_ID_HEARTBEAT_LEN);
memcpy(heartbeat, _MAV_PAYLOAD(msg), len);
#endif
}

166
app/drivers/sertrf/protocol/mavlinkv2/minimal/minimal.h Normal file
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/** @file
* @brief MAVLink comm protocol generated from minimal.xml
* @see http://mavlink.org
*/
#pragma once
#ifndef MAVLINK_MINIMAL_H
#define MAVLINK_MINIMAL_H
#ifndef MAVLINK_H
#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
#undef MAVLINK_THIS_XML_IDX
#define MAVLINK_THIS_XML_IDX 0
#ifdef __cplusplus
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 0, 0, 0}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_MINIMAL
// ENUM DEFINITIONS
/** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */
#ifndef HAVE_ENUM_MAV_AUTOPILOT
#define HAVE_ENUM_MAV_AUTOPILOT
typedef enum MAV_AUTOPILOT
{
MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything | */
MAV_AUTOPILOT_PIXHAWK=1, /* PIXHAWK autopilot, http://pixhawk.ethz.ch | */
MAV_AUTOPILOT_SLUGS=2, /* SLUGS autopilot, http://slugsuav.soe.ucsc.edu | */
MAV_AUTOPILOT_ARDUPILOTMEGA=3, /* ArduPilotMega / ArduCopter, http://diydrones.com | */
MAV_AUTOPILOT_OPENPILOT=4, /* OpenPilot, http://openpilot.org | */
MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY=5, /* Generic autopilot only supporting simple waypoints | */
MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY=6, /* Generic autopilot supporting waypoints and other simple navigation commands | */
MAV_AUTOPILOT_GENERIC_MISSION_FULL=7, /* Generic autopilot supporting the full mission command set | */
MAV_AUTOPILOT_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component | */
MAV_AUTOPILOT_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi | */
MAV_AUTOPILOT_UDB=10, /* UAV Dev Board | */
MAV_AUTOPILOT_FP=11, /* FlexiPilot | */
MAV_AUTOPILOT_ENUM_END=12, /* | */
} MAV_AUTOPILOT;
#endif
/** @brief */
#ifndef HAVE_ENUM_MAV_TYPE
#define HAVE_ENUM_MAV_TYPE
typedef enum MAV_TYPE
{
MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
MAV_TYPE_QUADROTOR=2, /* Quadrotor | */
MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */
MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */
MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */
MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
MAV_TYPE_ROCKET=9, /* Rocket | */
MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */
MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
MAV_TYPE_SUBMARINE=12, /* Submarine | */
MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */
MAV_TYPE_OCTOROTOR=14, /* Octorotor | */
MAV_TYPE_TRICOPTER=15, /* Octorotor | */
MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */
MAV_TYPE_ENUM_END=17, /* | */
} MAV_TYPE;
#endif
/** @brief These flags encode the MAV mode. */
#ifndef HAVE_ENUM_MAV_MODE_FLAG
#define HAVE_ENUM_MAV_MODE_FLAG
typedef enum MAV_MODE_FLAG
{
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 Reserved for future use. | */
MAV_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
MAV_MODE_FLAG_AUTO_ENABLED=4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
MAV_MODE_FLAG_GUIDED_ENABLED=8, /* 0b00001000 guided mode enabled, system flies waypoints / mission items. | */
MAV_MODE_FLAG_STABILIZE_ENABLED=16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
MAV_MODE_FLAG_HIL_ENABLED=32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */
MAV_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
MAV_MODE_FLAG_ENUM_END=129, /* | */
} MAV_MODE_FLAG;
#endif
/** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */
#ifndef HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
#define HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
typedef enum MAV_MODE_FLAG_DECODE_POSITION
{
MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE=1, /* Eighth bit: 00000001 | */
MAV_MODE_FLAG_DECODE_POSITION_TEST=2, /* Seventh bit: 00000010 | */
MAV_MODE_FLAG_DECODE_POSITION_AUTO=4, /* Sixt bit: 00000100 | */
MAV_MODE_FLAG_DECODE_POSITION_GUIDED=8, /* Fifth bit: 00001000 | */
MAV_MODE_FLAG_DECODE_POSITION_STABILIZE=16, /* Fourth bit: 00010000 | */
MAV_MODE_FLAG_DECODE_POSITION_HIL=32, /* Third bit: 00100000 | */
MAV_MODE_FLAG_DECODE_POSITION_MANUAL=64, /* Second bit: 01000000 | */
MAV_MODE_FLAG_DECODE_POSITION_SAFETY=128, /* First bit: 10000000 | */
MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=129, /* | */
} MAV_MODE_FLAG_DECODE_POSITION;
#endif
/** @brief */
#ifndef HAVE_ENUM_MAV_STATE
#define HAVE_ENUM_MAV_STATE
typedef enum MAV_STATE
{
MAV_STATE_UNINIT=0, /* Uninitialized system, state is unknown. | */
MAV_STATE_BOOT=1, /* System is booting up. | */
MAV_STATE_CALIBRATING=2, /* System is calibrating and not flight-ready. | */
MAV_STATE_STANDBY=3, /* System is grounded and on standby. It can be launched any time. | */
MAV_STATE_ACTIVE=4, /* System is active and might be already airborne. Motors are engaged. | */
MAV_STATE_CRITICAL=5, /* System is in a non-normal flight mode. It can however still navigate. | */
MAV_STATE_EMERGENCY=6, /* System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | */
MAV_STATE_POWEROFF=7, /* System just initialized its power-down sequence, will shut down now. | */
MAV_STATE_ENUM_END=8, /* | */
} MAV_STATE;
#endif
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 2
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 2
#endif
// MESSAGE DEFINITIONS
#include "./mavlink_msg_heartbeat.h"
// base include
#undef MAVLINK_THIS_XML_IDX
#define MAVLINK_THIS_XML_IDX 0
#if MAVLINK_THIS_XML_IDX == MAVLINK_PRIMARY_XML_IDX
# define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT}
# define MAVLINK_MESSAGE_NAMES {{ "HEARTBEAT", 0 }}
# if MAVLINK_COMMAND_24BIT
# include "../mavlink_get_info.h"
# endif
#endif
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // MAVLINK_MINIMAL_H

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/** @file
* @brief MAVLink comm protocol testsuite generated from minimal.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#pragma once
#ifndef MINIMAL_TESTSUITE_H
#define MINIMAL_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_minimal(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_minimal(system_id, component_id, last_msg);
}
#endif
static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_HEARTBEAT >= 256) {
return;
}
#endif
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_heartbeat_t packet_in = {
963497464,17,84,151,218,2
};
mavlink_heartbeat_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.custom_mode = packet_in.custom_mode;
packet1.type = packet_in.type;
packet1.autopilot = packet_in.autopilot;
packet1.base_mode = packet_in.base_mode;
packet1.system_status = packet_in.system_status;
packet1.mavlink_version = packet_in.mavlink_version;
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
// cope with extensions
memset(MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN);
}
#endif
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_heartbeat_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
mavlink_msg_heartbeat_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
mavlink_msg_heartbeat_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_heartbeat_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
mavlink_msg_heartbeat_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_minimal(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_heartbeat(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // MINIMAL_TESTSUITE_H

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/** @file
* @brief MAVLink comm protocol built from minimal.xml
* @see http://mavlink.org
*/
#pragma once
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Aug 30 2018"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
#endif // MAVLINK_VERSION_H