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#ifndef MAVLINK_TYPES_H_
#define MAVLINK_TYPES_H_
#include "inttypes.h"
enum MAV_CLASS
{
MAV_CLASS_GENERIC = 0, ///< Generic autopilot, full support for everything
MAV_CLASS_PIXHAWK = 1, ///< PIXHAWK autopilot, http://pixhawk.ethz.ch
MAV_CLASS_SLUGS = 2, ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu
MAV_CLASS_ARDUPILOTMEGA = 3, ///< ArduPilotMega / ArduCopter, http://diydrones.com
MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org
MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints
MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set
MAV_CLASS_NONE = 8, ///< No valid autopilot
MAV_CLASS_NB ///< Number of autopilot classes
};
enum MAV_ACTION
{
MAV_ACTION_HOLD = 0,
MAV_ACTION_MOTORS_START = 1,
MAV_ACTION_LAUNCH = 2,
MAV_ACTION_RETURN = 3,
MAV_ACTION_EMCY_LAND = 4,
MAV_ACTION_EMCY_KILL = 5,
MAV_ACTION_CONFIRM_KILL = 6,
MAV_ACTION_CONTINUE = 7,
MAV_ACTION_MOTORS_STOP = 8,
MAV_ACTION_HALT = 9,
MAV_ACTION_SHUTDOWN = 10,
MAV_ACTION_REBOOT = 11,
MAV_ACTION_SET_MANUAL = 12,
MAV_ACTION_SET_AUTO = 13,
MAV_ACTION_STORAGE_READ = 14,
MAV_ACTION_STORAGE_WRITE = 15,
MAV_ACTION_CALIBRATE_RC = 16,
MAV_ACTION_CALIBRATE_GYRO = 17,
MAV_ACTION_CALIBRATE_MAG = 18,
MAV_ACTION_CALIBRATE_ACC = 19,
MAV_ACTION_CALIBRATE_PRESSURE = 20,
MAV_ACTION_REC_START = 21,
MAV_ACTION_REC_PAUSE = 22,
MAV_ACTION_REC_STOP = 23,
MAV_ACTION_TAKEOFF = 24,
MAV_ACTION_NAVIGATE = 25,
MAV_ACTION_LAND = 26,
MAV_ACTION_LOITER = 27,
MAV_ACTION_SET_ORIGIN = 28,
MAV_ACTION_RELAY_ON = 29,
MAV_ACTION_RELAY_OFF = 30,
MAV_ACTION_GET_IMAGE = 31,
MAV_ACTION_VIDEO_START = 32,
MAV_ACTION_VIDEO_STOP = 33,
MAV_ACTION_RESET_MAP = 34,
MAV_ACTION_RESET_PLAN = 35,
MAV_ACTION_DELAY_BEFORE_COMMAND = 36,
MAV_ACTION_ASCEND_AT_RATE = 37,
MAV_ACTION_CHANGE_MODE = 38,
MAV_ACTION_LOITER_MAX_TURNS = 39,
MAV_ACTION_LOITER_MAX_TIME = 40,
MAV_ACTION_START_HILSIM = 41,
MAV_ACTION_STOP_HILSIM = 42,
MAV_ACTION_NB ///< Number of MAV actions
};
enum MAV_MODE
{
MAV_MODE_UNINIT = 0, ///< System is in undefined state
MAV_MODE_LOCKED = 1, ///< Motors are blocked, system is safe
MAV_MODE_MANUAL = 2, ///< System is allowed to be active, under manual (RC) control
MAV_MODE_GUIDED = 3, ///< System is allowed to be active, under autonomous control, manual setpoint
MAV_MODE_AUTO = 4, ///< System is allowed to be active, under autonomous control and navigation
MAV_MODE_TEST1 = 5, ///< Generic test mode, for custom use
MAV_MODE_TEST2 = 6, ///< Generic test mode, for custom use
MAV_MODE_TEST3 = 7, ///< Generic test mode, for custom use
MAV_MODE_READY = 8, ///< System is ready, motors are unblocked, but controllers are inactive
MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back
};
enum MAV_STATE
{
MAV_STATE_UNINIT = 0,
MAV_STATE_BOOT,
MAV_STATE_CALIBRATING,
MAV_STATE_STANDBY,
MAV_STATE_ACTIVE,
MAV_STATE_CRITICAL,
MAV_STATE_EMERGENCY,
MAV_STATE_HILSIM,
MAV_STATE_POWEROFF
};
enum MAV_NAV
{
MAV_NAV_GROUNDED = 0,
MAV_NAV_LIFTOFF,
MAV_NAV_HOLD,
MAV_NAV_WAYPOINT,
MAV_NAV_VECTOR,
MAV_NAV_RETURNING,
MAV_NAV_LANDING,
MAV_NAV_LOST,
MAV_NAV_LOITER,
MAV_NAV_FREE_DRIFT
};
enum MAV_TYPE
{
MAV_GENERIC = 0,
MAV_FIXED_WING = 1,
MAV_QUADROTOR = 2,
MAV_COAXIAL = 3,
MAV_HELICOPTER = 4,
MAV_GROUND = 5,
OCU = 6,
MAV_AIRSHIP = 7,
MAV_FREE_BALLOON = 8,
MAV_ROCKET = 9,
UGV_GROUND_ROVER = 10,
UGV_SURFACE_SHIP = 11
};
enum MAV_AUTOPILOT_TYPE
{
MAV_AUTOPILOT_GENERIC = 0,
MAV_AUTOPILOT_PIXHAWK = 1,
MAV_AUTOPILOT_SLUGS = 2,
MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
MAV_AUTOPILOT_NONE = 4
};
enum MAV_COMPONENT
{
MAV_COMP_ID_GPS,
MAV_COMP_ID_WAYPOINTPLANNER,
MAV_COMP_ID_BLOBTRACKER,
MAV_COMP_ID_PATHPLANNER,
MAV_COMP_ID_AIRSLAM,
MAV_COMP_ID_MAPPER,
MAV_COMP_ID_CAMERA,
MAV_COMP_ID_RADIO = 68,
MAV_COMP_ID_IMU = 200,
MAV_COMP_ID_IMU_2 = 201,
