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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_trajectory_representation_bezier.h
+67 -67
View File
@@ -3,24 +3,24 @@
#define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER 333
MAVPACKED(
typedef struct __mavlink_trajectory_representation_bezier_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 pos_x[5]; /*< [m] X-coordinate of starting bezier point, set to NaN if not being used*/
float pos_y[5]; /*< [m] Y-coordinate of starting bezier point, set to NaN if not being used*/
float pos_z[5]; /*< [m] Z-coordinate of starting bezier point, set to NaN if not being used*/
float delta[5]; /*< [s] Bezier time horizon, set to NaN if velocity/acceleration should not be incorporated*/
float pos_yaw[5]; /*< [rad] Yaw, set to NaN for unchanged*/
uint8_t valid_points; /*< Number of valid points (up-to 5 waypoints are possible)*/
}) mavlink_trajectory_representation_bezier_t;
} mavlink_trajectory_representation_bezier_t;
#define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN 109
#define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_MIN_LEN 109
#define MAVLINK_MSG_ID_333_LEN 109
#define MAVLINK_MSG_ID_333_MIN_LEN 109
#define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN 105
#define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_MIN_LEN 105
#define MAVLINK_MSG_ID_333_LEN 105
#define MAVLINK_MSG_ID_333_MIN_LEN 105
#define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_CRC 231
#define MAVLINK_MSG_ID_333_CRC 231
#define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_CRC 15
#define MAVLINK_MSG_ID_333_CRC 15
#define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_BEZIER_FIELD_POS_X_LEN 5
#define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_BEZIER_FIELD_POS_Y_LEN 5
@@ -33,26 +33,26 @@ typedef struct __mavlink_trajectory_representation_bezier_t {
333, \
"TRAJECTORY_REPRESENTATION_BEZIER", \
7, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_trajectory_representation_bezier_t, time_usec) }, \
{ "valid_points", NULL, MAVLINK_TYPE_UINT8_T, 0, 108, offsetof(mavlink_trajectory_representation_bezier_t, valid_points) }, \
{ "pos_x", NULL, MAVLINK_TYPE_FLOAT, 5, 8, offsetof(mavlink_trajectory_representation_bezier_t, pos_x) }, \
{ "pos_y", NULL, MAVLINK_TYPE_FLOAT, 5, 28, offsetof(mavlink_trajectory_representation_bezier_t, pos_y) }, \
{ "pos_z", NULL, MAVLINK_TYPE_FLOAT, 5, 48, offsetof(mavlink_trajectory_representation_bezier_t, pos_z) }, \
{ "delta", NULL, MAVLINK_TYPE_FLOAT, 5, 68, offsetof(mavlink_trajectory_representation_bezier_t, delta) }, \
{ "pos_yaw", NULL, MAVLINK_TYPE_FLOAT, 5, 88, offsetof(mavlink_trajectory_representation_bezier_t, pos_yaw) }, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_trajectory_representation_bezier_t, time_usec) }, \
{ "valid_points", NULL, MAVLINK_TYPE_UINT8_T, 0, 104, offsetof(mavlink_trajectory_representation_bezier_t, valid_points) }, \
{ "pos_x", NULL, MAVLINK_TYPE_FLOAT, 5, 4, offsetof(mavlink_trajectory_representation_bezier_t, pos_x) }, \
{ "pos_y", NULL, MAVLINK_TYPE_FLOAT, 5, 24, offsetof(mavlink_trajectory_representation_bezier_t, pos_y) }, \
{ "pos_z", NULL, MAVLINK_TYPE_FLOAT, 5, 44, offsetof(mavlink_trajectory_representation_bezier_t, pos_z) }, \
{ "delta", NULL, MAVLINK_TYPE_FLOAT, 5, 64, offsetof(mavlink_trajectory_representation_bezier_t, delta) }, \
{ "pos_yaw", NULL, MAVLINK_TYPE_FLOAT, 5, 84, offsetof(mavlink_trajectory_representation_bezier_t, pos_yaw) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_TRAJECTORY_REPRESENTATION_BEZIER { \
"TRAJECTORY_REPRESENTATION_BEZIER", \
7, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_trajectory_representation_bezier_t, time_usec) }, \
{ "valid_points", NULL, MAVLINK_TYPE_UINT8_T, 0, 108, offsetof(mavlink_trajectory_representation_bezier_t, valid_points) }, \
{ "pos_x", NULL, MAVLINK_TYPE_FLOAT, 5, 8, offsetof(mavlink_trajectory_representation_bezier_t, pos_x) }, \
{ "pos_y", NULL, MAVLINK_TYPE_FLOAT, 5, 28, offsetof(mavlink_trajectory_representation_bezier_t, pos_y) }, \
{ "pos_z", NULL, MAVLINK_TYPE_FLOAT, 5, 48, offsetof(mavlink_trajectory_representation_bezier_t, pos_z) }, \
{ "delta", NULL, MAVLINK_TYPE_FLOAT, 5, 68, offsetof(mavlink_trajectory_representation_bezier_t, delta) }, \
{ "pos_yaw", NULL, MAVLINK_TYPE_FLOAT, 5, 88, offsetof(mavlink_trajectory_representation_bezier_t, pos_yaw) }, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_trajectory_representation_bezier_t, time_usec) }, \
{ "valid_points", NULL, MAVLINK_TYPE_UINT8_T, 0, 104, offsetof(mavlink_trajectory_representation_bezier_t, valid_points) }, \
