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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | /* |
| 2 | compatibility header during transition to MAVLink 1.0 |
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| 3 | */ |
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| 4 | |||
| 5 | #ifdef MAVLINK10 |
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| 6 | // in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these |
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| 7 | // mappings once we are not trying to support both protocols |
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| 8 | |||
| 9 | #define MAVLINK_MSG_ID_WAYPOINT_CURRENT MAVLINK_MSG_ID_MISSION_CURRENT |
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| 10 | #define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN MAVLINK_MSG_ID_MISSION_CURRENT_LEN |
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| 11 | #define mavlink_msg_waypoint_current_send mavlink_msg_mission_current_send |
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| 12 | #define mavlink_msg_waypoint_current_decode mavlink_msg_mission_current_decode |
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| 13 | |||
| 14 | #define MAVLINK_MSG_ID_WAYPOINT_COUNT MAVLINK_MSG_ID_MISSION_COUNT |
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| 15 | #define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN MAVLINK_MSG_ID_MISSION_COUNT_LEN |
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| 16 | #define mavlink_msg_waypoint_count_send mavlink_msg_mission_count_send |
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| 17 | #define mavlink_msg_waypoint_count_decode mavlink_msg_mission_count_decode |
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| 18 | #define mavlink_waypoint_count_t mavlink_mission_count_t |
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| 19 | |||
| 20 | #define MAVLINK_MSG_ID_WAYPOINT_REQUEST MAVLINK_MSG_ID_MISSION_REQUEST |
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| 21 | #define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LEN |
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| 22 | #define mavlink_msg_waypoint_request_send mavlink_msg_mission_request_send |
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| 23 | #define mavlink_msg_waypoint_request_decode mavlink_msg_mission_request_decode |
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| 24 | #define mavlink_waypoint_request_t mavlink_mission_request_t |
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| 25 | |||
| 26 | #define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST MAVLINK_MSG_ID_MISSION_REQUEST_LIST |
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| 27 | #define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN |
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| 28 | #define mavlink_msg_waypoint_request_list_send mavlink_msg_mission_request_list_send |
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| 29 | #define mavlink_msg_waypoint_request_list_decode mavlink_msg_mission_request_list_decode |
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| 30 | #define mavlink_waypoint_request_list_t mavlink_mission_request_list_t |
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| 31 | |||
| 32 | #define MAVLINK_MSG_ID_WAYPOINT MAVLINK_MSG_ID_MISSION_ITEM |
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| 33 | #define MAVLINK_MSG_ID_WAYPOINT_LEN MAVLINK_MSG_ID_MISSION_ITEM_LEN |
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| 34 | #define mavlink_msg_waypoint_send mavlink_msg_mission_item_send |
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| 35 | #define mavlink_msg_waypoint_decode mavlink_msg_mission_item_decode |
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| 36 | #define mavlink_waypoint_t mavlink_mission_item_t |
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| 37 | |||
| 38 | #define MAVLINK_MSG_ID_WAYPOINT_ACK MAVLINK_MSG_ID_MISSION_ACK |
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| 39 | #define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN MAVLINK_MSG_ID_MISSION_ACK_LEN |
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| 40 | #define mavlink_msg_waypoint_ack_send mavlink_msg_mission_ack_send |
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| 41 | #define mavlink_msg_waypoint_ack_decode mavlink_msg_mission_ack_decode |
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| 42 | #define mavlink_waypoint_ack_t mavlink_mission_ack_t |
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| 43 | |||
| 44 | #define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL MAVLINK_MSG_ID_MISSION_CLEAR_ALL |
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| 45 | #define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN |
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| 46 | #define mavlink_msg_waypoint_clear_all_send mavlink_msg_mission_clear_all_send |
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| 47 | #define mavlink_msg_waypoint_clear_all_decode mavlink_msg_mission_clear_all_decode |
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| 48 | #define mavlink_waypoint_clear_all_t mavlink_mission_clear_all_t |
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| 49 | |||
| 50 | #define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT MAVLINK_MSG_ID_MISSION_SET_CURRENT |
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| 51 | #define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN |
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| 52 | #define mavlink_msg_waypoint_set_current_send mavlink_msg_mission_set_current_send |
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| 53 | #define mavlink_msg_waypoint_set_current_decode mavlink_msg_mission_set_current_decode |
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| 54 | #define mavlink_waypoint_set_current_t mavlink_mission_set_current_t |
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| 55 | |||
| 56 | #define MAV_CMD_DO_SET_ROI MAV_CMD_NAV_ROI |
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| 57 | |||
| 58 | static uint8_t mav_var_type(enum ap_var_type t) |
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| 59 | { |
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| 60 | if (t == AP_PARAM_INT8) { |
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| 61 | return MAV_VAR_INT8; |
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| 62 | } |
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| 63 | if (t == AP_PARAM_INT16) { |
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| 64 | return MAV_VAR_INT16; |
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| 65 | } |
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| 66 | if (t == AP_PARAM_INT32) { |
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| 67 | return MAV_VAR_INT32; |
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| 68 | } |
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| 69 | // treat any others as float |
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| 70 | return MAV_VAR_FLOAT; |
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| 71 | } |
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| 72 | |||
| 73 | #define MAV_FIXED_WING MAV_TYPE_FIXED_WING |
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| 74 | |||
| 75 | #else // MAVLINK10 |
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| 76 | |||
| 77 | static uint8_t mav_var_type(enum ap_var_type t) |
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| 78 | { |