MAV_COMP_ID_IMU_3 = 202,
MAV_COMP_ID_UDP_BRIDGE = 240,
MAV_COMP_ID_UART_BRIDGE = 241,
MAV_COMP_ID_SYSTEM_CONTROL = 250
};
enum MAV_FRAME
{
MAV_FRAME_GLOBAL = 0,
MAV_FRAME_LOCAL = 1,
MAV_FRAME_MISSION = 2,
MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
MAV_FRAME_LOCAL_ENU = 4
};
enum MAVLINK_DATA_STREAM_TYPE
{
MAVLINK_DATA_STREAM_IMG_JPEG,
MAVLINK_DATA_STREAM_IMG_BMP,
MAVLINK_DATA_STREAM_IMG_RAW8U,
MAVLINK_DATA_STREAM_IMG_RAW32U,
MAVLINK_DATA_STREAM_IMG_PGM,
MAVLINK_DATA_STREAM_IMG_PNG
};
#ifndef MAVLINK_MAX_PAYLOAD_LEN
// it is possible to override this, but be careful!
#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
#endif
#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
#define MAVLINK_NUM_CHECKSUM_BYTES 2
#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else
/* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union {
union {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
uint8_t param_uint8;
uint8_t bytes[4];
};
uint8_t type;
} mavlink_param_union_t;
typedef struct __mavlink_system {
uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t type; ///< Unused, can be used by user to store the system's type
uint8_t state; ///< Unused, can be used by user to store the system's state
uint8_t mode; ///< Unused, can be used by user to store the system's mode
uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
} mavlink_system_t;
typedef struct __mavlink_message {
uint16_t checksum; /// sent at end of packet
uint8_t magic; ///< protocol magic marker
uint8_t len; ///< Length of payload
uint8_t seq; ///< Sequence of packet
uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component
uint8_t msgid; ///< ID of message in payload
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
typedef enum {
MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1,
MAVLINK_TYPE_INT8_T = 2,
MAVLINK_TYPE_UINT16_T = 3,
MAVLINK_TYPE_INT16_T = 4,
MAVLINK_TYPE_UINT32_T = 5,
MAVLINK_TYPE_INT32_T = 6,
MAVLINK_TYPE_UINT64_T = 7,
MAVLINK_TYPE_INT64_T = 8,
MAVLINK_TYPE_FLOAT = 9,
MAVLINK_TYPE_DOUBLE = 10
} mavlink_message_type_t;
#define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
// in the XML file, not necessary the wire order
typedef struct __mavlink_message_info {
const char *name; // name of the message
unsigned num_fields; // how many fields in this message
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum {
MAVLINK_COMM_0,
MAVLINK_COMM_1,
MAVLINK_COMM_2,
MAVLINK_COMM_3
} mavlink_channel_t;
/*
* applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
* of buffers they will use. If more are used, then the result will be
* a stack overrun
*/
#ifndef MAVLINK_COMM_NUM_BUFFERS
#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
# define MAVLINK_COMM_NUM_BUFFERS 16
#else
# define MAVLINK_COMM_NUM_BUFFERS 4
#endif
#endif
typedef enum {
MAVLINK_PARSE_STATE_UNINIT=0,
MAVLINK_PARSE_STATE_IDLE,
MAVLINK_PARSE_STATE_GOT_STX,
MAVLINK_PARSE_STATE_GOT_SEQ,
MAVLINK_PARSE_STATE_GOT_LENGTH,
MAVLINK_PARSE_STATE_GOT_SYSID,
MAVLINK_PARSE_STATE_GOT_COMPID,
MAVLINK_PARSE_STATE_GOT_MSGID,
MAVLINK_PARSE_STATE_GOT_PAYLOAD,
MAVLINK_PARSE_STATE_GOT_CRC1
} mavlink_parse_state_t; ///< The state machine for the comm parser
typedef struct __mavlink_status {
uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns
uint8_t parse_error; ///< Number of parse errors
mavlink_parse_state_t parse_state; ///< Parsing state machine
uint8_t packet_idx; ///< Index in current packet
uint8_t current_rx_seq; ///< Sequence number of last packet received
uint8_t current_tx_seq; ///< Sequence number of last packet sent
uint16_t packet_rx_success_count; ///< Received packets
uint16_t packet_rx_drop_count; ///< Number of packet drops
} mavlink_status_t;
#define MAVLINK_BIG_ENDIAN 0
#define MAVLINK_LITTLE_ENDIAN 1
#endif /* MAVLINK_TYPES_H_ */