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✨feat: 更好兼容matlab

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uin64->uint32
payload64->payload
This commit is contained in:
matt
2020-09-20 10:12:24 +08:00
parent 1465895353
commit e79d1f21fb
289 changed files with 6428 additions and 15915 deletions
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common/mavlink_msg_altitude.h
+67 -67
View File
@@ -3,24 +3,24 @@
#define MAVLINK_MSG_ID_ALTITUDE 141
MAVPACKED(
typedef struct __mavlink_altitude_t {
uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
uint32_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
float altitude_monotonic; /*< [m] This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.*/
float altitude_amsl; /*< [m] This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.*/
float altitude_local; /*< [m] This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.*/
float altitude_relative; /*< [m] This is the altitude above the home position. It resets on each change of the current home position.*/
float altitude_terrain; /*< [m] This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.*/
float bottom_clearance; /*< [m] This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.*/
}) mavlink_altitude_t;
} mavlink_altitude_t;
#define MAVLINK_MSG_ID_ALTITUDE_LEN 32
#define MAVLINK_MSG_ID_ALTITUDE_MIN_LEN 32
#define MAVLINK_MSG_ID_141_LEN 32
#define MAVLINK_MSG_ID_141_MIN_LEN 32
#define MAVLINK_MSG_ID_ALTITUDE_LEN 28
#define MAVLINK_MSG_ID_ALTITUDE_MIN_LEN 28
#define MAVLINK_MSG_ID_141_LEN 28
#define MAVLINK_MSG_ID_141_MIN_LEN 28
#define MAVLINK_MSG_ID_ALTITUDE_CRC 47
#define MAVLINK_MSG_ID_141_CRC 47
#define MAVLINK_MSG_ID_ALTITUDE_CRC 115
#define MAVLINK_MSG_ID_141_CRC 115
@@ -29,26 +29,26 @@ typedef struct __mavlink_altitude_t {
141, \
"ALTITUDE", \
7, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_altitude_t, time_usec) }, \
{ "altitude_monotonic", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_altitude_t, altitude_monotonic) }, \
{ "altitude_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_altitude_t, altitude_amsl) }, \
{ "altitude_local", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_altitude_t, altitude_local) }, \
{ "altitude_relative", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_altitude_t, altitude_relative) }, \
{ "altitude_terrain", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_altitude_t, altitude_terrain) }, \
{ "bottom_clearance", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_altitude_t, bottom_clearance) }, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_altitude_t, time_usec) }, \
{ "altitude_monotonic", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_altitude_t, altitude_monotonic) }, \
{ "altitude_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_altitude_t, altitude_amsl) }, \
{ "altitude_local", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_altitude_t, altitude_local) }, \
{ "altitude_relative", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_altitude_t, altitude_relative) }, \
{ "altitude_terrain", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_altitude_t, altitude_terrain) }, \
{ "bottom_clearance", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_altitude_t, bottom_clearance) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_ALTITUDE { \
"ALTITUDE", \
7, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_altitude_t, time_usec) }, \
{ "altitude_monotonic", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_altitude_t, altitude_monotonic) }, \
{ "altitude_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_altitude_t, altitude_amsl) }, \
{ "altitude_local", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_altitude_t, altitude_local) }, \
{ "altitude_relative", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_altitude_t, altitude_relative) }, \
{ "altitude_terrain", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_altitude_t, altitude_terrain) }, \
{ "bottom_clearance", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_altitude_t, bottom_clearance) }, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_altitude_t, time_usec) }, \
{ "altitude_monotonic", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_altitude_t, altitude_monotonic) }, \
{ "altitude_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_altitude_t, altitude_amsl) }, \
{ "altitude_local", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_altitude_t, altitude_local) }, \
{ "altitude_relative", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_altitude_t, altitude_relative) }, \
{ "altitude_terrain", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_altitude_t, altitude_terrain) }, \
{ "bottom_clearance", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_altitude_t, bottom_clearance) }, \
} \
}
#endif
@@ -68,18 +68,18 @@ typedef struct __mavlink_altitude_t {
* @param bottom_clearance [m] This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
static inline uint16_t mavlink_msg_altitude_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, altitude_monotonic);
_mav_put_float(buf, 12, altitude_amsl);
_mav_put_float(buf, 16, altitude_local);
_mav_put_float(buf, 20, altitude_relative);
_mav_put_float(buf, 24, altitude_terrain);
_mav_put_float(buf, 28, bottom_clearance);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_float(buf, 4, altitude_monotonic);
_mav_put_float(buf, 8, altitude_amsl);
_mav_put_float(buf, 12, altitude_local);
_mav_put_float(buf, 16, altitude_relative);
_mav_put_float(buf, 20, altitude_terrain);
_mav_put_float(buf, 24, bottom_clearance);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDE_LEN);
#else
@@ -114,19 +114,19 @@ static inline uint16_t mavlink_msg_altitude_pack(uint8_t system_id, uint8_t comp
* @param bottom_clearance [m] This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
static inline uint16_t mavlink_msg_altitude_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,float altitude_monotonic,float altitude_amsl,float altitude_local,float altitude_relative,float altitude_terrain,float bottom_clearance)