{ "pos_x", NULL, MAVLINK_TYPE_FLOAT, 5, 4, offsetof(mavlink_trajectory_representation_bezier_t, pos_x) }, \
{ "pos_y", NULL, MAVLINK_TYPE_FLOAT, 5, 24, offsetof(mavlink_trajectory_representation_bezier_t, pos_y) }, \
{ "pos_z", NULL, MAVLINK_TYPE_FLOAT, 5, 44, offsetof(mavlink_trajectory_representation_bezier_t, pos_z) }, \
{ "delta", NULL, MAVLINK_TYPE_FLOAT, 5, 64, offsetof(mavlink_trajectory_representation_bezier_t, delta) }, \
{ "pos_yaw", NULL, MAVLINK_TYPE_FLOAT, 5, 84, offsetof(mavlink_trajectory_representation_bezier_t, pos_yaw) }, \
} \
}
#endif
@@ -72,18 +72,18 @@ typedef struct __mavlink_trajectory_representation_bezier_t {
* @param pos_yaw [rad] Yaw, set to NaN for unchanged
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *delta, const float *pos_yaw)
static inline uint16_t mavlink_msg_trajectory_representation_bezier_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *delta, const float *pos_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint8_t(buf, 108, valid_points);
_mav_put_float_array(buf, 8, pos_x, 5);
_mav_put_float_array(buf, 28, pos_y, 5);
_mav_put_float_array(buf, 48, pos_z, 5);
_mav_put_float_array(buf, 68, delta, 5);
_mav_put_float_array(buf, 88, pos_yaw, 5);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_uint8_t(buf, 104, valid_points);
_mav_put_float_array(buf, 4, pos_x, 5);
_mav_put_float_array(buf, 24, pos_y, 5);
_mav_put_float_array(buf, 44, pos_z, 5);
_mav_put_float_array(buf, 64, delta, 5);
_mav_put_float_array(buf, 84, pos_yaw, 5);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN);
#else
mavlink_trajectory_representation_bezier_t packet;
@@ -116,19 +116,19 @@ static inline uint16_t mavlink_msg_trajectory_representation_bezier_pack(uint8_t
* @param pos_yaw [rad] Yaw, set to NaN for unchanged
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
static inline uint16_t mavlink_msg_trajectory_representation_bezier_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,uint8_t valid_points,const float *pos_x,const float *pos_y,const float *pos_z,const float *delta,const float *pos_yaw)
uint32_t time_usec,uint8_t valid_points,const float *pos_x,const float *pos_y,const float *pos_z,const float *delta,const float *pos_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint8_t(buf, 108, valid_points);
_mav_put_float_array(buf, 8, pos_x, 5);
_mav_put_float_array(buf, 28, pos_y, 5);
_mav_put_float_array(buf, 48, pos_z, 5);
_mav_put_float_array(buf, 68, delta, 5);
_mav_put_float_array(buf, 88, pos_yaw, 5);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_uint8_t(buf, 104, valid_points);
_mav_put_float_array(buf, 4, pos_x, 5);
_mav_put_float_array(buf, 24, pos_y, 5);
_mav_put_float_array(buf, 44, pos_z, 5);
_mav_put_float_array(buf, 64, delta, 5);
_mav_put_float_array(buf, 84, pos_yaw, 5);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN);
#else
mavlink_trajectory_representation_bezier_t packet;
@@ -154,7 +154,7 @@ static inline uint16_t mavlink_msg_trajectory_representation_bezier_pack_chan(ui
* @param msg The MAVLink message to compress the data into
* @param trajectory_representation_bezier C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_trajectory_representation_bezier_t* trajectory_representation_bezier)
static inline uint16_t mavlink_msg_trajectory_representation_bezier_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_trajectory_representation_bezier_t* trajectory_representation_bezier)
{
return mavlink_msg_trajectory_representation_bezier_pack(system_id, component_id, msg, trajectory_representation_bezier->time_usec, trajectory_representation_bezier->valid_points, trajectory_representation_bezier->pos_x, trajectory_representation_bezier->pos_y, trajectory_representation_bezier->pos_z, trajectory_representation_bezier->delta, trajectory_representation_bezier->pos_yaw);
}
@@ -168,7 +168,7 @@ static inline uint16_t mavlink_msg_trajectory_representation_bezier_encode(uint8
* @param msg The MAVLink message to compress the data into
* @param trajectory_representation_bezier C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_trajectory_representation_bezier_t* trajectory_representation_bezier)
static inline uint16_t mavlink_msg_trajectory_representation_bezier_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_trajectory_representation_bezier_t* trajectory_representation_bezier)
{
return mavlink_msg_trajectory_representation_bezier_pack_chan(system_id, component_id, chan, msg, trajectory_representation_bezier->time_usec, trajectory_representation_bezier->valid_points, trajectory_representation_bezier->pos_x, trajectory_representation_bezier->pos_y, trajectory_representation_bezier->pos_z, trajectory_representation_bezier->delta, trajectory_representation_bezier->pos_yaw);
