added SenseSoar Mavlink Messages

.gitignore

@@ -51,3 +51,4 @@ user_config.pri
 thirdParty/qserialport-build-desktop/
 thirdParty/qserialport/bin/
 thirdParty/qserialport/lib/
+thirdParty/libxbee/lib

qgroundcontrol.pro

@@ -118,6 +118,16 @@ contains(MAVLINK_CONF, ardupilotmega) {
     INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ardupilotmega
     DEFINES += QGC_USE_ARDUPILOTMEGA_MESSAGES
 }
+contains(MAVLINK_CONF, senseSoar) { 
+    # Remove the default set - it is included anyway
+    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
+
+    # SENSESOAR SPECIAL MESSAGES
+    INCLUDEPATH += $$BASEDIR/../mavlink/include/SenseSoar
+    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/SenseSoar
+    DEFINES += QGC_USE_SENSESOAR_MESSAGES
+}
 
 
 # Include general settings for QGroundControl

thirdParty/mavlink/include/SenseSoar/SenseSoar.h

@@ -0,0 +1,73 @@
+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	 Generated on Tuesday, August 2 2011, 15:51 UTC
+ */
+#ifndef SENSESOAR_H
+#define SENSESOAR_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_SENSESOAR
+
+
+#include "../common/common.h"
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 0
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 0
+#endif
+
+// ENUM DEFINITIONS
+
+/** @brief   Different flight modes  */
+enum SENSESOAR_MODE
+{
+	SENSESOAR_MODE_GLIDING=0, /*  */
+	SENSESOAR_MODE_AUTONOMOUS=1, /*  */
+	SENSESOAR_MODE_MANUAL=2, /*  */
+	SENSESOAR_MODE_ENUM_END
+};
+
+
+// MESSAGE DEFINITIONS
+
+#include "./mavlink_msg_sensesoar_mode_chng.h"
+#include "./mavlink_msg_sensesoar_mode_ack.h"
+#include "./mavlink_msg_sensesoar_mode_rqst.h"
+#include "./mavlink_msg_sensesoar_mode_rqst_send.h"
+#include "./mavlink_msg_obs_position.h"
+#include "./mavlink_msg_obs_velocity.h"
+#include "./mavlink_msg_obs_attitude.h"
+#include "./mavlink_msg_obs_wind.h"
+#include "./mavlink_msg_obs_air_velocity.h"
+#include "./mavlink_msg_obs_bias.h"
+#include "./mavlink_msg_obs_qff.h"
+#include "./mavlink_msg_obs_air_temp.h"
+#include "./mavlink_msg_filt_rot_vel.h"
+#include "./mavlink_msg_llc_out.h"
+#include "./mavlink_msg_pm_elec.h"
+#include "./mavlink_msg_sys_stat.h"
+#include "./mavlink_msg_cmd_airspeed_chng.h"
+#include "./mavlink_msg_cmd_airspeed_ack.h"
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, 2, 1, 1, 24, 0, 12, 0, 16, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
+
+#ifdef __cplusplus
+}
+#endif
+#endif

thirdParty/mavlink/include/SenseSoar/mavlink.h

@@ -0,0 +1,11 @@
+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	 Generated on Tuesday, August 2 2011, 15:51 UTC
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#include "SenseSoar.h"
+
+#endif