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| 79 | return 0; |
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| 80 | } |
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| 81 | |||
| 82 | #define MAV_MISSION_ACCEPTED 0 |
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| 83 | #define MAV_MISSION_UNSUPPORTED 1 |
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| 84 | #define MAV_MISSION_UNSUPPORTED_FRAME 1 |
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| 85 | #define MAV_MISSION_ERROR 1 |
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| 86 | #define MAV_MISSION_INVALID_SEQUENCE 1 |
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| 87 | |||
| 88 | /* |
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| 89 | some functions have some extra params in MAVLink 1.0 |
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| 90 | */ |
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| 91 | |||
| 92 | static void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, |
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| 93 | int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, |
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| 94 | int16_t vz, uint16_t hdg) |
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| 95 | { |
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| 96 | mavlink_msg_global_position_int_send( |
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| 97 | chan, |
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| 98 | lat, |
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| 99 | lon, |
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| 100 | alt, |
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| 101 | vx, vy, vz); |
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| 102 | } |
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| 103 | |||
| 104 | static void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, |
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| 105 | int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, |
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| 106 | int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, |
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| 107 | int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) |
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| 108 | { |
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| 109 | mavlink_msg_rc_channels_scaled_send( |
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| 110 | chan, |
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| 111 | chan1_scaled, |
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| 112 | chan2_scaled, |
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| 113 | chan3_scaled, |
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| 114 | chan4_scaled, |
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| 115 | chan5_scaled, |
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| 116 | chan6_scaled, |
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| 117 | chan7_scaled, |
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| 118 | chan8_scaled, |
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| 119 | rssi); |
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| 120 | } |
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| 121 | |||
| 122 | static void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, |
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| 123 | uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, |
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| 124 | uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, |
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| 125 | uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) |
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| 126 | { |
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| 127 | mavlink_msg_rc_channels_raw_send( |
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| 128 | chan, |
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| 129 | chan1_raw, |
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| 130 | chan2_raw, |
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| 131 | chan3_raw, |
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| 132 | chan4_raw, |
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| 133 | chan5_raw, |
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| 134 | chan6_raw, |
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| 135 | chan7_raw, |
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| 136 | chan8_raw, |
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| 137 | rssi); |
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| 138 | } |
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| 139 | |||
| 140 | |||
| 141 | static void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, |
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| 142 | uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, |
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| 143 | uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, |
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| 144 | uint16_t servo7_raw, uint16_t servo8_raw) |
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| 145 | { |
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| 146 | mavlink_msg_servo_output_raw_send( |
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| 147 | chan, |
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| 148 | servo1_raw, |
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| 149 | servo2_raw, |
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| 150 | servo3_raw, |
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| 151 | servo4_raw, |
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| 152 | servo5_raw, |
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| 153 | servo6_raw, |
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| 154 | servo7_raw, |
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| 155 | servo8_raw); |
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| 156 | } |
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| 157 | |||
| 158 | static void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text) |
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| 159 | { |
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| 160 | mavlink_msg_statustext_send(chan, severity, (const int8_t*) text); |
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| 161 | } |
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| 162 | |||
| 163 | static void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, |
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| 164 | float param_value, uint8_t param_type, |
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| 165 | uint16_t param_count, uint16_t param_index) |
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| 166 | { |
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| 167 | mavlink_msg_param_value_send( |
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| 168 | chan, |
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| 169 | (int8_t *)param_id, |
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| 170 | param_value, |
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| 171 | param_count, |
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| 172 | param_index); |
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| 173 | } |
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| 174 | #endif // MAVLINK10 |