}
@@ -187,17 +187,17 @@ static inline uint16_t mavlink_msg_trajectory_representation_bezier_encode_chan(
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_trajectory_representation_bezier_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *delta, const float *pos_yaw)
static inline void mavlink_msg_trajectory_representation_bezier_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *delta, const float *pos_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint8_t(buf, 108, valid_points);
_mav_put_float_array(buf, 8, pos_x, 5);
_mav_put_float_array(buf, 28, pos_y, 5);
_mav_put_float_array(buf, 48, pos_z, 5);
_mav_put_float_array(buf, 68, delta, 5);
_mav_put_float_array(buf, 88, pos_yaw, 5);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_uint8_t(buf, 104, valid_points);
_mav_put_float_array(buf, 4, pos_x, 5);
_mav_put_float_array(buf, 24, pos_y, 5);
_mav_put_float_array(buf, 44, pos_z, 5);
_mav_put_float_array(buf, 64, delta, 5);
_mav_put_float_array(buf, 84, pos_yaw, 5);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER, buf, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_CRC);
#else
mavlink_trajectory_representation_bezier_t packet;
@@ -234,17 +234,17 @@ static inline void mavlink_msg_trajectory_representation_bezier_send_struct(mavl
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_trajectory_representation_bezier_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *delta, const float *pos_yaw)
static inline void mavlink_msg_trajectory_representation_bezier_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *delta, const float *pos_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint8_t(buf, 108, valid_points);
_mav_put_float_array(buf, 8, pos_x, 5);
_mav_put_float_array(buf, 28, pos_y, 5);
_mav_put_float_array(buf, 48, pos_z, 5);
_mav_put_float_array(buf, 68, delta, 5);
_mav_put_float_array(buf, 88, pos_yaw, 5);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_uint8_t(buf, 104, valid_points);
_mav_put_float_array(buf, 4, pos_x, 5);
_mav_put_float_array(buf, 24, pos_y, 5);
_mav_put_float_array(buf, 44, pos_z, 5);
_mav_put_float_array(buf, 64, delta, 5);
_mav_put_float_array(buf, 84, pos_yaw, 5);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER, buf, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER_CRC);
#else
mavlink_trajectory_representation_bezier_t *packet = (mavlink_trajectory_representation_bezier_t *)msgbuf;
@@ -270,9 +270,9 @@ static inline void mavlink_msg_trajectory_representation_bezier_send_buf(mavlink
*
* @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_trajectory_representation_bezier_get_time_usec(const mavlink_message_t* msg)
static inline uint32_t mavlink_msg_trajectory_representation_bezier_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
@@ -282,7 +282,7 @@ static inline uint64_t mavlink_msg_trajectory_representation_bezier_get_time_use
*/
static inline uint8_t mavlink_msg_trajectory_representation_bezier_get_valid_points(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 108);
return _MAV_RETURN_uint8_t(msg, 104);
}
/**
@@ -292,7 +292,7 @@ static inline uint8_t mavlink_msg_trajectory_representation_bezier_get_valid_poi
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_pos_x(const mavlink_message_t* msg, float *pos_x)
{
return _MAV_RETURN_float_array(msg, pos_x, 5, 8);
return _MAV_RETURN_float_array(msg, pos_x, 5, 4);
}
/**
@@ -302,7 +302,7 @@ static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_pos_x(co
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_pos_y(const mavlink_message_t* msg, float *pos_y)
{
return _MAV_RETURN_float_array(msg, pos_y, 5, 28);
return _MAV_RETURN_float_array(msg, pos_y, 5, 24);
}
/**
@@ -312,7 +312,7 @@ static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_pos_y(co
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_pos_z(const mavlink_message_t* msg, float *pos_z)
{
return _MAV_RETURN_float_array(msg, pos_z, 5, 48);
return _MAV_RETURN_float_array(msg, pos_z, 5, 44);
}
/**
@@ -322,7 +322,7 @@ static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_pos_z(co
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_delta(const mavlink_message_t* msg, float *delta)
{
return _MAV_RETURN_float_array(msg, delta, 5, 68);
return _MAV_RETURN_float_array(msg, delta, 5, 64);
}
/**
@@ -332,7 +332,7 @@ static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_delta(co
*/
static inline uint16_t mavlink_msg_trajectory_representation_bezier_get_pos_yaw(const mavlink_message_t* msg, float *pos_yaw)
{
return _MAV_RETURN_float_array(msg, pos_yaw, 5, 88);
return _MAV_RETURN_float_array(msg, pos_yaw, 5, 84);
}
/**