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Adjusted quadrotor swarm message
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@LorenzMeier
LorenzMeier committed May 10, 2012
1 parent 6900a3c commit d46a180
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Showing 8 changed files with 73 additions and 57 deletions.
16 changes: 10 additions & 6 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1294,12 +1294,16 @@
<field type="uint16_t" name="motor_left_sw">Left motor in + configuration, back left motor in x configuration</field>
</message>
<message id="61" name="SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST">
<description></description>
<field type="uint8_t[6]" name="target_systems">System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs</field>
<field type="int16_t[6]" name="roll">Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5</field>
<field type="int16_t[6]" name="pitch">Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5</field>
<field type="int16_t[6]" name="yaw">Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5</field>
<field type="uint16_t[6]" name="thrust">Collective thrust, scaled to uint16 for 6 quadrotors: 0..5</field>
<description>Setpoint for up to four quadrotors in a group / wing</description>
<field type="uint8_t" name="group">ID of the quadrotor group (0 - 255, up to 256 groups supported)</field>
<field type="uint8_t" name="mode">ID of the flight mode (0 - 255, up to 256 modes supported)</field>
<field type="uint8_t[4]" name="led_red">RGB red channel (0-255)</field>
<field type="uint8_t[4]" name="led_blue">RGB green channel (0-255)</field>
<field type="uint8_t[4]" name="led_green">RGB blue channel (0-255)</field>
<field type="int16_t[4]" name="roll">Desired roll angle in radians +-PI (+-32767)</field>
<field type="int16_t[4]" name="pitch">Desired pitch angle in radians +-PI (+-32767)</field>
<field type="int16_t[4]" name="yaw">Desired yaw angle in radians, scaled to int16 +-PI (+-32767)</field>
<field type="uint16_t[4]" name="thrust">Collective thrust, scaled to uint16 (0..65535)</field>
</message>
<message id="62" name="NAV_CONTROLLER_OUTPUT">
<description>Outputs of the APM navigation controller. The primary use of this message is to check the response and signs of the controller before actual flight and to assist with tuning controller parameters.</description>
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8 changes: 4 additions & 4 deletions pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t co
_mav_put_int64_t_array(buf, 119, s64_array, 3);
_mav_put_float_array(buf, 143, f_array, 3);
_mav_put_double_array(buf, 155, d_array, 3);
memcpy(_MAV_PAYLOAD(msg), buf, 179);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 179);
#else
mavlink_test_types_t packet;
packet.c = c;
Expand All @@ -154,7 +154,7 @@ static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t co
mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
memcpy(_MAV_PAYLOAD(msg), &packet, 179);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 179);
#endif

msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
Expand Down Expand Up @@ -219,7 +219,7 @@ static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8
_mav_put_int64_t_array(buf, 119, s64_array, 3);
_mav_put_float_array(buf, 143, f_array, 3);
_mav_put_double_array(buf, 155, d_array, 3);
memcpy(_MAV_PAYLOAD(msg), buf, 179);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 179);
#else
mavlink_test_types_t packet;
packet.c = c;
Expand All @@ -244,7 +244,7 @@ static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8
mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
memcpy(_MAV_PAYLOAD(msg), &packet, 179);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 179);
#endif

msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
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10 changes: 5 additions & 5 deletions pymavlink/generator/C/include_v0.9/test/test.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,13 +20,17 @@ extern "C" {
#endif

#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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#endif

#include "../protocol.h"

#define MAVLINK_ENABLED_TEST

// ENUM DEFINITIONS





// MAVLINK VERSION
Expand All @@ -40,10 +44,6 @@ extern "C" {
#define MAVLINK_VERSION 3
#endif

// ENUM DEFINITIONS



// MESSAGE DEFINITIONS
#include "./mavlink_msg_test_types.h"

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2 changes: 1 addition & 1 deletion pymavlink/generator/C/include_v0.9/test/version.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H

#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:54 2012"
#define MAVLINK_BUILD_DATE "Thu May 10 08:27:40 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179

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