autogenerated headers for rev https://github.com/mavlink/mavlink/tree/e7221f41d3d43b432c26a0369d867d86f559ee42

ASLUAV/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

ardupilotmega/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

autoquad/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

common/mavlink_msg_protocol_version.h

@@ -0,0 +1,306 @@
+#pragma once
+// MESSAGE PROTOCOL_VERSION PACKING
+
+#define MAVLINK_MSG_ID_PROTOCOL_VERSION 300
+
+MAVPACKED(
+typedef struct __mavlink_protocol_version_t {
+ uint16_t version; /*< Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.*/
+ uint16_t min_version; /*< Minimum MAVLink version supported*/
+ uint16_t max_version; /*< Maximum MAVLink version supported (set to the same value as version by default)*/
+ uint8_t spec_version_hash[8]; /*< The first 8 bytes (not characters printed in hex!) of the git hash.*/
+ uint8_t library_version_hash[8]; /*< The first 8 bytes (not characters printed in hex!) of the git hash.*/
+}) mavlink_protocol_version_t;
+
+#define MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN 22
+#define MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN 22
+#define MAVLINK_MSG_ID_300_LEN 22
+#define MAVLINK_MSG_ID_300_MIN_LEN 22
+
+#define MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC 217
+#define MAVLINK_MSG_ID_300_CRC 217
+
+#define MAVLINK_MSG_PROTOCOL_VERSION_FIELD_SPEC_VERSION_HASH_LEN 8
+#define MAVLINK_MSG_PROTOCOL_VERSION_FIELD_LIBRARY_VERSION_HASH_LEN 8
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION { \
+    300, \
+    "PROTOCOL_VERSION", \
+    5, \
+    {  { "version", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_protocol_version_t, version) }, \
+         { "min_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_protocol_version_t, min_version) }, \
+         { "max_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_protocol_version_t, max_version) }, \
+         { "spec_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 6, offsetof(mavlink_protocol_version_t, spec_version_hash) }, \
+         { "library_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 14, offsetof(mavlink_protocol_version_t, library_version_hash) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION { \
+    "PROTOCOL_VERSION", \
+    5, \
+    {  { "version", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_protocol_version_t, version) }, \
+         { "min_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_protocol_version_t, min_version) }, \
+         { "max_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_protocol_version_t, max_version) }, \
+         { "spec_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 6, offsetof(mavlink_protocol_version_t, spec_version_hash) }, \
+         { "library_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 14, offsetof(mavlink_protocol_version_t, library_version_hash) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a protocol_version 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 version Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
+ * @param min_version Minimum MAVLink version supported
+ * @param max_version Maximum MAVLink version supported (set to the same value as version by default)
+ * @param spec_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @param library_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_protocol_version_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
+    _mav_put_uint16_t(buf, 0, version);
+    _mav_put_uint16_t(buf, 2, min_version);
+    _mav_put_uint16_t(buf, 4, max_version);
+    _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
+    _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+#else
+    mavlink_protocol_version_t packet;
+    packet.version = version;
+    packet.min_version = min_version;
+    packet.max_version = max_version;
+    mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
+    mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_PROTOCOL_VERSION;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+}
+
+/**
+ * @brief Pack a protocol_version 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 version Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
+ * @param min_version Minimum MAVLink version supported
+ * @param max_version Maximum MAVLink version supported (set to the same value as version by default)
+ * @param spec_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @param library_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_protocol_version_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint16_t version,uint16_t min_version,uint16_t max_version,const uint8_t *spec_version_hash,const uint8_t *library_version_hash)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
+    _mav_put_uint16_t(buf, 0, version);
+    _mav_put_uint16_t(buf, 2, min_version);
+    _mav_put_uint16_t(buf, 4, max_version);
+    _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
+    _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+#else
+    mavlink_protocol_version_t packet;
+    packet.version = version;
+    packet.min_version = min_version;
+    packet.max_version = max_version;
+    mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
+    mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_PROTOCOL_VERSION;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+}
+
+/**
+ * @brief Encode a protocol_version 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 protocol_version C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_protocol_version_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_protocol_version_t* protocol_version)
+{
+    return mavlink_msg_protocol_version_pack(system_id, component_id, msg, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
+}
+
+/**
+ * @brief Encode a protocol_version 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 protocol_version C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_protocol_version_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_protocol_version_t* protocol_version)
+{
+    return mavlink_msg_protocol_version_pack_chan(system_id, component_id, chan, msg, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
+}
+
+/**
+ * @brief Send a protocol_version message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param version Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
+ * @param min_version Minimum MAVLink version supported
+ * @param max_version Maximum MAVLink version supported (set to the same value as version by default)
+ * @param spec_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @param library_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_protocol_version_send(mavlink_channel_t chan, uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
+    _mav_put_uint16_t(buf, 0, version);
+    _mav_put_uint16_t(buf, 2, min_version);
+    _mav_put_uint16_t(buf, 4, max_version);
+    _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
+    _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#else
+    mavlink_protocol_version_t packet;
+    packet.version = version;
+    packet.min_version = min_version;
+    packet.max_version = max_version;
+    mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
+    mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)&packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#endif
+}
+
+/**
+ * @brief Send a protocol_version message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_protocol_version_send_struct(mavlink_channel_t chan, const mavlink_protocol_version_t* protocol_version)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_protocol_version_send(chan, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)protocol_version, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_PROTOCOL_VERSION_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_protocol_version_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint16_t(buf, 0, version);
+    _mav_put_uint16_t(buf, 2, min_version);
+    _mav_put_uint16_t(buf, 4, max_version);
+    _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
+    _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#else
+    mavlink_protocol_version_t *packet = (mavlink_protocol_version_t *)msgbuf;
+    packet->version = version;
+    packet->min_version = min_version;
+    packet->max_version = max_version;
+    mav_array_memcpy(packet->spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
+    mav_array_memcpy(packet->library_version_hash, library_version_hash, sizeof(uint8_t)*8);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE PROTOCOL_VERSION UNPACKING
+
+
+/**
+ * @brief Get field version from protocol_version message
+ *
+ * @return Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_version(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field min_version from protocol_version message
+ *
+ * @return Minimum MAVLink version supported
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_min_version(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  2);
+}
+
+/**
+ * @brief Get field max_version from protocol_version message
+ *
+ * @return Maximum MAVLink version supported (set to the same value as version by default)
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_max_version(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  4);
+}
+
+/**
+ * @brief Get field spec_version_hash from protocol_version message
+ *
+ * @return The first 8 bytes (not characters printed in hex!) of the git hash.
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_spec_version_hash(const mavlink_message_t* msg, uint8_t *spec_version_hash)
+{
+    return _MAV_RETURN_uint8_t_array(msg, spec_version_hash, 8,  6);
+}
+
+/**
+ * @brief Get field library_version_hash from protocol_version message
+ *
+ * @return The first 8 bytes (not characters printed in hex!) of the git hash.
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_library_version_hash(const mavlink_message_t* msg, uint8_t *library_version_hash)
+{
+    return _MAV_RETURN_uint8_t_array(msg, library_version_hash, 8,  14);
+}
+
+/**
+ * @brief Decode a protocol_version message into a struct
+ *
+ * @param msg The message to decode
+ * @param protocol_version C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_protocol_version_decode(const mavlink_message_t* msg, mavlink_protocol_version_t* protocol_version)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    protocol_version->version = mavlink_msg_protocol_version_get_version(msg);
+    protocol_version->min_version = mavlink_msg_protocol_version_get_min_version(msg);
+    protocol_version->max_version = mavlink_msg_protocol_version_get_max_version(msg);
+    mavlink_msg_protocol_version_get_spec_version_hash(msg, protocol_version->spec_version_hash);
+    mavlink_msg_protocol_version_get_library_version_hash(msg, protocol_version->library_version_hash);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN? msg->len : MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN;
+        memset(protocol_version, 0, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+    memcpy(protocol_version, _MAV_PAYLOAD(msg), len);
+#endif
+}