thirdParty/mavlink/include/SenseSoar/mavlink_msg_cmd_airspeed_ack.h

@@ -0,0 +1,123 @@
+// MESSAGE CMD_AIRSPEED_ACK PACKING
+
+#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK 194
+
+typedef struct __mavlink_cmd_airspeed_ack_t 
+{
+	float spCmd; ///< commanded airspeed
+	uint8_t ack; ///< 0:ack, 1:nack
+
+} mavlink_cmd_airspeed_ack_t;
+
+
+
+/**
+ * @brief Pack a cmd_airspeed_ack 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 spCmd commanded airspeed
+ * @param ack 0:ack, 1:nack
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float spCmd, uint8_t ack)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK;
+
+	i += put_float_by_index(spCmd, i, msg->payload); // commanded airspeed
+	i += put_uint8_t_by_index(ack, i, msg->payload); // 0:ack, 1:nack
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a cmd_airspeed_ack message
+ * @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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param spCmd commanded airspeed
+ * @param ack 0:ack, 1:nack
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float spCmd, uint8_t ack)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK;
+
+	i += put_float_by_index(spCmd, i, msg->payload); // commanded airspeed
+	i += put_uint8_t_by_index(ack, i, msg->payload); // 0:ack, 1:nack
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a cmd_airspeed_ack struct into a 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 cmd_airspeed_ack C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_cmd_airspeed_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
+{
+	return mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, msg, cmd_airspeed_ack->spCmd, cmd_airspeed_ack->ack);
+}
+
+/**
+ * @brief Send a cmd_airspeed_ack message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param spCmd commanded airspeed
+ * @param ack 0:ack, 1:nack
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_cmd_airspeed_ack_send(mavlink_channel_t chan, float spCmd, uint8_t ack)
+{
+	mavlink_message_t msg;
+	mavlink_msg_cmd_airspeed_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, spCmd, ack);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE CMD_AIRSPEED_ACK UNPACKING
+
+/**
+ * @brief Get field spCmd from cmd_airspeed_ack message
+ *
+ * @return commanded airspeed
+ */
+static inline float mavlink_msg_cmd_airspeed_ack_get_spCmd(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload)[0];
+	r.b[2] = (msg->payload)[1];
+	r.b[1] = (msg->payload)[2];
+	r.b[0] = (msg->payload)[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field ack from cmd_airspeed_ack message
+ *
+ * @return 0:ack, 1:nack
+ */
+static inline uint8_t mavlink_msg_cmd_airspeed_ack_get_ack(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(float))[0];
+}
+
+/**
+ * @brief Decode a cmd_airspeed_ack message into a struct
+ *
+ * @param msg The message to decode
+ * @param cmd_airspeed_ack C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_cmd_airspeed_ack_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
+{
+	cmd_airspeed_ack->spCmd = mavlink_msg_cmd_airspeed_ack_get_spCmd(msg);
+	cmd_airspeed_ack->ack = mavlink_msg_cmd_airspeed_ack_get_ack(msg);
+}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_cmd_airspeed_chng.h

@@ -0,0 +1,123 @@
+// MESSAGE CMD_AIRSPEED_CHNG PACKING
+
+#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG 192
+
+typedef struct __mavlink_cmd_airspeed_chng_t 
+{
+	uint8_t target; ///< Target ID
+	float spCmd; ///< commanded airspeed
+
+} mavlink_cmd_airspeed_chng_t;
+
+
+
+/**
+ * @brief Pack a cmd_airspeed_chng 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 target Target ID
+ * @param spCmd commanded airspeed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float spCmd)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG;
+
+	i += put_uint8_t_by_index(target, i, msg->payload); // Target ID
+	i += put_float_by_index(spCmd, i, msg->payload); // commanded airspeed
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a cmd_airspeed_chng message
+ * @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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target Target ID
+ * @param spCmd commanded airspeed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float spCmd)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG;
+
+	i += put_uint8_t_by_index(target, i, msg->payload); // Target ID
+	i += put_float_by_index(spCmd, i, msg->payload); // commanded airspeed
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a cmd_airspeed_chng struct into a 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 cmd_airspeed_chng C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_cmd_airspeed_chng_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
+{
+	return mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, msg, cmd_airspeed_chng->target, cmd_airspeed_chng->spCmd);
+}
+
+/**
+ * @brief Send a cmd_airspeed_chng message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target Target ID
+ * @param spCmd commanded airspeed
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_cmd_airspeed_chng_send(mavlink_channel_t chan, uint8_t target, float spCmd)
+{
+	mavlink_message_t msg;
+	mavlink_msg_cmd_airspeed_chng_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, spCmd);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE CMD_AIRSPEED_CHNG UNPACKING
+
+/**
+ * @brief Get field target from cmd_airspeed_chng message
+ *
+ * @return Target ID
+ */
+static inline uint8_t mavlink_msg_cmd_airspeed_chng_get_target(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field spCmd from cmd_airspeed_chng message
+ *
+ * @return commanded airspeed
+ */
+static inline float mavlink_msg_cmd_airspeed_chng_get_spCmd(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a cmd_airspeed_chng message into a struct
+ *
+ * @param msg The message to decode
+ * @param cmd_airspeed_chng C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_cmd_airspeed_chng_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
+{
+	cmd_airspeed_chng->target = mavlink_msg_cmd_airspeed_chng_get_target(msg);
+	cmd_airspeed_chng->spCmd = mavlink_msg_cmd_airspeed_chng_get_spCmd(msg);
+}