uint32_t time_usec,float altitude_monotonic,float altitude_amsl,float altitude_local,float altitude_relative,float altitude_terrain,float bottom_clearance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, altitude_monotonic);
_mav_put_float(buf, 12, altitude_amsl);
_mav_put_float(buf, 16, altitude_local);
_mav_put_float(buf, 20, altitude_relative);
_mav_put_float(buf, 24, altitude_terrain);
_mav_put_float(buf, 28, bottom_clearance);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_float(buf, 4, altitude_monotonic);
_mav_put_float(buf, 8, altitude_amsl);
_mav_put_float(buf, 12, altitude_local);
_mav_put_float(buf, 16, altitude_relative);
_mav_put_float(buf, 20, altitude_terrain);
_mav_put_float(buf, 24, bottom_clearance);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDE_LEN);
#else
@@ -154,7 +154,7 @@ static inline uint16_t mavlink_msg_altitude_pack_chan(uint8_t system_id, uint8_t
* @param msg The MAVLink message to compress the data into
* @param altitude C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_altitude_t* altitude)
static inline uint16_t mavlink_msg_altitude_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_altitude_t* altitude)
{
return mavlink_msg_altitude_pack(system_id, component_id, msg, altitude->time_usec, altitude->altitude_monotonic, altitude->altitude_amsl, altitude->altitude_local, altitude->altitude_relative, altitude->altitude_terrain, altitude->bottom_clearance);
}
@@ -168,7 +168,7 @@ static inline uint16_t mavlink_msg_altitude_encode(uint8_t system_id, uint8_t co
* @param msg The MAVLink message to compress the data into
* @param altitude C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_altitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_altitude_t* altitude)
static inline uint16_t mavlink_msg_altitude_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_altitude_t* altitude)
{
return mavlink_msg_altitude_pack_chan(system_id, component_id, chan, msg, altitude->time_usec, altitude->altitude_monotonic, altitude->altitude_amsl, altitude->altitude_local, altitude->altitude_relative, altitude->altitude_terrain, altitude->bottom_clearance);
}
@@ -187,17 +187,17 @@ static inline uint16_t mavlink_msg_altitude_encode_chan(uint8_t system_id, uint8
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_altitude_send(mavlink_channel_t chan, uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
static inline void mavlink_msg_altitude_send(mavlink_channel_t chan, uint32_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, altitude_monotonic);
_mav_put_float(buf, 12, altitude_amsl);
_mav_put_float(buf, 16, altitude_local);
_mav_put_float(buf, 20, altitude_relative);
_mav_put_float(buf, 24, altitude_terrain);
_mav_put_float(buf, 28, bottom_clearance);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_float(buf, 4, altitude_monotonic);
_mav_put_float(buf, 8, altitude_amsl);
_mav_put_float(buf, 12, altitude_local);
_mav_put_float(buf, 16, altitude_relative);
_mav_put_float(buf, 20, altitude_terrain);
_mav_put_float(buf, 24, bottom_clearance);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, buf, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
#else
@@ -236,17 +236,17 @@ static inline void mavlink_msg_altitude_send_struct(mavlink_channel_t chan, cons
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_altitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
static inline void mavlink_msg_altitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, altitude_monotonic);
_mav_put_float(buf, 12, altitude_amsl);
_mav_put_float(buf, 16, altitude_local);
_mav_put_float(buf, 20, altitude_relative);
_mav_put_float(buf, 24, altitude_terrain);
_mav_put_float(buf, 28, bottom_clearance);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_float(buf, 4, altitude_monotonic);
_mav_put_float(buf, 8, altitude_amsl);
_mav_put_float(buf, 12, altitude_local);
_mav_put_float(buf, 16, altitude_relative);
_mav_put_float(buf, 20, altitude_terrain);
_mav_put_float(buf, 24, bottom_clearance);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, buf, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
#else
@@ -274,9 +274,9 @@ static inline void mavlink_msg_altitude_send_buf(mavlink_message_t *msgbuf, mavl
*
* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
*/
static inline uint64_t mavlink_msg_altitude_get_time_usec(const mavlink_message_t* msg)
static inline uint32_t mavlink_msg_altitude_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
@@ -286,7 +286,7 @@ static inline uint64_t mavlink_msg_altitude_get_time_usec(const mavlink_message_
*/
static inline float mavlink_msg_altitude_get_altitude_monotonic(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
return _MAV_RETURN_float(msg, 4);
}
/**
@@ -296,7 +296,7 @@ static inline float mavlink_msg_altitude_get_altitude_monotonic(const mavlink_me
*/
static inline float mavlink_msg_altitude_get_altitude_amsl(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
return _MAV_RETURN_float(msg, 8);
}
/**
@@ -306,7 +306,7 @@ static inline float mavlink_msg_altitude_get_altitude_amsl(const mavlink_message
*/
static inline float mavlink_msg_altitude_get_altitude_local(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
return _MAV_RETURN_float(msg, 12);
}
/**
@@ -316,7 +316,7 @@ static inline float mavlink_msg_altitude_get_altitude_local(const mavlink_messag
*/
static inline float mavlink_msg_altitude_get_altitude_relative(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
return _MAV_RETURN_float(msg, 16);
}
/**
@@ -326,7 +326,7 @@ static inline float mavlink_msg_altitude_get_altitude_relative(const mavlink_mes
*/
static inline float mavlink_msg_altitude_get_altitude_terrain(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
return _MAV_RETURN_float(msg, 20);
}
/**
@@ -336,7 +336,7 @@ static inline float mavlink_msg_altitude_get_altitude_terrain(const mavlink_mess
*/
static inline float mavlink_msg_altitude_get_bottom_clearance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
return _MAV_RETURN_float(msg, 24);
}
/**