common/testsuite.h

@@ -9165,6 +9165,64 @@ static void mavlink_test_set_video_stream_settings(uint8_t system_id, uint8_t co
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_protocol_version(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_PROTOCOL_VERSION >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_protocol_version_t packet_in = {
+        17235,17339,17443,{ 151, 152, 153, 154, 155, 156, 157, 158 },{ 175, 176, 177, 178, 179, 180, 181, 182 }
+    };
+    mavlink_protocol_version_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.version = packet_in.version;
+        packet1.min_version = packet_in.min_version;
+        packet1.max_version = packet_in.max_version;
+        
+        mav_array_memcpy(packet1.spec_version_hash, packet_in.spec_version_hash, sizeof(uint8_t)*8);
+        mav_array_memcpy(packet1.library_version_hash, packet_in.library_version_hash, sizeof(uint8_t)*8);
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_protocol_version_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_protocol_version_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_protocol_version_pack(system_id, component_id, &msg , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
+    mavlink_msg_protocol_version_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_protocol_version_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
+    mavlink_msg_protocol_version_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_protocol_version_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_protocol_version_send(MAVLINK_COMM_1 , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
+    mavlink_msg_protocol_version_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
     mavlink_test_heartbeat(system_id, component_id, last_msg);
@@ -9318,6 +9376,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
     mavlink_test_logging_ack(system_id, component_id, last_msg);
     mavlink_test_video_stream_information(system_id, component_id, last_msg);
     mavlink_test_set_video_stream_settings(system_id, component_id, last_msg);
+    mavlink_test_protocol_version(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

common/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

matrixpilot/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

message_definitions/common.xml

@@ -1329,6 +1329,11 @@
         <param index="1">The MAVLink message ID</param>
         <param index="2">The interval between two messages, in microseconds. Set to -1 to disable and 0 to request default rate.</param>
       </entry>
+      <entry value="519" name="MAV_CMD_REQUEST_PROTOCOL_VERSION">
+        <description>Request MAVLink protocol version compatibility</description>
+        <param index="1">1: Request supported protocol versions by all nodes on the network</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
       <entry value="520" name="MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES">
         <description>Request autopilot capabilities</description>
         <param index="1">1: Request autopilot version</param>
@@ -4113,5 +4118,13 @@
       <field type="uint16_t" name="rotation" units="deg">Video image rotation clockwise (0-359 degrees)</field>
       <field type="char[230]" name="uri">Video stream URI</field>
     </message>
+    <message id="300" name="PROTOCOL_VERSION">
+      <description>WIP: Version and capability of protocol version. This message is the response to REQUEST_PROTOCOL_VERSION and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to REQUEST_PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.</description>
+      <field type="uint16_t" name="version">Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.</field>
+      <field type="uint16_t" name="min_version">Minimum MAVLink version supported</field>
+      <field type="uint16_t" name="max_version">Maximum MAVLink version supported (set to the same value as version by default)</field>
+      <field type="uint8_t[8]" name="spec_version_hash">The first 8 bytes (not characters printed in hex!) of the git hash.</field>
+      <field type="uint8_t[8]" name="library_version_hash">The first 8 bytes (not characters printed in hex!) of the git hash.</field>
+    </message>
   </messages>
 </mavlink>

minimal/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
  

slugs/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

standard/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

test/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
  

uAvionix/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue May 16 2017"
+#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255