| 0,0 → 1,174 |
|---|
| /* |
| compatibility header during transition to MAVLink 1.0 |
| */ |
| |
| #ifdef MAVLINK10 |
| // in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these |
| // mappings once we are not trying to support both protocols |
| |
| #define MAVLINK_MSG_ID_WAYPOINT_CURRENT MAVLINK_MSG_ID_MISSION_CURRENT |
| #define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN MAVLINK_MSG_ID_MISSION_CURRENT_LEN |
| #define mavlink_msg_waypoint_current_send mavlink_msg_mission_current_send |
| #define mavlink_msg_waypoint_current_decode mavlink_msg_mission_current_decode |
| |
| #define MAVLINK_MSG_ID_WAYPOINT_COUNT MAVLINK_MSG_ID_MISSION_COUNT |
| #define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN MAVLINK_MSG_ID_MISSION_COUNT_LEN |
| #define mavlink_msg_waypoint_count_send mavlink_msg_mission_count_send |
| #define mavlink_msg_waypoint_count_decode mavlink_msg_mission_count_decode |
| #define mavlink_waypoint_count_t mavlink_mission_count_t |
| |
| #define MAVLINK_MSG_ID_WAYPOINT_REQUEST MAVLINK_MSG_ID_MISSION_REQUEST |
| #define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LEN |
| #define mavlink_msg_waypoint_request_send mavlink_msg_mission_request_send |
| #define mavlink_msg_waypoint_request_decode mavlink_msg_mission_request_decode |
| #define mavlink_waypoint_request_t mavlink_mission_request_t |
| |
| #define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST MAVLINK_MSG_ID_MISSION_REQUEST_LIST |
| #define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN |
| #define mavlink_msg_waypoint_request_list_send mavlink_msg_mission_request_list_send |
| #define mavlink_msg_waypoint_request_list_decode mavlink_msg_mission_request_list_decode |
| #define mavlink_waypoint_request_list_t mavlink_mission_request_list_t |
| |
| #define MAVLINK_MSG_ID_WAYPOINT MAVLINK_MSG_ID_MISSION_ITEM |
| #define MAVLINK_MSG_ID_WAYPOINT_LEN MAVLINK_MSG_ID_MISSION_ITEM_LEN |
| #define mavlink_msg_waypoint_send mavlink_msg_mission_item_send |
| #define mavlink_msg_waypoint_decode mavlink_msg_mission_item_decode |
| #define mavlink_waypoint_t mavlink_mission_item_t |
| |
| #define MAVLINK_MSG_ID_WAYPOINT_ACK MAVLINK_MSG_ID_MISSION_ACK |
| #define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN MAVLINK_MSG_ID_MISSION_ACK_LEN |
| #define mavlink_msg_waypoint_ack_send mavlink_msg_mission_ack_send |
| #define mavlink_msg_waypoint_ack_decode mavlink_msg_mission_ack_decode |
| #define mavlink_waypoint_ack_t mavlink_mission_ack_t |
| |
| #define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL MAVLINK_MSG_ID_MISSION_CLEAR_ALL |
| #define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN |
| #define mavlink_msg_waypoint_clear_all_send mavlink_msg_mission_clear_all_send |
| #define mavlink_msg_waypoint_clear_all_decode mavlink_msg_mission_clear_all_decode |
| #define mavlink_waypoint_clear_all_t mavlink_mission_clear_all_t |
| |
| #define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT MAVLINK_MSG_ID_MISSION_SET_CURRENT |
| #define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN |
| #define mavlink_msg_waypoint_set_current_send mavlink_msg_mission_set_current_send |
| #define mavlink_msg_waypoint_set_current_decode mavlink_msg_mission_set_current_decode |
| #define mavlink_waypoint_set_current_t mavlink_mission_set_current_t |
| |
| #define MAV_CMD_DO_SET_ROI MAV_CMD_NAV_ROI |
| |
| static uint8_t mav_var_type(enum ap_var_type t) |
| { |
| if (t == AP_PARAM_INT8) { |
| return MAV_VAR_INT8; |
| } |
| if (t == AP_PARAM_INT16) { |
| return MAV_VAR_INT16; |
| } |
| if (t == AP_PARAM_INT32) { |
| return MAV_VAR_INT32; |
| } |
| // treat any others as float |
| return MAV_VAR_FLOAT; |
| } |
| |
| #define MAV_FIXED_WING MAV_TYPE_FIXED_WING |
| |
| #else // MAVLINK10 |
| |
| static uint8_t mav_var_type(enum ap_var_type t) |
| { |
| return 0; |
| } |
| |
| #define MAV_MISSION_ACCEPTED 0 |
| #define MAV_MISSION_UNSUPPORTED 1 |
| #define MAV_MISSION_UNSUPPORTED_FRAME 1 |
| #define MAV_MISSION_ERROR 1 |
| #define MAV_MISSION_INVALID_SEQUENCE 1 |
| |
| /* |
| some functions have some extra params in MAVLink 1.0 |
| */ |
| |
| static void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, |
| int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, |
| int16_t vz, uint16_t hdg) |
| { |
| mavlink_msg_global_position_int_send( |
| chan, |
| lat, |
| lon, |
| alt, |
| vx, vy, vz); |
| } |
| |
| static void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, |
| int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, |
| int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, |
| int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) |
| { |
| mavlink_msg_rc_channels_scaled_send( |
| chan, |
| chan1_scaled, |
| chan2_scaled, |
| chan3_scaled, |
| chan4_scaled, |
| chan5_scaled, |
| chan6_scaled, |
| chan7_scaled, |
| chan8_scaled, |
| rssi); |
| } |
| |
| static void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, |
| uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, |
| uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, |
| uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) |
| { |
| mavlink_msg_rc_channels_raw_send( |
| chan, |
| chan1_raw, |
| chan2_raw, |
| chan3_raw, |
| chan4_raw, |
| chan5_raw, |
| chan6_raw, |
| chan7_raw, |
| chan8_raw, |
| rssi); |
| } |
| |
| |
| static void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, |
| uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, |
| uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, |
| uint16_t servo7_raw, uint16_t servo8_raw) |
| { |
| mavlink_msg_servo_output_raw_send( |
| chan, |
| servo1_raw, |
| servo2_raw, |
| servo3_raw, |
| servo4_raw, |
| servo5_raw, |
| servo6_raw, |
| servo7_raw, |
| servo8_raw); |
| } |
| |
| static void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text) |
| { |
| mavlink_msg_statustext_send(chan, severity, (const int8_t*) text); |
| } |
| |
| static void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, |
| float param_value, uint8_t param_type, |
| uint16_t param_count, uint16_t param_index) |
| { |
| mavlink_msg_param_value_send( |
| chan, |
| (int8_t *)param_id, |
| param_value, |
| param_count, |
| param_index); |
| } |
| #endif // MAVLINK10 |